CN113369740B - Steel plate double-side lap welding system and method - Google Patents

Abstract

The invention relates to a double-sided lap welding system for a steel plate, in particular to a lap welding system for a rib plate and a steel bar on box-shaped steel, which at least comprises the following components: the box-shaped steel is fixedly positioned on the ground in a vertical column manner; at least one rib plate which is respectively fixed on different side walls of the box section steel, and the plate body of the rib plate extends out of the box section steel; at least one steel bar, wherein part of the steel bar body can be placed on the rib plate; and a welding device, wherein the welding device performs a welding operation on a position to be welded formed between the reinforcing steel bar and the rib plate in a manner that the welding device is supported on the box-shaped steel in a non-wall-contact manner.

Description

Steel plate double-side lap welding system and method

Technical Field

The invention relates to the technical field of automatic welding, in particular to a steel plate double-face lap welding system and method.

Background

The box-type steel structure has the advantages of light dead weight, good plasticity and toughness, short construction and installation period and the like, and is more and more widely applied in the fields of steel structure buildings, bridges and the like. Taking a national stadium bird nest as an example, the unique structure of the bird nest is formed by welding box-shaped steel, and the excellent structural characteristics and good mechanical properties of the box-shaped steel are proved. The application of the box-type steel structure needs two links of workshop manufacturing and field installation, and welding is an extremely important technology in the box-type steel connecting process no matter in which link.

Along with the development of the manufacturing industry to the direction of automation and intellectualization, more and more welding robot systems are put into production and application, and the welding automation level is continuously improved. At the workshop manufacturing link of case shaped steel, operational environment is better relatively, and the operating mode is simple fixed, and the task is clear and definite, does not need to remove on a large scale usually, and the workshop manufacturing of case shaped steel is all applied to most of welding machines people, and welding degree of automation is higher, can guarantee manufacturing accuracy and welding quality, has had multiple automatic welding robot equipment and system home and abroad, like the GDC series all-position automatic welding robot of Beijing petrochemical institute research and development. However, in a construction and installation site, due to the complexity of a site environment and the bad welding conditions, manual welding is mainly used at present, so that the welding process is easily influenced by environment and human factors, the stability of the welding quality is difficult to guarantee, the service life of a steel structure building is seriously influenced by possible welding defects, potential hidden dangers of accidents are buried, workers often need to hang high above the ground for welding operation, and the personal safety is greatly threatened, so that the problems of low welding automation degree, insufficient joint quality stability, high labor intensity of the workers, high dangerousness of high-altitude operation and the like generally exist in the welding of the installation site of the box-type steel structure.

With the continuous development of industrial technology, the application of large-scale welding structures in engineering is increasing day by day, and a large amount of welding operations must be carried out on installation sites, such as subway stations, large ship cabins, ship decks, large spherical tanks, box-type column beams and the like. The automation of the welding operation of the installation site has important significance for improving the welding efficiency and the welding quality, and the site welding robot has the characteristics of simple mechanism, strong adaptability, capability of carrying out the welding operation in a non-structural environment and the like, and is the best mode for improving the production efficiency and the welding quality for the site welding operation, so the site welding robot for the box steel structure, which is suitable for high-rise buildings and bridge construction, is researched and developed aiming at the structural characteristics of the box steel, the diversification of the spatial position of the installation site and the complexity of the welding process, and has wide development and application prospects.

The field welding robot is generally composed of a robot body, a welding torch fine adjustment mechanism, a welding seam tracking sensor, a controller, a welding system and the like. The field welding robot is generally divided into two types, namely a rail type and a trackless type, and the rail type is divided into a rigid guide rail and a flexible guide rail.

The rigid guide rail welding robot is to install a rigid guide rail around a workpiece to be welded, and a trolley carrying a welding gun moves on the guide rail to weld a weld joint to be welded. The robot is relatively mature automatic pipeline all-position welding equipment, and related products are produced by multiple companies such as American CRC, German VIETZ, VerAWE LD in the Netherlands and the like. In the prior art, like an engaged guide rail pipeline welding robot mechanism developed by Beijing petrochemical industry institute, a walking mechanism of the engaged guide rail pipeline welding robot mechanism walks along a guide rail under the driving of a motor, and the all-position welding of the pipeline is realized through the matching of the guide rail and the pipeline. The rectangle stand of the main part engineering of national sports center bird's nest comprises the big type box-section steel of thick wall board, needs multilayer multiple pass welding, and Beijing petrochemical industry institute has researched and developed a rigidity straight rail formula welding robot for the steel construction welding of bird's nest. The robot uses an aluminum light rigid guide rail, the welding trolley and the rail are in gear and rack transmission, the welding gun is loaded on the vehicle body, the welding gun is provided with a two-dimensional attitude adjusting module and a welding gun swinging module, and the robot has the functions of welding seam track teaching, welding parameter storage and memory, welding power supply linkage control and the like, and can solve the problem of welding of steel structures with thick walls and long welding seams and various welding positions.

Rigid guide rail robot is high to the shape requirement of waiting to weld the work piece, and circular pipeline or plane usually is difficult to satisfy the complicated various demands of steel construction shape, and for this reason, Beijing petrochemical industry academy of science develops flexible track robot on rigid orbital basis, has significantly reduced the restriction of track to welding robot application. The flexible track uses the magnetic force seat fixed track that can demagnetize, and easy to assemble dismantles, and track length can be customized wantonly, and the robot transmission adopts the friction method, operates steadily, can adapt to the change of different curvatures, is superior to rack and pinion driven welding robot. In addition, the robot also has a memory function, welding parameters can be modified, and the robot is suitable for welding under different conditions. Through compatible adoption of the rigid track and the flexible track, the welding task that the robot can complete is greatly expanded, and the welding task comprises the welding of an outer circular pipeline circular seam, the welding of an inner circular pipeline, the welding of inner and outer spherical surfaces, the straight seam welding of a structural member and a storage tank, the welding of an S-shaped gradually-changed complex curved surface, the welding of a W-shaped complex welding seam track and the like.

