CN111618493A

CN111618493A - U rib welding system

Info

Publication number: CN111618493A
Application number: CN202010575132.2A
Authority: CN
Inventors: 舒先庆; 陈积里; 王成林; 石灿; 别望望; 何林; 朱文杰; 管秀芳; 曾祥光
Original assignee: Wuhan Lixin Intelligent Manufacturing Engineering Co ltd
Current assignee: Wuhan Lixin Intelligent Manufacturing Engineering Co ltd
Priority date: 2020-06-22
Filing date: 2020-06-22
Publication date: 2020-09-04

Abstract

The invention provides a U-rib welding system, which comprises an inner welding machine, an outer welding machine, a walking track and a rack, wherein the inner welding machine is arranged on the outer welding machine; the internal welding machine comprises a host, a connecting rod and an internal welding robot, wherein one end of the connecting rod is connected with the host, and the other end of the connecting rod is connected with the internal welding robot; the external welding machine comprises a portal frame and a plurality of welding executing parts arranged on the portal frame; the welding executing parts are arranged side by side, and the distance between the welding executing parts is adjustable; the inner welding machine and the outer welding machine both travel along the traveling track; and the inner welding machine and the outer welding machine respectively complete the welding operation of the inner corner joint and the outer corner joint of the to-be-welded U rib and the to-be-welded bottom plate which are arranged on the rack. The U-rib welding system can complete the welding of the U-rib inner corner joint and the U-rib outer corner joint of the steel box girder panel on the same rack, and greatly improves the welding efficiency.

Description

U rib welding system

Technical Field

The invention relates to the technical field of welding, in particular to a welding system for a U rib.

Background

The steel box girder is an important component in a bridge bearing structure, is generally an orthotropic steel bridge deck and is mainly used for providing support and avoiding bridge deformation. Steel box girders generally include a top plate, a bottom plate, and the like. At present, orthotropic steel bridge deck plates are widely applied to the manufacture of large-span bridges, the bridge roof and the bridge bottom plate are both of the structure, and the orthotropic steel bridge deck plates are formed by welding U ribs and the bottom plate.

In the prior art, the welding of the U-rib panel is generally only carried out on the external corner joint, and the technology of welding the internal corner joint has been developed in recent years in order to strengthen the strength of the steel box girder and prolong the service life of the steel box girder.

Therefore, how to improve the welding efficiency of the angle seam of the U-shaped rib panel of the steel box girder is a technical problem to be solved by the technical personnel in the field.

Disclosure of Invention

In order to solve the technical problem, the invention provides a U-rib welding system which can weld the inner corner joint and the outer corner joint of a U-rib of a steel box girder panel on the same rack, so that the welding efficiency is greatly improved.

The invention aims to provide a U-rib welding system, which comprises an inner welding machine, an outer welding machine, a walking track and a rack; the internal welding machine comprises a host, a connecting rod and an internal welding robot, wherein one end of the connecting rod is connected with the host, and the other end of the connecting rod is connected with the internal welding robot; the external welding machine comprises a portal frame and a plurality of welding executing parts arranged on the portal frame; the welding executing parts are arranged side by side, and the distance between the welding executing parts is adjustable; the inner welding machine and the outer welding machine both travel along the traveling track; and the inner welding machine and the outer welding machine respectively complete the welding operation of the inner corner joint and the outer corner joint of the to-be-welded U rib and the to-be-welded bottom plate which are arranged on the rack.

Further, the external welding machine comprises a portal frame and a plurality of welding executing parts arranged on the portal frame; the welding executing parts are arranged side by side, and the distance between the welding executing parts is adjustable. Through a plurality of welding execution portions, can carry out the welding of outside angle seam simultaneously to a plurality of U ribs simultaneously, can improve welding efficiency greatly. And the interval between a plurality of welding execution portions can be adjusted, the requirement that the interval is different between a plurality of U ribs can be met, and the application range of the equipment is greatly widened.

Furthermore, the external welding machine also comprises a walking track, a pressing beam, a walking device and a pressing driving device; the traveling device is arranged at the lower part of the portal frame and can travel along the traveling track; the walking track is fixedly arranged on the ground or the fixed frame; the pressing cross beam is movably arranged on the portal frame and moves up and down under the driving of the pressing driving device; the plurality of welding execution parts are all installed on the pressing cross beam. Through running gear, can drive the portal frame along the free removal of walking track, straightness accuracy when not only can guaranteeing to weld has improved welding efficiency moreover greatly. By depressing the cross bar, the height of the weld execution may be adjusted to ensure accurate alignment of the corner joints.

Preferably, in the U-rib welding system provided by the present invention, the welding execution part of the external welding machine further includes a welding gun and a guide device, the welding gun is mounted on the guide device, and the guide device is provided with a guide wheel; the guide wheel comprises a U rib abutting part used for abutting against the U rib to be welded and a bottom plate abutting part used for abutting against the bottom plate to be welded, and a space corresponding to the position of a fillet weld formed between the U rib to be welded and the bottom plate to be welded is arranged between the U rib abutting part and the bottom plate abutting part, so that the guide wheel is not in contact with the fillet weld when in work.

Furthermore, a flexible connecting piece or a rigid connecting piece in flexible connection is arranged in the space, so that the guide wheel is in non-rigid contact with the corner joint when in work.

Furthermore, the guide device also comprises a force application assembly, and the guide wheel is arranged on the force application assembly; when the welding machine works, the force application assembly drives the U rib abutting part to be in pressure abutting joint with the U rib to be welded, and/or the force application assembly drives the bottom plate abutting part to be in pressure abutting joint with the bottom plate to be welded.

Further, the force application assembly comprises a transverse force application member and/or a longitudinal force application member; the transverse force application piece is used for driving the U rib abutting part to abut against the U rib to be welded in a pressure mode; the longitudinal force application piece is used for driving the bottom plate abutting part to abut against the bottom plate to be welded in a pressure mode.