In view of the field installation problem of rails, rail-less welding robots have now been developed. The non-guide rail welding robot adopts wheel type, crawler type or wheel-track combined type transmission to replace a guide rail, can adapt to various smooth surfaces, can realize all-position stable crawling in various spaces, and partial robots even have developed the capability of crossing edges and corners. In order to solve the welding problem of the lattice-shaped frame body in the ship body, a small-sized wheeled intelligent mobile welding robot has been developed by Kam B0 and the like of Korea Pukyo ng national university, can autonomously realize the welding process in a narrow space which is difficult to reach by people, and can automatically find the starting point of a welding seam. When meeting the corner welding seam of the lattice frame, the positions of the robot body and the cross slide block can be automatically adjusted under the conditions that the welding speed is unchanged and the welding torch is accurately aligned with the welding seam. The robot body adopts a 4-wheel walking mechanism, 2 driving wheels are arranged on the side surface, and 1 self-aligning wheel is respectively arranged at the front and the rear of the robot body so as to stabilize the vehicle body and enable the welding trolley to rotate; a mechanical contact sensor is provided on each of the carriage body and the torch, the position of the torch is detected by the torch sensor, and the position of the torch sensor is compensated by the carriage body sensor. A proximity sensor is also arranged on the side surface of the robot and used for detecting a welding starting point; the control strategy adopts fuzzy control and PID combined control.

At present like the welding robot who is applicable to box steel as above, mostly all provide for solving the steel construction welding demand on the box steel body. When the subway or large-scale infrastructure is built, mostly all adopt the box steel construction as supporting major structure, generally can stretch out some gusset and be used for the welding of overlap joint reinforcing bar on the lateral wall of these box steel constructions, and as above-mentioned welding robot can't satisfy this type of overlap joint welding demand. For ease of understanding, several prior art examples disclosing solutions in specific detail are described below.

In the prior art, an automatic welding system for steel bars is proposed in patent document CN112643257A, which is generally used in the prior art: a gantry-type structure is provided to support the back and forth movement of the welding robot to achieve a multi-position welding configuration.

The portal frame type welding device is suitable for a welding device to be welded with low height well, can process a large number of same welding devices to be welded in batches, is usually only suitable for welding work in a workshop due to limiting factors such as a pre-paved rail and a frame erection body, is high in vertical height of a box-type steel structure, cannot accommodate welding equipment with large operation space requirements due to adjacent arrangement among a plurality of box-type steel, and is not suitable for welding requirements of a box-type steel construction site.

In view of the above-mentioned drawbacks, a great number of prior art have proposed wall-mounted welding structures, and for example, patent document CN107052518A proposes a trackless welding robot including a welding body for controlling a welding operation and a driving device for attracting a surface of a welding workpiece, the welding body being mounted on the driving device; the driving device comprises a bottom plate and magnetic wheel boxes uniformly distributed at four corners of the bottom plate, and magnetic wheels used for being adsorbed on the surface of a welding workpiece are arranged in the magnetic wheel boxes.

However, in this technical solution, the structure of the magnetic wheel and the welded part are all point contacts, and the adsorption force is poor, so that the risk of falling easily occurs. To overcome the defects of the technical scheme of the adsorption wall-mounted welding, patent document with publication number CN103537785B proposes a wall-mounted automatic submerged arc horizontal welding device, which comprises a power supply system, a welding device body system for automatic welding and a control system for controlling the welding device body system to perform welding, wherein the welding device body system comprises a frame body frame, a walking power device, a guide rail for the frame body frame to slide, a wire feeding mechanism for feeding a welding wire and a welding gun, the guide rail is fixedly arranged on the wall surface of a workpiece to be welded, and the walking power device, the wire feeding mechanism and the welding gun are fixedly arranged on the frame body frame.

However, in the implementation of the technical scheme, a guide rail must be preset on the wall surface of the workpiece to be welded, and the workpiece is dismantled after the welding is finished; in addition, in the welding process, the welding equipment is only positioned on one side and needs to move back and forth, so that the workpiece to be welded is subjected to unbalanced external force to generate local deformation or even unstable gravity center to incline, and meanwhile, the stability of the track needs to be enough to support the welding equipment and move, so that the irreversible influence on the workpiece to be welded is difficult to avoid in the installation and use processes of the track; in addition, with this technical scheme, wire feeder, flux recovery system and walking power device all fix on waiting to weld the work piece with welder jointly, have aggravated the degree of difficulty and the unstability of waiting to weld the work piece when manual assembly.

Furthermore, on the one hand, due to the differences in understanding to the person skilled in the art; on the other hand, since the applicant has studied a great deal of literature and patents when making the present invention, but the disclosure is not limited thereto and the details and contents thereof are not listed in detail, it is by no means the present invention has these prior art features, but the present invention has all the features of the prior art, and the applicant reserves the right to increase the related prior art in the background.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a steel plate double-sided lap welding system, in particular to a system for lap welding between a reinforcing plate and a reinforcing steel bar on box-shaped steel, which at least comprises: box-shaped steel fixed on the ground in a column type; at least one rib plate which is respectively fixed on different side walls of the box section steel, and the plate body of the rib plate extends out of the box section steel; at least one steel bar, wherein part of the steel bar body can be placed on the rib plate; and a welding device, wherein the welding device performs a welding operation on a position to be welded formed between the reinforcing steel bar and the rib plate in a manner that the welding device is supported on the box-shaped steel in a non-wall-contact manner.

Compared with the prior art adopting a portal frame type structure, a trackless welding structure and an adsorption type welding structure, in the steel plate double-sided lap welding system provided by the application, the welding device is supported and arranged on an object to be welded in a non-adherence mode, so that the welding operation is carried out on the position to be welded on the object to be welded. Under this setting, this application is different from among the prior art if be independent of the technical scheme who waits to weld the object and erect the portal frame, the welding set that this application provided directly supports with the help of waiting to weld the stability realization of object, can be applicable to better waiting to weld the welding task of the higher box steel construction in position to directly support on the box steel construction, reduced the required space of welding, can operate between a plurality of box steel that the operating space that can provide is limited in adjacent arrangement each other well. The non-wall-attachment type is relative to the wall-attachment type, and the wall-attachment type may refer to a manner similar to the preset rail type and the adsorption wall-attachment type proposed in the prior art, in which the center of gravity of the welding device is disposed on the side wall surface of the object to be welded. The non-wall-sticking type may also mean that a supporting point formed by supporting the device to be welded on the object to be welded is located on the central axis of the object to be welded. Under this setting, neither exist and adsorb the risk of dropping and the high cost problem that the wainscot exists, also avoided welding set to the at utmost and treated the stability problem and the manual assembly degree of difficulty that the welding object caused.

According to a preferred embodiment, the welding device comprises at least a rotating skeleton and a welding robot located on the rotating skeleton, the rotating skeleton is rotatably supported on the box section steel so that the welding robot can perform welding operations on different positions to be welded on different side walls on the box section steel under the condition that the supporting position of the rotating skeleton is not changed.

According to a preferred embodiment, seted up first recess on the terminal surface of the top of box section steel, rotatory skeleton includes the guide block at least, and the guide block matches for incomplete shape with first recess, aims at the mode of pegging graft in first recess through the guide block and can tentatively fix a position welding set on box section steel.

According to a preferred embodiment, the rotating framework further comprises at least one first telescopic rod, the at least two first telescopic rods are arranged opposite to each other, and the welding device can be secondarily positioned in a manner that the first telescopic rods are driven to stretch and contract to enable the end portions of the first telescopic rods to abut against the side wall of the box-shaped steel.

According to a preferred embodiment, the rotary framework further comprises a robot bin and an electrical appliance bin which are respectively arranged on the frame body of the rotary framework in a weight matching mode.

According to a preferred embodiment, the rotating framework further comprises an upper rotating disk and a lower rotating disk which are arranged above the guide block and are rotatably connected with each other, and the lower rotating disk can be abutted and relatively fixed on the top end face of the box-shaped steel in a mode that the guide block is placed into the first groove.

According to a preferred embodiment, the robot cabin at least comprises a welding robot, a protective cover and an electric sliding table arranged in the protective cover, wherein the welding robot is connected to the electric sliding table in a sliding mode and used for welding a plurality of steel bars which are arranged in parallel.

According to a preferred embodiment, two ends of the steel bar are respectively placed on different rib plates corresponding to two box-shaped steels which are arranged at intervals.

Two positions to be welded distributed on the left side and the right side of the reinforcing steel bar are formed between the reinforcing steel bar and the rib plate, and the welding robot is configured to perform welding of all the positions to be welded on the same side and then perform welding of all the positions to be welded on the other side.

The application also provides a steel plate double-face lap welding method, which at least comprises the following steps: fixing and positioning the box-shaped steel on the ground in a vertical column manner; respectively fixing a rib plate on different side walls of the box-type steel; placing at least one steel bar on the rib plate; a position to be welded is formed between the reinforcing steel bar and the rib plate; supporting the welding device on the box-shaped steel in a non-wall-adhering manner; and controlling a welding device to perform welding operation on the position to be welded formed on the box-type steel.

The application also provides a two-sided overlap welding system of steel sheet, includes at least: the box-shaped steel is fixedly positioned on the ground in a vertical column manner; at least one rib plate which is respectively fixed on different side walls of the box section steel, and the plate body of the rib plate extends out of the box section steel; at least one steel bar, wherein part of the steel bar body can be placed on the rib plate; the welding device is characterized in that two sides of the side wall, where the rib plate is located, of the rib plate are respectively provided with a baffle plate, the welding device comprises a mechanical gripper and a welding robot, the mechanical gripper is suspended above the steel bar, the mechanical gripper can move the steel bar to a specified position in a first working posture by means of an optical path formed between the two baffle plates, and relatively fix the steel bar at the current position in a second working posture after the steel bar is released, so that the welding robot is assisted to weld the position to be welded, formed between the steel bar and the rib plate. Preferably, the first working attitude may refer to an attitude of the mechanical gripper that holds the bar, and the second working attitude may refer to an attitude of the mechanical gripper when not gripping any of the parts.

Drawings

FIG. 1 is a simplified overall frame structure schematic diagram of a preferred embodiment of a steel plate double side lap welding system provided by the present invention;

FIG. 2 is a simplified overall frame structure schematic of a preferred embodiment of the rotating gantry provided by the present invention;

FIG. 3 is a simplified top view schematic illustration of a preferred embodiment of the box section steel provided by the present invention;

FIG. 4 is a simplified partial frame structure schematic of a preferred embodiment of the box-type steel roof provided by the present invention;

FIG. 5 is a simplified structural schematic diagram of one side of a preferred embodiment robotic pod provided in accordance with the present invention;

FIG. 6 is a simplified structural schematic of the other side of the robotic pod of a preferred embodiment provided by the present invention;

FIG. 7 is a simplified structural schematic diagram of a preferred embodiment of the motion track and mechanical gripper provided in accordance with the present invention;

FIG. 8 is a simplified structural schematic of a preferred embodiment of the mechanical grip provided by the present invention;

fig. 9 is a simplified structural schematic diagram of a preferred embodiment of a mounting slot provided in the present invention.