Further, the guiding device further comprises a frame, the longitudinal force application part is movably mounted on the frame, the transverse force application part is movably mounted on the longitudinal force application part, and the guide wheel is mounted on the transverse force application part.

Further, the guiding device further comprises a frame, the transverse force application part is movably mounted on the frame, the longitudinal force application part is movably mounted on the transverse force application part, and the guide wheel is mounted on the longitudinal force application part.

Further, the transverse force application member comprises a transverse moving part and a transverse driving device; one end of the transverse driving device is a fixed end and is fixedly connected to the rack, and the other end of the transverse driving device is a driving end and is connected to the transverse moving part;

the longitudinal force application part is arranged on the transverse moving part;

the transverse driving device drives the transverse moving part to freely move in the horizontal direction, and then drives the longitudinal force application part to freely move in the horizontal direction.

Further, the longitudinal force application member comprises a longitudinal moving part and a longitudinal driving device;

one end of the longitudinal driving device is a fixed end and is fixedly connected to the transverse moving part, and the other end of the longitudinal driving device is a driving end and is connected to the longitudinal moving part;

the guide wheel is arranged on the longitudinal moving part;

the longitudinal driving device drives the longitudinal moving part to freely move in the vertical direction.

Further, the rack comprises a first connecting plate which is vertically arranged, a guide rail which extends along the horizontal direction is installed on one side of the first connecting plate, and the transverse moving part is connected to the guide rail in a sliding mode;

the transverse driving device is a first air cylinder, the stretching direction is along the horizontal direction, the fixed end of the first air cylinder is installed on the first connecting plate, and the stretching end is connected with the transverse moving part.

Further, the lateral shifting portion still includes second connecting plate, upper end plate and lower end plate, the second connecting plate is vertical to be arranged, the upper end plate reaches the lower end plate is fixed in respectively the upper portion and the lower part of second connecting plate, the upper end plate with be equipped with the guide bar of vertical direction between the lower end plate, the guide bar with the second connecting plate the upper end plate reaches the lower end plate forms a frame, in this frame, install vertical placing longitudinal drive device.

Further, the longitudinal driving device is a second cylinder, the lower end plate is provided with a through hole, the fixed end of the second cylinder is fixed on the second connecting plate, and the telescopic end penetrates through the through hole to be connected with the longitudinal force application member; when the device works, the second air cylinder drives the longitudinal force application piece to move up and down along the guide rod.

Further, the longitudinal moving part also comprises a first vertical plate, a second vertical plate, a connecting bottom plate and an installation frame; the first vertical plate and the second vertical plate are mutually perpendicular and fixedly connected, the connecting bottom plate is fixedly connected to the bottoms of the first vertical plate and the second bottom plate, the first vertical plate, the second vertical plate and the connecting bottom plate form a surrounding structure, and a guide block matched with the guide rod is arranged in the surrounding structure; the mounting bracket is fixedly mounted at the bottom of the connecting bottom plate, and the guide wheel is mounted on the mounting bracket.

Further, the mounting bracket is horizontal "L" shape structure, including a horizontal connection section and a vertical linkage segment, horizontal connection section fixed connection in connect the bottom plate bottom to along welding equipment's walking direction level arrange, horizontal connection section below reaches form an installation space between the vertical linkage segment, the leading wheel install in on the vertical linkage segment.

Further, a welding gun mounting position is arranged on the mounting frame, and the welding gun is mounted on the mounting frame.

Further, a fine adjustment device is installed below the horizontal connection section, and the welding gun is installed on the fine adjustment device.

Furthermore, the force application assemblies are two groups, and the corresponding guide wheels are two groups and are respectively arranged on the force application assemblies;

when the guide wheel assembly works, the two groups of guide wheels respectively correspond to the fillet weld between the U-shaped rib to be welded and the bottom plate to be welded.

Further, the U-rib abutting part and the bottom plate abutting part are rolling wheels, and the two rolling wheels are connected together through a fixing part.

Furthermore, the middle part of the rolling surface of the guide wheel is inwards sunken along the circumferential direction of the guide wheel to form a sunken part, two rims which are protruded along the circumferential direction are formed on two sides of the rolling surface of the guide wheel, one of the two rims is the U-rib abutting part, and the other one of the two rims is the bottom plate abutting part.

Further, the rack also comprises a horizontal mounting plate, the horizontal connecting plate is fixedly connected with the first connecting plate to form an L-shaped structure, a pressing device and a plurality of guide columns which are arranged in the vertical direction are mounted above the horizontal mounting plate, and the rack is connected with welding equipment through the pressing device and the guide columns; a plurality of pinch rollers are installed below the horizontal installation plate, when the horizontal installation plate works, the pressing device drives the rack to move up and down along the guide columns, and the pinch rollers can press the outer side wall of the U rib to be welded.

Compared with the prior art, the U-rib welding system provided by the invention has the following beneficial technical effects:

1) the welding of the U rib inner corner joint and the U rib outer corner joint of the steel box girder panel can be completed on the same rack, and the welding efficiency is greatly improved.

2) The automatic welding of the inner corner joints or the outer corner joints of a plurality of U ribs can be realized simultaneously, and the welding efficiency is greatly improved;

3) according to the external welding machine provided by the invention, the structure forms of the guide wheels of the guide device are respectively in rigid contact with the outer side wall of the U rib and the bottom plate, but the guide wheels are not in rigid contact with the to-be-welded corner welding seam between the to-be-welded U rib and the bottom plate all the time, so that the projection of the temporary positioning welding seam is prevented from shaking the external welding gun head, and the welding seam is effectively prevented from deviating; on the other hand, the guide device tracks the position change of the outer welding seam simultaneously from two dimensions of horizontal displacement and height displacement through the action of the transverse moving part and the longitudinal moving part, the two moving parts are mutually matched to form a mechanical synchronous tracking mechanism, the mechanical synchronous tracking mechanism has a compact structure and stable precision, inevitable measuring errors of an electronic sensor are eliminated, the tracking precision of the tracking device is ensured, the outer welding gun head is ensured to be always aligned with the outer fillet welding seam, a solid foundation is laid for realizing the full penetration of the U-ribbed fillet welding seam, and the welding quality is greatly improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.

FIG. 1 is a schematic perspective view of a U-rib welding system according to the present invention;

FIG. 2 is a schematic perspective view of a guiding device of an external welding machine according to the present invention;

FIG. 3 is a schematic perspective view of another angle of an embodiment of the guide shown in FIG. 2;

FIG. 4 is a rear view of an embodiment of the guide shown in FIG. 2;

FIG. 5 is a front view of an embodiment of the guide shown in FIG. 2;

FIG. 6 is a left side view of an embodiment of the guide shown in FIG. 2;

FIG. 7 is a schematic perspective view of another angle of an embodiment of the guide shown in FIG. 2;

FIG. 8 is a disassembled view of one embodiment of the guide shown in FIG. 2;

FIG. 9 is an enlarged view of the point M in FIG. 8;

FIG. 10 is a schematic view of the guiding device of the present invention in operation;

FIG. 11 is a perspective view of the overall structure of the external welding machine provided by the present invention;

fig. 12 and 13 are a perspective view and a disassembly view of an embodiment of the fine adjustment device.

Wherein, the part numbers in the figures are expressed as:

1. frame, 2, lateral shifting portion, 3, lateral driving device, 4, longitudinal shifting portion, 5, longitudinal driving device, 6, welder, 7, leading wheel, 8, guide post, 80, micromatic setting, 9, pinch roller, 10, guide rail, 11, first connecting plate, 12, horizontal mounting panel, 21, second connecting plate, 22, the up end, 23, the bottom end board, 24, the guide bar, 25, the through-hole, 41, the guide block, 42, first riser, 43, the second riser, 44, the connecting bottom plate, 45, the mounting bracket, 71, the depressed part, 72, the rim, 99, portal frame, 100, wait to weld the U rib, 101, wait to weld the bottom plate. 102. The welding device comprises a pressing cross beam, 103, a walking device, 104, a walking track, 1000, a welding execution part, 1001, a guiding device, 200, an outer welding machine, 300, a rack, 400, an inner welding machine, 401, a host, 402, a connecting rod, 403, an inner welding robot, 500, a pressing device, 80a, a horizontal adjusting module, 80b, a vertical adjusting module, 80c, an angle adjusting module, 801, a horizontal screw rod, 802, a horizontal sliding block, 803, a horizontal guiding rod, 804, a vertical screw rod, 805, a vertical sliding block, 806, a vertical guiding rod, 807, a worm wheel, 808 and a worm.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.

Referring to fig. 1 to 13, fig. 1 is a schematic perspective view of a U-rib welding system according to the present invention; FIG. 2 is a schematic perspective view of a guiding device of an external welding machine according to the present invention; FIG. 3 is a schematic perspective view of another angle of an embodiment of the guide shown in FIG. 2; FIG. 4 is a rear view of an embodiment of the guide shown in FIG. 2; FIG. 5 is a front view of an embodiment of the guide shown in FIG. 2; FIG. 6 is a left side view of an embodiment of the guide shown in FIG. 2; FIG. 7 is a schematic perspective view of another angle of an embodiment of the guide shown in FIG. 2; FIG. 8 is a disassembled view of one embodiment of the guide shown in FIG. 2; FIG. 9 is an enlarged view of the point M in FIG. 8; FIG. 10 is a schematic view of the guiding device of the present invention in operation; FIG. 11 is a perspective view of the overall structure of the external welding machine provided by the present invention; fig. 12 and 13 are a perspective view and a disassembly view of an embodiment of the fine adjustment device.

The invention discloses a specific implementation mode of a U-rib welding system, which comprises an inner welding machine 400, an outer welding machine 200, a walking track 104 and a rack 300;

the internal welding machine 400 comprises a host 401, a connecting rod 402 and an internal welding robot 403, wherein one end of the connecting rod is connected with the host, and the other end of the connecting rod is connected with the internal welding robot; during welding, the main machine can drive the main machine through the traveling device of the inner welding machine 400, the connecting rod and the inner welding robot are driven to penetrate into the U-shaped rib, the welding gun is arranged at the end part of the inner welding robot 403, and the inner welding machine performs inner welding while traveling. The connecting rod and the internal welding robot can be arranged in parallel, so that welding operation can be carried out on a plurality of U ribs simultaneously, and the efficiency is improved.

The external welding machine 200 includes a gantry 99 and a plurality of welding executing parts 1000 installed on the gantry 99; the welding executing parts are arranged side by side, and the distance between the welding executing parts is adjustable; the inner welding machine 400 and the outer welding machine 200 both travel along the travel rail; the inner welding machine and the outer welding machine respectively perform welding operations for the inner corner joints and the outer corner joints of the to-be-welded U-rib and the to-be-welded base plate, which are mounted on the stage 300.

The U-rib welding system provided by the invention can further comprise a pressing device 500 which is also of a gantry structure, is provided with a travelling mechanism, can also travel on the travelling rail 104 and is provided with a plurality of pressing claws, and when internal or external welding operation is carried out, the pressing device 500 can be used for pressing the U-rib to be welded together with an internal welding machine or an external welding machine so as to ensure that the U-rib to be welded is kept fixed and improve the welding quality.

In the U-rib external welding system provided by the present invention, one specific embodiment of the external welding machine includes a gantry 99 and a plurality of welding execution units 1000 mounted on the gantry 99; the welding performing parts 1000 are installed side by side, and the distance between the welding performing parts is adjustable. The adjusting mode can be a gear and rack transmission mode or other transmission modes.