List of reference numerals

1: box-shaped steel 2: and (3) reinforcing steel bars: welding device

4: the fitting plate 5: lower end surface 6: top end face

7: opening 8: first groove 9: lifting lug

10: side wall 11: rib plate 12: position to be welded

13: rotating the framework 14: robot bin 15: electrical equipment bin

16: the first support frame 17: second support bracket 18: third support frame

19: the rotary support 20: the guide block 21: supporting column

22: main frame 23: side frame 24: connecting rod

25: first telescopic link 26: the welding robot 27: electric sliding table

28: the protective cover 29: mounting frame 30: baffle plate

31: extension plate 32: the light emitter 33: optical path

34: the grasping mechanical arm 35: the visual recognition module 36: y-axis rail

37: first X-axis rail 38: second X-axis rail 39: mechanical gripper

40: second telescopic link 41: first clamp 42: second clamp

43: free end 44: first end face 45: clamping space

46: second end face 47: second groove 48: first rolling element

49: fitting groove 50: elastic member 51: ball base

52: first wall surface 53: second wall surface 54: third wall surface

Detailed Description

The following detailed description is made with reference to the accompanying drawings.

When a subway or a large-scale infrastructure is built, the box steel 1 structure is mostly adopted as a support main body structure, and rib plates 11 generally extend out of the side walls 10 of the box steel structures to be used for welding the lap joint reinforcing steel bars 2. The traditional method for welding the reinforcing steel bar 2 to the rib plate 11 is to manually weld the reinforcing steel bar by manpower, the welding strength is high for workers, the welding environment is outdoor, the manual welding is not suitable for hot weather, the manual welding efficiency and the welding quality are poor, and the welding labor cost is high. To this, this application has provided the two-sided lap welding system of steel sheet to the lap welding processing technology of structural gusset 11 of box section steel 1 and reinforcing bar 2, and this system possesses the function that can realize the two-sided lap welding between reinforcing bar 2 and the steel sheet in the air, is particularly useful for the construction installation site that the environment is complicated, and the lap welding robot of high automation can effectively avoid a great deal of drawbacks that manual welding leads to.

The application provides a two-sided overlap welding system of steel sheet, including box section steel 1, treat at least one reinforcing bar 2 and welding set 3 of overlap joint to box section steel 1.

The main part of box section steel 1 is the cuboid structure, and it is in upright gesture in reinforcing bar 2 welding process. The main portion of the box section steel 1 has a lower end face 5 and a top end face 6 distributed at both ends thereof in the length direction thereof. The lower end surface 5 of the main body portion of the box section steel 1 is provided with a mounting plate 4, and the mounting plate 4 is provided on the lower end surface 5 of the main body portion of the box section steel 1 so that the plate surface thereof is perpendicular to the longitudinal direction of the box section steel 1. The center of gravity of the plate body of the fitting plate 4 is located on an extension line of the center axis of the box section steel 1 in the length direction thereof, and the area of the plate surface thereof is larger than the area of the lower end surface 5 of the main body portion of the fitting plate 4, so that the box section steel 1 can be kept relatively stable in its entirety in such a manner that the fitting plate 4 can be stably fitted on the ground or a platform.

After the box steel 1 enters a construction site, the box steel can be fixed on the ground of the groove through an angle steel bracket, and the angle steel bracket is fixed on the ground through foundation bolts. The angle steel bracket is connected to the box section steel 1 through welding. The box section steel 1 remains relatively stable during the welding process.

The top end face 6 and the lower end face 5 of the main portion of the box section steel 1 are parallel to each other. The top end face 6 of the main body portion of the box section steel 1 is a non-completely closed shape provided with an opening 7. The main body portion of the box section steel 1 has a first groove 8 extending inwardly of the main body portion along the opening 7. The first groove 8 may be formed in a manner such that a hollow portion is formed in an imaginary cylindrical shape at the upper end of the main body portion of the box-shaped steel 1.

The lifting lug 9 is provided on at least one side wall 10 formed between the upper and lower end faces 5 of the main body portion of the box section steel 1. The lifting lug 9 is of a plate-shaped structure and is fixedly connected to the side wall 10 in a manner that the plate body of the lifting lug is perpendicular to the side wall 10. Four lifting lugs 9 are arranged on the main body part of the box-shaped steel 1, and the four lifting lugs 9 are respectively arranged on two side walls 10 which are opposite to each other on the main body part of the box-shaped steel 1 in pairs. Two lifting lugs 9 in pairs are respectively arranged on the two ends of the corresponding side wall 10, which are relatively close to the top end surface 6 of the main body part of the box steel 1. All the lifting lugs 9 have the same height relative to the main body part of the box steel 1.

The box section steel 1 further comprises at least one rib 11 for overlapping the reinforcement bars 2. The rib plate 11 is fixed to the main body portion of the box section steel 1 by welding in advance before welding. The rib plate 11 is arranged on the side wall 10 of the main body part of the box-shaped steel 1 between the upper end surface and the lower end surface 5. All the side walls 10 of the main body part of the box-type steel 1 are correspondingly provided with rib plates 11, and the height positions of the rib plates 11 on the main body part of the box-type steel 1 are fixed and consistent. The rib 11 extends in a direction away from the side wall 10 in such a way that its plate body is perpendicular to the side wall 10.

Preferably, each rib 11 can be relatively independent. Preferably, every two rib plates 11 can be connected to each other or both can be two-part plate bodies at different positions on the same mounting plate 4.

The reinforcing steel bars 2 are of a long-strip column structure, and at least one side wall 10 of the box-shaped steel 1 needs to be correspondingly lapped with a plurality of reinforcing steel bars 2.

For a single box-shaped steel 1, the side of each side wall 10 corresponds to a box-shaped steel 1, when the reinforcing steel bar 2 is lapped, two ends of the reinforcing steel bar 2 can be lapped on the two box-shaped steels 1 respectively, and relative fixation is realized through welding. The interval between every two opposite box-type steels 1 is limited, so that large welding equipment cannot be accommodated, and manual welding is often relied on.