Through a plurality of welding execution portions 1000, can carry out the welding of outside corner joint simultaneously to a plurality of U ribs simultaneously, can improve welding efficiency greatly. And the interval between a plurality of welding execution portions can be adjusted, the requirement that the interval is different between a plurality of U ribs can be met, and the application range of the equipment is greatly widened.

The external welding machine also comprises a walking track 104, a pressing beam 102, a walking device 103 and a pressing driving device (not shown in the figure); the pressing driving device can be an air cylinder, a hydraulic cylinder or an electric cylinder, and the walking device can comprise a speed reducing motor and walking wheels. The traveling device 103 is mounted at the lower part of the portal frame 99 and travels along the traveling rail 104 through traveling wheels; the walking track 104 is fixedly arranged on the ground or a fixed frame; the pressing beam 102 is movably mounted on the gantry 99 and moves up and down under the driving of the pressing driving device; the plurality of welding implements 1000 are mounted on the lower cross member 102. Through running gear 103, can drive longmen 99 frame along walking track 104 free movement, and then drive welding execution portion 1000 along the direction walking of U rib, walk the limit and weld, the straightness accuracy when not only can guaranteeing to weld has improved welding efficiency moreover greatly. By depressing the cross beam 102, the height of the weld execution may be adjusted to ensure accurate alignment of the corner joints.

Preferably, the welding performing part 1000 further includes a welding torch 6 and a guide 1001, the welding torch 6 is mounted on the guide, and the guide 1001 is provided with a guide wheel; the guide wheel comprises a U rib abutting part used for abutting against the U rib to be welded and a bottom plate abutting part used for abutting against the bottom plate to be welded, and a space corresponding to the position of a fillet weld formed between the U rib to be welded and the bottom plate to be welded is arranged between the U rib abutting part and the bottom plate abutting part, so that the guide wheel is not in contact with the fillet weld when in work.

The guide wheel can comprise two forms, one is the guide wheel 7 as shown in the figure, two flanges 72 of the guide wheel are a U rib abutting part used for abutting against a U rib to be welded and a bottom plate abutting part used for abutting against a bottom plate to be welded, and a concave part 71 is a space corresponding to the position of the fillet weld, and the guide wheel is represented as a whole structure; another form of leading wheel can be the form of a plurality of wheels, and wherein one or more wheel and wait to weld the U rib butt joint, for U rib butt joint portion, another one or more wheel and wait to weld the bottom plate butt joint, for bottom plate butt joint portion, connect as an organic wholely through rigid structure between the wheel that forms U rib butt joint portion and the wheel that forms bottom plate butt joint portion, form holistic leading wheel.

In the guide wheels with the two structural forms, in order to meet some special requirements or detect requirements such as welding seams, a flexible connecting piece or a flexible connecting rigid connecting piece can be arranged in the space, for example, the flexible connecting piece can be a detection sensor and is elastically connected in the space, so that the flexible connecting piece can retract after meeting the bulge of the spot welding position during working, and the transverse and longitudinal displacement of the whole guide wheel cannot be influenced.

In order to further improve the guiding accuracy of the guiding device 1001, the guiding device may further include a force application assembly, and the guide wheel is mounted on the force application assembly; the force application assembly can act on the U-rib abutting part or the bottom plate abutting part independently or simultaneously; preferably, the urging means simultaneously urges the U-rib abutting portion and the bottom plate abutting portion, that is, the driving U-rib abutting portion is brought into pressure contact with the U-rib to be welded, and the driving bottom plate abutting portion is brought into pressure contact with the bottom plate to be welded.

In a preferred embodiment, the force application assembly comprises a transverse force application member and a longitudinal force application member; the transverse force application piece is used for driving the U rib abutting part to abut against the U rib to be welded in a pressure mode; the longitudinal force application piece is used for driving the bottom plate abutting part to abut against the bottom plate to be welded in a pressure mode.

The guiding device 1001 disclosed by the invention can also comprise a rack 1, wherein the rack 1 is fixedly connected with a portal frame 99, and the force application components can comprise two types; the transverse force applying part and the longitudinal force applying part are preferably arranged in a manner of being additionally arranged so as to enable the guide wheel to be tightly attached to the U-shaped rib to be welded and the bottom plate to be welded. The two mounting modes of the force application parts are also two, namely, a longitudinal force application part is movably mounted on the rack 1, a transverse force application part is movably mounted on the longitudinal force application part, a guide wheel is mounted on the transverse force application part, and the transverse force application part finally drives the guide wheel to abut against the U-shaped rib to be welded and the bottom plate to be welded; the other mode is that the transverse force application part is movably arranged on the frame, the longitudinal force application part is movably arranged on the transverse force application part, the guide wheel is arranged on the longitudinal force application part, and the longitudinal force application part finally drives the guide wheel to abut against the U rib to be welded and the bottom plate to be welded. Both the two modes can be designed and processed according to actual requirements. The embodiment of the present invention disclosed in fig. 1 to 7 is the second embodiment described above.

Specifically, the transverse force application member comprises a transverse moving part 2 and a transverse driving device 3; one end of the transverse driving device 3 is a fixed end and is fixedly connected to the rack 1, and the other end of the transverse driving device is a driving end and is connected to the transverse moving part 2; the longitudinal force application part is arranged on the transverse moving part; the transverse driving device 3 drives the transverse moving part 2 to freely move in the horizontal direction, and further drives the longitudinal force application member to freely move in the horizontal direction.

The longitudinal force application part comprises a longitudinal moving part 4 and a longitudinal driving device 5; one end of the longitudinal driving device 5 is a fixed end and is fixedly connected to the transverse moving part 2, and the other end of the longitudinal driving device is a driving end and is connected to the longitudinal moving part 4; the guide wheel 7 is mounted on the longitudinal moving part 4; the longitudinal driving means 5 drives the longitudinal moving portion 4 to freely move in the vertical direction.

In an embodiment of the guiding device of the external welding machine disclosed by the present invention, as shown in fig. 1 to 9, specifically, the guiding device includes: the welding device comprises a frame 1, a transverse moving part 2, a transverse driving device 3, a longitudinal moving part 4 and a longitudinal driving device 5, wherein a welding gun 6 is arranged on the guiding device; wherein, the frame 1 is arranged on the lower cross beam 102; the transverse moving part 2 is movably connected to the rack 1; one end of the transverse driving device 3 is fixedly connected to the frame 1, the other end of the transverse driving device is connected to the transverse moving part 2, and the transverse driving device drives the transverse moving part 2 to move freely in a direction perpendicular to the length direction of the U-shaped rib 100 to be welded in a horizontal plane; the longitudinal moving part 4 is movably connected to the transverse moving part 2; one end of the longitudinal driving device 5 is fixedly connected to the transverse moving part 2, and the other end of the longitudinal driving device is connected to the longitudinal moving part 4, and the longitudinal driving device drives the longitudinal moving part 4 to move freely in the vertical direction; the welding gun 6 is arranged on the longitudinal moving device; the longitudinal moving part 4 is provided with a guide wheel 7, in the working process, the guide wheel 7 can simultaneously and tightly cling to the outer side wall of the U rib 100 to be welded and the bottom plate 101 to be welded under the combined action of the transverse driving device 3 and the longitudinal driving device 5, and meanwhile, the guide wheel 7 is not in contact with the fillet weld to be welded between the U rib 100 to be welded and the bottom plate.

The above-described frame 1 is substantially a single support member for mounting the components such as the traverse section 2, the traverse driving device 3, the longitudinal moving section 4, the longitudinal driving device 5, and the welding torch 6, and the configuration is not limited to one, and the entire guide device can be mounted on the bottom or the side of the welding apparatus via the frame 1 for the welding operation. In the above technical solution, the transverse moving part 2 and the longitudinal moving part 4 are matched to drive the guide wheels 7 installed on the longitudinal moving part 4 to always and simultaneously cling to the outer side wall of the to-be-welded U rib 100 and the to-be-welded bottom plate 101 in the working process, here, one or two guide wheels 7 may be provided on both sides of the to-be-welded U rib 100, and if the two guide wheels 7 are provided, one guide wheel clings to the outer side wall of the to-be-welded U rib 100, and the other guide wheel clings to the surface of the to-be-welded bottom plate 101. In order to ensure the effect of 'clinging', the force is continuously applied by the transverse driving device 3 and the longitudinal driving device 5 in the horizontal direction and the vertical direction respectively, however, the guide wheel 7 is not contacted with the fillet weld to be welded between the U rib 100 to be welded and the bottom plate, so that the guide wheel 7 is ensured not to pass through the fillet weld in the moving welding process, namely, the guide wheel is not guided through the included angle formed by the U rib 100 to be welded and the bottom plate 101 to be welded, the influence of the welding point bulge of the temporary positioning welding on the guide wheel 7 is avoided, the shaking of the welding gun 6 is avoided, the welding deviation is avoided, and the welding quality is improved.

In another preferred embodiment of the guide wheel 7, the guide wheel 7 mounted on one of the longitudinally moving parts 4 is one, and the structural shape of the guide wheel is as shown in fig. 8, the middle part of the guide wheel 7 is circumferentially concave to form a concave part 71, the two sides of the guide wheel are formed with circumferential convex rims 72, and the mounting angle of the guide wheel 7 is matched with the included angle formed by the to-be-welded U rib 100 and the to-be-welded bottom plate 101; when the welding device works, the convex wheel rims 72 on the two sides are respectively clung to the outer side wall of the U rib 100 to be welded and the upper surface of the bottom plate 101 to be welded. Under the structure, the guide wheel 7 is obliquely arranged, the flanges 72 at two sides and the middle sunken part 71 are tightly attached to the U-shaped rib 100 to be welded and the bottom plate 101 to be welded, the sunken part 71 just crosses over the fillet weld, when a temporary welding point exists in the fillet weld, the welding point can pass through the sunken part 71 after the guide wheel 7 passes through, and then the guide wheel 7 can not receive the influence of the bulge of the welding point, the tracking precision is improved, and the welding quality is improved.

Specifically, the number of the transverse moving portion 2, the number of the longitudinal moving portion 4, and the number of the welding guns 6 are two, so that fillet welds on both sides of the U-shaped rib can be welded simultaneously during welding operation, and welding efficiency is improved. The two longitudinal moving parts 4 are respectively arranged on the two transverse moving parts 2, each transverse moving part 2 is driven by one transverse driving device 3, and each longitudinal moving part 4 is driven by one longitudinal driving device 5; the two welding guns 6 are respectively arranged on the two longitudinal moving devices; during operation, the two longitudinal moving portions 4 straddle the two sides of the U rib 100 to be welded.

As shown in the drawings, in an embodiment of the rack 1, the rack may include a first connecting plate 11 vertically arranged, two rows of guide rails 10 vertically arranged at intervals and extending in a horizontal direction are mounted on one side of the first connecting plate 11, and a guide groove adapted to the guide rail 10 is provided on each of the two lateral moving portions 2; two transverse driving device 3 is first cylinder, two first cylinder is from top to bottom side by side and relative arrangement (as shown in fig. 7), and the horizontal direction is all followed to flexible direction, two the stiff end of first cylinder all install in on the first connecting plate 11, flexible end respectively with one of them transverse movement portion 2 is connected, two when first cylinder stretches out, the drive is two transverse movement portion 2 keeps away from, two during the shrink of first cylinder, the drive is two transverse movement portion 2 is close to. In the specific embodiment, the transverse driving device 3 is an air cylinder, so that the telescopic control can be conveniently carried out, the installation forms are arranged oppositely, the layout is compact, the space is saved, and after the two air cylinders ventilate from the rod cavity, the clamping force of the two sides of the U rib in the horizontal direction can be continuously applied in the welding process so as to ensure the tight adhesion; through the upper and lower rows of guide rails 10, the friction force can be reduced as much as possible, and the tracking precision can be further improved.