For a single side wall 10 of the box section steel 1, a plurality of reinforcing bars 2 corresponding to the side wall 10 are overlapped on the rib plate 11 in such a manner as to be juxtaposed with each other with a certain interval left therebetween. A plurality of rib plates 11 are juxtaposed with each other in the width direction of the side wall 10. Part of the reinforcement body of the steel reinforcement 2 is lapped on the rib plate 11. The space reserved between the reinforcing bars 2 is used for allowing a welding part to enter so as to weld the position 12 to be welded formed between the reinforcing bars 2 and the rib plate 11 in the space. The space reserved between the reinforcing bars 2 cannot accommodate large-scale welding equipment.

Any reinforcing steel bar 2 is lapped on the rib plate 11, and a left position and a right position 12 to be welded between the rib body and the rib plate 11 are formed on two sides of the reinforcing steel bar 2. That is, when welding, double-side welding is required for the same reinforcing bar 2.

The welding device 3 is supported non-walling on the object to be welded for performing a welding operation on a position to be welded 12 on the object to be welded. Compared with the prior art, in the double-sided lap welding system for the steel plate, the welding device 3 is supported and arranged on the object to be welded in a non-adherent mode, so that the welding operation is carried out on the position 12 to be welded on the object to be welded. Under the setting, the technical scheme that the portal frame is erected independently of the object to be welded in the prior art is different from the technical scheme that the portal frame is erected independently of the object to be welded in the prior art, the welding device 3 provided by the application is directly and stably supported by means of the stability of the object to be welded, can be better suitable for the welding task of the box type steel 1 structure with the high position 12 to be welded, is directly supported on the box type steel 1 structure, reduces the space required by welding, and can be well operated among a plurality of box type steels 1 which are arranged adjacent to each other and can provide limited operation space. The non-wall-sticking type is referred to as a wall-sticking type, and the wall-sticking type may refer to a mode in which the center of gravity of the welding apparatus 3 is located on the surface of the side wall 10 of the object to be welded, similar to the preset rail type and the suction wall-sticking type proposed in the above-described related art. The above-mentioned non-wall-sticking type may also mean that the supporting point formed by supporting the device to be welded 3 on the object to be welded is located on the central axis of the object to be welded. Under the setting, the falling risk and the high cost problem existing in the adsorption wall sticking type do not exist, and the stability problem and the manual assembly difficulty caused by the welding device 3 to the object to be welded are avoided to the maximum extent.

The welding device 3 comprises a rotating framework 13, a robot bin 14 and an electrical appliance bin 15. The object to be welded and the workpiece to be welded are both referred to as box section steel 1 or box section steel 1 structure.

The robot compartment 14 and the electric compartment 15 are respectively disposed on both sides of the rotary frame 13 which are opposite to each other.

The rotating framework 13 at least comprises a first support frame 16, a second support frame 17 and a third support frame 18, and the first support frame 16 and the third support frame 18 are connected with each other through the second support frame 17.

One end of the first support frame 16 abuts on the top end face 6 of the box section steel 1 to provide a stable support effect for the whole welding device 3 by means of the box section steel 1.

The first support frame 16 at least comprises a rotary support 19 and a guide block 20 arranged below the rotary support 19. The guide block 20 is fixedly connected below the rotary support 19.

Since the top end face 6 of the box section steel 1 itself has a first groove 8 formed therein, the guide block 20 is pre-configured to be able to be placed in the first groove 8 so that the pivoting support 19 abuts on the box section steel 1. The swivel support 19 abuts on the top end face 6 of the box section steel 1 to form a support point or a support point of the welding device 3.

The guide block 20 can preferably be pre-configured as an inverted cone structure or other structure that does not form a positive fit completely with the first recess 8. The guide block 20 is not completely matched with the first groove 8 in shape, so that the requirement on the assembling accuracy when the welding device 3 is assembled is reduced, and the welding device 3 can be quickly matched to an approximate position for primary positioning. Although the guide block 20 is not completely matched with the first groove 8 in shape, the guide block 20 cannot move left and right in the horizontal direction relative to the first groove 8 after being inserted into the first groove 8. The inner shape of the first recess 8 does not influence the rotational movement of the guide block 20.

The swivel support 19 may be a disc-shaped structure. The swivel support 19 may comprise an upper swivel disc and a lower swivel disc rotatably connected to each other on the same central shaft. The lower turn disc will abut directly on the top end surface 6 of the box section steel 1. The friction between the lower rotary disc and the top end surface 6 of the box section steel 1 is large and is not easy to slide relatively.

The relative friction between the upper rotating disk and the lower rotating disk is small and relative sliding is easy to occur. The upper rotary disk can be driven to rotate relative to the lower rotary disk only by manual pushing. Through the relative rotation, the relative positions of the robot bin 14 and the electrical appliance bin 15 on the box-shaped steel 1 at the two sides of the rotating framework 13 can be changed, and positions to be welded 12 at different positions on the box-shaped steel 1 can be welded.

Four lateral walls 10 of box section steel 1 structure all have needs welded reinforcing bar 2, support 19 through the design gyration, can make whole welding set 3 can rotate, satisfy the 2 welding demands of reinforcing bar of four sides, just can accomplish the whole weldment work of the overlap joint reinforcing bar 2 of four lateral walls 10 of a box section steel 1 after once hoist and mount installation.

The first support frame 16 further comprises a support column 21 with one end fixedly connected to the upper part of the rotary support 19, and the other end of the support column 21 is used for connecting the second support frame 17.

The third support frame 18 includes a main frame 22 and two side frames 23 on both sides thereof. The main frame 22 forms a frame structure surrounding the box section steel 1, and has a hollow space penetrating up and down in the axial direction. This cavity allows the main frame 22 to rotate around the support point of the welding device 3 without touching the box steel 1 located in its cavity. The main frame 22 has a cavity large enough to ensure that the welding device 3 can smoothly perform relative rotation.

The two side frames 23 are used for assembling the robot compartment 14 and the electrical compartment 15, respectively.

The third support frame 18 is located below the first support frame 16, and two ends of the second support frame 17 are respectively connected to the top end of the first support frame 16 and the top end of the third support frame 18.

Preferably, the supporting columns 21 may be of a telescopic structure, and the height position of the side frames 23 relative to the box section steel 1 may be adjusted by controlling the extension and contraction of the supporting columns 21. Preferably, the third supporting frame 18 comprises at least one telescopic structure with a vertical telescopic direction, and the height position of the side frame 23 relative to the box steel 1 can be adjusted by controlling the telescopic direction of the telescopic structure. Further preferably, by providing a telescopic structure on the third supporting frame 18, a part of the frame body of the third supporting frame 18 for connecting the side frame 23 can be driven to move vertically up and down on the third supporting frame 18. The vertical height of the third support frame 18 is adjustable, so that the overall vertical height of the welding device 3 can be shortened, and the welding device 3 can be hoisted by a crane or the like in a shorter stroke.

The second support bracket 17 may include a plurality of connecting rods 24, and the plurality of connecting rods 24 are disposed between the first support bracket 16 and the third support bracket 18 in a radial arrangement.

Preferably, the third supporting frame 18 is a rectangular parallelepiped frame, and the second supporting frame 17 includes eight connecting rods 24, where the eight connecting rods 24 correspond to four vertex positions and four midpoint positions on four sides of the top square frame of the third supporting frame 18, respectively. The second support frame 17 is arranged to further reduce the overall weight of the welding device 3, ensure the structural stability of the welding device 3 and ensure the safety of site construction.

The rotating frame 13 further comprises at least one first telescopic rod 25 arranged on the third support frame 18. The rod body of the first telescopic rod 25 is perpendicular to the axial direction. One end of the first telescopic rod 25 is fixedly connected to one side of the third supporting frame 18 facing the cavity of the third supporting frame. The length of first telescopic link 25 is controllable, and when assembling third support frame 18 to box steel 1 outside from top to bottom, first telescopic link 25 is shorter, can not influence the assembly process. When the first supporting frame 16 abuts against the top end face 6 of the box-shaped steel 1, the first telescopic rod 25 can be driven to extend, one end of the first telescopic rod 25 abuts against the side wall 10 of the box-shaped steel 1, and the first supporting frame 16 and the box-shaped steel 1 can be kept relatively stable. Even if the construction is carried out in a relatively severe environment, such as windy weather, the smooth construction can be ensured, and the construction is not easily influenced by the environment. And when the support frame needs to be rotated or the whole welding device 3 needs to be taken out, the first telescopic rod 25 can be driven to be shortened, and the relative stable relation between the first support frame 16 and the box-shaped steel 1 is cancelled. It should be understood that the supporting point or supporting position mentioned in the present application mainly refers to the point or position formed on the box-shaped steel 1 for providing the main supporting function for the welding device 3, and other points or positions in contact with the box-shaped steel 1, such as the first telescopic rod 25, should not be considered as the supporting point or supporting position mentioned in the present application.

The first support frame 16 at least includes two telescopic rods, and the two first telescopic rods 25 are respectively disposed at the sides of the two side frames 23. Preferably, four first telescopic bars 25 are provided, the four first telescopic bars 25 being provided in pairs on the sides of the two side frames 23, respectively. Under this setting, a plurality of first telescopic links 25 disperse pressure to the many places position of box steel 1, avoid stress too concentrated and influence the stability of box steel 1. The plurality of first telescopic bars 25 simultaneously form a plurality of supporting points, and the stability between the first supporting frame 16 and the box-shaped steel 1 is enhanced.

At least one rod body contained in at least one support frame is provided with a cavity which can be used for arranging wiring.

The robot magazine 14 includes a welding robot 26, an electric slide table 27, and a shield 28.

The shield 28 has an open end facing the side of the main frame 22. The electric slide table 27 is an elongated structure, which is fitted in the protection cover 28 to support the welding robot 26 and provide the welding robot 26 with its moving track in the direction in which the reinforcing bars 2 are juxtaposed. One end of the welding robot 26 is slidably connected to the electric slide table 27, and is of a foldable structure that is unfolded when welding is required and extended along the open end of the protection cover 28, and is folded to be retracted into the cover of the protection cover 28 when welding is not required. The welding robot 26 may be a multi-axis linkage flexible mechanism composed of a robot arm assembly, a controller assembly, and a teaching system. The robot arm assembly may generally include an industrial six-axis robot and a welding gun.

The electrical cabinet 15 is used for installing various electrical appliances and welding machines. And a mounting rack 29 for mounting the gas cylinder is arranged on the outer side wall 10 of the electrical appliance cabin 15. The gas cylinder is mainly used for providing gas for welding. The gas cylinder sets up at 15 lateral walls 10 of electrical apparatus storehouse, is favorable to the removal and the transport of gas cylinder.

Robot bin 14 and electrical apparatus storehouse 15 are installed respectively to the both sides of rotatory skeleton 13, match through weight, can make whole welding set 3 stability when putting down to fix on box section steel 1 better. The whole device is convenient to be manually pushed to rotate. Weight matching may refer to a way to facilitate device balance by designing the weights of the robot bin 14 and the appliance bin 15 to be approximately equal.

When welding, when all the steel bars 2 lapped on the rib plate 11 on one side of one box-shaped steel 1 are welded, the welding seam positions of all the steel bars 2 on one side are welded in an automatic programming mode through the welding seam position corresponding to one steel bar 2 on the robot teaching side.

The welding device 3 can be supported in a non-adherent manner on the object to be welded without the need for pre-mounting auxiliary parts. For performing a welding operation on a position 12 to be welded on an object to be welded.