The rack 1 further comprises a horizontal mounting plate 12, the horizontal mounting plate is fixedly connected with the first connecting plate 11 to form an L-shaped structure, a pressing oil cylinder and a plurality of guide posts 8 which are arranged in the vertical direction are mounted above the horizontal mounting plate 12, and the rack 1 is connected with the welding equipment through the pressing oil cylinder and the guide posts 8; a plurality of pinch rollers 9 are installed below the horizontal installation plate 12, when the horizontal installation plate works, the press-down oil cylinder drives the rack 1 to move up and down along the guide columns 8, and the pinch rollers 9 can press the outer side wall of the U rib 100 to be welded. Through the cooperation of horizontal connection board and the vertical first connecting plate 11 of arranging, can integrate pinch roller 9 and leading wheel 7 on a device jointly, at the welded in-process, realize treating compressing tightly of welding U rib 100 through pinch roller 9, ensure to treat welding U rib 100 with treat that welding bottom plate 101 closely laminates and position relatively fixed, the continuous tracking of rethread tracking wheel, realize accurate the guiding to butt welder 6, whole device has just constituted a unified whole, the cooperation jointly, finally realize high-quality welding effect.

In a preferred embodiment, the lateral moving part 2 further includes a second connecting plate 21, an upper end plate 22 and a lower end plate 23 (as shown in fig. 7), the second connecting plate 21 is vertically disposed, the upper end plate 22 and the lower end plate 23 are respectively fixed on the top and the bottom of the second connecting plate 21, two vertical guide rods 24 are disposed between the upper end plate 22 and the lower end plate 23, the two guide rods 24, the second connecting plate 21, the upper end plate 22 and the lower end plate 23 form a frame, and a vertically disposed second cylinder, which is the longitudinal driving device 5, is installed in the frame. The lower end plate 23 is provided with a through hole 25, the fixed end of the second cylinder is fixed on the second connecting plate 21, and the telescopic end passes through the through hole 25 and is connected with the longitudinal moving part 4; the longitudinal moving part 4 is provided with a guide block 41 matched with the guide rod 24, and when the device works, the second air cylinder drives the longitudinal moving part 4 to move up and down along the guide rod 24. Under the structural form of the transverse moving part 2, one side of the second connecting plate 21 which is vertically arranged is slidably mounted on two slide rails, the other side of the second connecting plate forms a frame, a vertically-arranged second cylinder is arranged in the second connecting plate, and the second cylinder is connected through an upper end plate 22 and a lower end plate 23, so that the whole transverse moving part 2 is simple and ingenious in structure, easy to mount and implement, capable of greatly saving space, and greatly helpful for the layout utilization of the whole equipment space.

In a preferred embodiment of the longitudinal moving part 4, the longitudinal moving part 4 further comprises a first vertical plate 42, a second vertical plate 43, a connecting bottom plate 44 and a mounting frame 45 (as shown in fig. 7); the first vertical plate 42 and the second vertical plate 43 are vertically and fixedly connected with each other, the connecting bottom plate 44 is fixedly connected to the bottoms of the first vertical plate 42 and the second bottom plate, the first vertical plate 42, the second vertical plate 43 and the connecting bottom plate 44 form a surrounding structure, and a plurality of guide blocks 41 are fixedly mounted on the inner walls of the first vertical plate 42 and/or the second vertical plate 43 respectively; the mounting bracket 45 is fixedly mounted at the bottom of the connecting bottom plate 44, and the guide wheel 7 and the welding gun 6 are mounted on the mounting bracket 45. The first vertical plate 42, the second vertical plate 43 and the connecting bottom plate 44 form a surrounding mechanism, which supports each other to ensure that there is enough force to support the welding gun 6 and other parts, and can protect the second cylinder.

Under the structure, the transverse moving part 2 and the longitudinal moving part 4 are mutually matched to form a mechanical synchronous tracking mechanism, so that the mechanical synchronous tracking mechanism has compact structure and stable precision, eliminates the inevitable measuring error of an electronic sensor and ensures the tracking precision of the tracking device.

A preferred embodiment of the mounting bracket 45 is that the mounting bracket 45 is a horizontal L-shaped structure, and includes a horizontal connection section and a vertical connection section, the horizontal connection section is fixedly connected to the bottom of the connection bottom plate 44, and is horizontally arranged along the walking direction of the welding device, an installation space is formed below the horizontal connection section and between the vertical connection sections, and the guide wheel 7 is installed on the vertical connection section.

In order to accurately adjust the position and angle of the welding gun 6, a fine adjustment device 80 is installed below the horizontal connection section, and the welding gun 6 is installed on the fine adjustment device 80. Before the U-rib outer welding construction, the position and the inclination angle of the outer welding gun 6 head in the horizontal direction and the height direction are independently adjusted through a manual fine adjustment device 80.

In a specific embodiment of the fine adjustment device 80, as shown in fig. 12 and 13, the fine adjustment device 80 includes a horizontal adjustment module 80a for adjusting the horizontal position of the welding gun 6, a vertical adjustment module 80b for adjusting the vertical position of the welding gun 6, and an angle adjustment module 80c for adjusting an included angle between the welding gun 6 and a vertical plane, and the horizontal adjustment module 80a, the vertical adjustment module 80b, and the angle adjustment module 80c are connected in series.

Specifically, the horizontal adjustment module 80a includes a horizontal screw 801, a horizontal guide rod 803, and a horizontal slider 802; the horizontal sliding block 802 is provided with a threaded hole matched with the horizontal screw 801 and a horizontal guide hole matched with the horizontal guide rod 803; the horizontal screw 801 is rotated, and the horizontal slide block 802 drives the welding gun 6 to move in the horizontal direction by using the transmission principle of a screw nut. The vertical adjusting module 80b comprises a vertical screw 804, a vertical guide rod 806 and a vertical sliding block 805; a threaded hole matched with the vertical screw 804 and a vertical guide hole matched with the vertical guide rod 806 are formed in the vertical sliding block 805; the vertical screw 804 is rotated to drive the welding gun 6 to move in the vertical direction through the vertical slide block 805. The angle adjusting device comprises a worm wheel 807 and a worm 808; the worm 808 is rotated to drive the welding gun 6 to rotate in a vertical plane through the worm wheel 807.

The horizontal adjusting module 80a, the vertical adjusting module 80b and the angle adjusting module 80c respectively control the movement of the welding gun 6 in three degrees of freedom, namely horizontal, vertical and swing angles, and then can accurately position and adjust the gun head of the welding gun 6 under the combined action of the three modules so as to meet the welding distance requirements under different welding processes, and the adjusting precision is very high and even can reach a micron level. The three modules are compact in structure, can save space and are easy to implement. In addition, it is understood that the three modules are connected in series, but the order may be interchanged.

In the above embodiment, the lateral driving device 3 and the longitudinal driving device 5 are both air cylinders, and in other embodiments, both springs or one spring and one air cylinder may be used. The purpose of either the spring or the cylinder is to apply a continuous force to the tracking wheel in a predetermined direction to ensure that the tracking wheel abuts against the U-rib 100 to be welded and the bottom plate 101 to be welded in both horizontal and vertical directions. Compared with the prior art, the air cylinder is adopted as the preferred mode, because the transverse moving part and the longitudinal moving part are in a loose state when the air source is disconnected before the welding operation is started, the pressing and positioning of the guide device are facilitated, and the air source is started after the air source is in place, so that the clamping force can be continuously generated for the welding operation; after the welding operation is finished, the air source is cut off, the transverse moving part and the longitudinal moving part become loose states again, and the welding equipment can be conveniently withdrawn.

In the guide 1001 of the present invention, the guide wheel 7 is always pressed against the outer side wall of the U-rib 100 to be welded and the base plate 101 to be welded at the same time. In the process of welding while moving, the position change of the outer fillet weld of the area to be welded can be tracked in real time.

In the moving welding process, through the continuous thrust of the transverse driving device 3 (a first cylinder) and the longitudinal driving device 5 (a second cylinder), the guide wheels 7 in the guide device are respectively abutted against the outer side wall of the U rib 100 to be welded and the bottom plate 101 to be welded, and when the side wall of the U rib 100 to be welded is locally deformed, the guide wheels 7 abutted against the outer side wall of the U rib 100 to be welded transmit the horizontal displacement change to the gun head of the welding gun 6; when the bottom plate 101 to be welded is locally deformed, the guide wheel 7 which is in contact with the bottom plate 101 to be welded transmits the height displacement change to the gun head of the welding gun 6; and then follow the position change of outer welding seam in time from horizontal displacement and high displacement two dimensions, improve the accuracy of tracking location, and then ensure that 6 heads of outer welding gun aim at the exterior fillet weld all the time.

Before the U rib and the bottom plate are welded, the U rib and the bottom plate need to be subjected to spaced temporary positioning welding on the outer side fillet weld of the U rib, so that weld bulges arranged at intervals are formed, or assembly errors cause local deformation of the U rib and the bottom plate, so that in the continuous moving welding process, the tracking head can shake or deviate, the outer welding gun head is driven to synchronously shake and deviate, and finally the outer weld is easy to weld partially, and the full penetration of the U rib fillet weld is influenced. In the external welding machine provided by the invention, the guide device 1001 with the guide wheel 7 is arranged, the guide wheel 7 is not in rigid conflict with the welding line to be welded all the time, the shaking of the external welding gun 6 head caused by the protrusion of the temporary positioning welding line is avoided, the welding deviation of the welding line is effectively prevented, a solid foundation is laid for realizing the full penetration of the welding line of the U-ribbed corner, and the welding quality of the steel box girder is greatly improved.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A U-rib welding system is characterized by comprising an inner welding machine, an outer welding machine, a traveling rail and a rack;

the internal welding machine comprises a host, a connecting rod and an internal welding robot, wherein one end of the connecting rod is connected with the host, and the other end of the connecting rod is connected with the internal welding robot;

the external welding machine comprises a portal frame and a plurality of welding executing parts arranged on the portal frame; the welding executing parts are arranged side by side, and the distance between the welding executing parts is adjustable;

the inner welding machine and the outer welding machine both travel along the traveling track;

and the inner welding machine and the outer welding machine respectively complete the welding operation of the inner corner joint and the outer corner joint of the to-be-welded U rib and the to-be-welded bottom plate which are arranged on the rack.

2. A U-rib welding system according to claim 1 wherein said outer welder further comprises a depressing beam, a traveling device and a depressing drive device;

the traveling device is arranged at the lower part of the portal frame and can travel along the traveling track;

the walking track is fixedly arranged on the ground or the fixed frame;

the pressing cross beam is movably arranged on the portal frame and moves up and down under the driving of the pressing driving device;

the plurality of welding execution parts are all installed on the pressing cross beam.