The object to be welded has at least two end faces which are not coplanar with each other and at least one position 12 to be welded is arranged on each of the at least two end faces, the object to be welded does not need to move, the supporting position of the welding device 3 does not need to be changed, and the welding device 3 can respectively perform welding operation on each position 12 to be welded.

The welding tasks corresponding to the multiple surfaces of the single box-shaped steel 1 can be completed through single fixed installation.

The whole frame of the welding device 3 is arranged without influencing the double-sided welding of the welding robot 26 on the steel bar 2.

The welding device 3 proposed in the present application can be lifted as a whole by a crane or other lifting tool on the site. After lifting, the whole welding device 3 is preliminarily positioned on the box-shaped steel 1 through the guide block 20 on the welding device 3. The robot magazine 14 is pushed to one side of the box steel 1 to be welded. The first telescopic rod 25 is driven to extend to prop against the side surface of the box-shaped steel 1.

According to a preferred embodiment, the robot teaches a position 12 to be welded on one side of the box steel 1, and the welding tracks of all the steel bars 2 to be welded on one side can be generated through programming, so that the welding work of the side overlapping steel bars 2 can be automatically completed. Driving the first telescopic rod 25 to retract. The whole welding device 3 can be manually pushed to rotate by taking the supporting point as a rotating point. And (3) rotating the robot bin 14 to the other side surface, and completing the welding of the overlapped reinforcing steel bars 2 on the steel side surfaces of all the boxes according to the same operation.

After the welding tasks of all the lap-jointed steel bars 2 on one box steel are completed, the first telescopic rod 25 is driven to retract, the welding device 3 is lifted and installed on the tops of other box steels through a crane or other lifting tools, and the welding work is completed according to the same operation.

Preferably, the reinforcing bars 2 may be placed on the rib 11 between the two box-type steels 1 in a batch manner by a crane or the like. A plurality of steel bars 2 are simultaneously placed on the rib plates 11, and if the steel bars 2 are not manually bundled and fixed, the steel bars 2 are easy to slip out of the rib plates 11 or even fall off in the downward placing process. In this regard, in the present application, it is preferable that the rib plates 11 be provided with the baffle plates 30 on both sides thereof, which are distributed in the arrangement direction of the reinforcing bars 2, before the reinforcing bars 2 are placed. The baffle 30 may be manually pre-assembled to the rib plate 11. The baffle 30 is detachably fixed to the rib 11. The baffle 30 may be secured by clamping, form fitting, binding, plugging, etc. The plate body of the baffle 30 is formed perpendicular to the rib plate 11 to restrict the reinforcing bars 2 from accidentally slipping out of the rib plate 11. The height of the baffle 30 fixed on the rib plate 11 in the vertical direction is not less than the diameter of the steel bar 2 to be welded. The height of the baffle 30 fixed on the rib plate 11 in the vertical direction is not less than twice of the diameter of the steel bar 2 to be welded. And then need not to carry out the manual work and tie up fixedly, also can avoid the accident to drop by utmost point, guarantee construction safety alleviates manpower work burden.

Preferably, at least one ball transfer unit is mounted on the top vertical surface of at least one baffle 30. The ball transfer unit is free to rotate relative to the plate body of the retainer 30. At least part of the ball body of the universal ball is exposed out of the vertical top surface of the baffle 30. The bottom of the side frame 23 is provided with a pressure detection optical fiber. When the height position of the side frame 23 is adjusted, the side frame 23 is lowered, and when the side frame 23 abuts against the ball bearing, the optical fiber detects a pressure, which may instruct to stop the adjustment of the side frame 23. By providing the baffle 30, the side frame 23 can be reliably positioned without visual recognition, and the construction safety can be ensured.

Both sides of the side frame 23 may be fitted with extension plates 31, the plate bodies of the extension plates 31 being perpendicular to the vertical direction. When the welding device 3 is assembled on the box-shaped steel 1 from top to bottom, the projection of the extension plate 31 in the vertical direction can at least cover the position of the baffle 30. This further controls the volume of the welding device 3, thereby reducing the load. The extension plate 31 may be used to mount the optical fibers and abut to the baffle 30.

The friction between the ball bearing and the side frame 23 is small, it is easier to manually push the side frame 23 to rotate, and an assist force for promoting the rotation of the side frame 23 is formed after the ball bearing rolls, reducing the operation burden.

Preferably, the optical fiber may be arranged in a manner of being folded back in the arrangement direction of the reinforcing bars 2.

In the present application, a light passage 33 is provided between two baffles 30 disposed opposite to each other. The light path 33 may be formed by providing the light emitter 32 on the baffle 30. Since the baffle 30 is pre-installed, the height of the light path 33 relative to the rib 11 and the location on the rib 11 are known. If the relative positional relationship between the other component and the optical path 33 is known, the height of the component relative to the rib 11 and the position on the rib 11 can be calculated. Preferably, a light emitter 32 is disposed on each of the two baffles 30. The plurality of reinforcing bars 2 are simultaneously lowered onto the rib plate 11, and the plurality of reinforcing bars 2 do not correspond to the specified positions, and at this time, the adjustment is often manually performed, and the reinforcing bars are aligned to the specified positions one by one. Or, the reinforcing bars 2 may be manually bound to be fixed at predetermined positions one by one. In this case, the side of the robot magazine 14 facing away from the main frame 22 is also open, and the robot magazine 14 has a gripper robot arm 34 which can be extended along this open end. One end of the grabbing mechanical arm 34 is provided with a claw-shaped structure, and the claw-shaped structure is particularly suitable for grabbing the steel bars 2.

Preferably, the baffle 30 can be powered by a built-in battery, and the battery in the baffle 30 can be replaced by a worker. A power management module may be included in the bezel 30, and a worker may remotely instruct the light emitter 32 to turn on or off.