3. A U-rib welding system according to claim 1 wherein said welding performing portion includes a welding gun and a guide, said welding gun being mounted on said guide, said guide being provided with a guide wheel;

the guide wheel comprises a U rib abutting part used for abutting against the U rib to be welded and a bottom plate abutting part used for abutting against the bottom plate to be welded, and a space corresponding to the position of a fillet weld formed between the U rib to be welded and the bottom plate to be welded is arranged between the U rib abutting part and the bottom plate abutting part, so that the guide wheel is not in contact with the fillet weld when in work.

4. A U-rib welding system according to claim 3 wherein flexible links or flexibly linked rigid links are provided in said space so that said guide wheels are in non-rigid contact with said corner joints during operation.

5. A U-rib welding system according to claim 3 wherein said guide means further comprises a force applying assembly on which said guide wheel is mounted;

when the welding machine works, the force application assembly drives the U rib abutting part to be in pressure abutting joint with the U rib to be welded, and/or the force application assembly drives the bottom plate abutting part to be in pressure abutting joint with the bottom plate to be welded.

6. A U-rib welding system according to claim 5 wherein said force application assembly comprises a transverse force application member and/or a longitudinal force application member;

the transverse force application piece is used for driving the U rib abutting part to abut against the U rib to be welded in a pressure mode;

the longitudinal force application piece is used for driving the bottom plate abutting part to abut against the bottom plate to be welded in a pressure mode.

7. A U-rib welding system as claimed in claim 6 wherein said guide means further includes a frame, said longitudinal force applying member being movably mounted to said frame, said transverse force applying member being movably mounted to said longitudinal force applying member, said guide wheels being mounted to said transverse force applying member.

8. A U-rib welding system as claimed in claim 6 wherein said guide means further includes a frame, said transverse force applying member being movably mounted to said frame, said longitudinal force applying member being movably mounted to said transverse force applying member, said guide wheels being mounted to said longitudinal force applying member.

9. A U-rib welding system according to claim 8 wherein said transverse force applying member comprises a transverse moving portion and a transverse driving means;

one end of the transverse driving device is a fixed end and is fixedly connected to the rack, and the other end of the transverse driving device is a driving end and is connected to the transverse moving part;

10. A U-rib welding system according to claim 9 wherein said longitudinal forcing member comprises a longitudinal moving portion and a longitudinal driving means;

the guide wheel is arranged on the longitudinal moving part;

11. A U-rib welding system according to claim 10 wherein said frame includes a first vertically disposed connecting plate having a horizontally extending rail mounted to one side thereof, said lateral moving portion being slidably connected to said rail;

12. A U-rib welding system according to claim 11 wherein said lateral moving portion further comprises a second connecting plate, an upper end plate and a lower end plate, said second connecting plate being vertically disposed, said upper end plate and said lower end plate being fixed to an upper portion and a lower portion of said second connecting plate, respectively, a vertical guide bar being provided between said upper end plate and said lower end plate, said guide bar forming a frame with said second connecting plate, said upper end plate and said lower end plate, in which said longitudinal driving means is vertically disposed.

13. A U-rib welding system according to claim 12 wherein said longitudinal driving means is a second cylinder, said lower end plate is provided with a through hole, a fixed end of said second cylinder is fixed to said second connecting plate, and a telescopic end passes through said through hole and is connected to said longitudinal force application member; when the device works, the second air cylinder drives the longitudinal force application piece to move up and down along the guide rod.

14. A U-rib welding system according to claim 13 wherein said longitudinal moving portion further comprises a first upright, a second upright, a connecting base and a mounting bracket; the first vertical plate and the second vertical plate are mutually perpendicular and fixedly connected, the connecting bottom plate is fixedly connected to the bottoms of the first vertical plate and the second bottom plate, the first vertical plate, the second vertical plate and the connecting bottom plate form a surrounding structure, and a guide block matched with the guide rod is arranged in the surrounding structure; the mounting bracket is fixedly mounted at the bottom of the connecting bottom plate, and the guide wheel is mounted on the mounting bracket.

15. A U-rib welding system according to claim 14 wherein said mounting bracket is a horizontal "L" shaped structure comprising a horizontal connecting section and a vertical connecting section, said horizontal connecting section is fixedly connected to the bottom of said connecting base plate and horizontally arranged along the traveling direction of the welding device, a mounting space is formed below said horizontal connecting section and between said vertical connecting sections, and said guide wheel is mounted on said vertical connecting section.

16. A U-rib welding system as claimed in claim 15 wherein said mounting bracket is provided with a welding gun mounting location, said welding gun being mounted on said mounting bracket.

17. A U-rib welding system as claimed in claim 16 wherein a fine adjustment means is mounted below said horizontal connector section and said welding gun is mounted on said fine adjustment means.

18. A U-rib welding system according to any one of claims 5 to 17 wherein said force applying assemblies are in two sets, and said guide wheels are in two sets respectively mounted on said force applying assemblies;

19. A U-rib welding system according to any one of claims 3 to 17 wherein said U-rib abutment and said base plate abutment are rollers, and wherein said rollers are connected together by a fixing member.

20. A U-rib welding system according to any one of claims 3 to 17 wherein the rolling surface of said guide wheel is recessed in the middle in the circumferential direction thereof to form a recessed portion, and two flanges are formed on both sides to be raised in the circumferential direction, one of said flanges being said U-rib abutting portion and the other being said bottom plate abutting portion.

21. A U-rib welding system according to any one of claims 11 to 17 wherein said frame further comprises a horizontal mounting plate, said horizontal mounting plate being fixedly connected to said first connecting plate to form an "L" shaped structure, said horizontal mounting plate having a screw down device and a plurality of vertically disposed guide posts mounted thereon, said frame being connected to said welding apparatus via said screw down device and said guide posts; a plurality of pinch rollers are installed below the horizontal installation plate, when the horizontal installation plate works, the pressing device drives the rack to move up and down along the guide columns, and the pinch rollers can press the outer side wall of the U rib to be welded.