As a preferred embodiment, the baffle 30 may be directly provided on the extension plate 31 of the side frame 23. The two extension plates 31 are respectively provided with a baffle 30. Two baffles 30 may be provided at the vertical bottom end of the extension plate 31. The baffle 30 may also be provided on the inner end surface of the two extension plates 31 facing each other. With this arrangement, the provision of the optical path 33 can be achieved without the need for a pre-assembled baffle 30. Correspondingly, the optical fiber may be disposed on the vertical bottom end of the extension plate 31 or the baffle 30. Preferably, the optical fiber for pressure detection can also be replaced with a distance detector, such as a miniature laser ranging sensor.

The grasping robot 34 is closer to the end of the bar 2 remote from the location 12 to be welded than to the welding robot 26. At least one reinforcement bar 2 can be determined by means of visual intelligent recognition, the relative position of the reinforcement bar 2 is generated, and the grabbing mechanical arm 34 is instructed to move to grab a part of the reinforcement bar 2.

The bottom of the robot magazine 14 is provided with a motion track and a mechanical gripper 39. The motion track is used to support the relative motion of the mechanical gripper 39 at the bottom of the robot bay 14.

In a preferred embodiment, the moving track includes at least a Y-axis track 36 and two X-axis tracks, wherein the X-axis refers to the direction parallel to the side frames 23, and the Y-axis refers to the length direction of the electric slide table 27 in the robot chamber 14. A first X-axis track 37 is fixed to the bottom of the robot bay 14, a Y-axis track 36 is controllably slidably connected to the bottom of the first X-axis track 37, and a second X-axis track 38 is controllably slidably connected to the bottom of the Y-axis track 36. A mechanical hand 39 is controllably slidably attached to the bottom of the second X-axis rail 38. By regulating the relative movement of the transverse and longitudinal rails and the mechanical gripper 39, the mechanical gripper 39 has a large range of motion.

Further preferably, the movement track may comprise a closed track fixedly arranged at the bottom of the robot bay 14. The shape of the closed track can be circular, oval, rectangular, and the like. The motion track also comprises a strip track. The strip-shaped track is connected on the closed track in a sliding way. The strip-shaped track can be fixed on the closed track in a manner that at least two sliding blocks arranged at the top of the strip-shaped track are in sliding connection in the closed track. The strip-shaped track can move along the Y-axis direction relative to the closed track. The mechanical gripper 39 is slidably connected to the bar track. The mechanical grip 39 may be a mechanical grip 39 that is foldably unfolded. The mechanical gripper 39 can be adjusted with large displacements by means of the movement track and with small displacements by its own foldable and expandable structure. The strip-shaped track extends along the X-axis direction. For convenience of description, the Y-axis track 36 and the X-axis tracks are used as the motion tracks in the present application, but it should be understood that the present application is not limited to the motion tracks, and the content related to the Y-axis track 36 and the X-axis tracks can be adaptively adjusted in the manner that the motion tracks include closed tracks and bar tracks, and the adjustment can be fully obtained by those skilled in the art according to the content of the present application. For understanding, for example, the mechanical gripper 39 is driven to move relative to the first X-axis track 37 or the second X-axis track 38, and the universal balls and the reinforcing bars 2 are subjected to rolling friction, so that the mechanical gripper 39 can smoothly grip and straighten the reinforcing bars 2. It can correspondingly be adjusted to, orders about mechanical tongs 39 and removes relative closed track or bar track, rolling friction between universal ball and the reinforcing bar 2 to mechanical tongs 39 can snatch smoothly and put the reinforcing bar 2 in right angle.

A mechanical gripper 39 is located on the side near the gripper robot 34 before welding.

When at least one steel bar 2 is determined in a visual intelligent recognition mode, the relative position of the steel bar 2 is generated, and the grabbing mechanical arm 34 and the mechanical grabbing hand 39 can be instructed to act to grab different positions of the steel bar 2. The gripper robot arm 34 and the mechanical gripper 39 may be synchronized or asynchronous in motion. The gripper robot 34 is closer to the end of the rebar 2 than the mechanical gripper 39. The gripper robot 34 is maintained at the same height position as the mechanical gripper 39 so that the rebar 2 is in a horizontal attitude with respect to each other.

Maintaining the relative position of the gripper robot arm 34 forces the mechanical gripper 39 to continue moving along the X-axis. Thereby forcing the gripped bars 2 to lie along the X-axis.

The mechanical hand 39 has a light receiver on each side on the Y axis. When the mechanical hand 39 moves along the X axis to pass through the two shutters 30, the emitted light on the two shutters 30 is detected by the light receivers, and the relative positional relationship between the mechanical hand 39 and the shutters 30 can be determined based on the light receiving positions. The height to which the mechanical gripper 39 is formed relative to the web 11 and the position on the web 11 can be determined by calculation. Or may determine the height of the gripped rebar 2 relative to the rib 11 and the position on the rib 11.

According to the relative position of the stop 30 and the planned arrangement position of the reinforcing bars 2, the preset light receiving position information of the two light receivers on the mechanical gripper 39 corresponding to the arrangement position of each reinforcing bar 2 can be calculated and determined in advance. Preferably, the number of the optical transmitters 32 and the number of the optical receivers used in the present application may be one or two or more, respectively.

The mechanical gripper 39 may be instructed to perform position adjustment according to preset light receiving position information. The gripping arm 34 and the mechanical gripper 39 are synchronously adjusted to ensure that the rebar 2 is straightened along the X-axis.

When the mechanical gripper 39 conforms to the predetermined light receiving position information, the mechanical gripper 39 may continue to move along the X-axis. As the mechanical gripper 39 continues to move along the X-axis, it will disengage from the bottom of the side frame 23, at which point the continued movement of the mechanical gripper 39 may be supported by adjusting the first X-axis track 37. It may also be a folded-open configuration of the mechanical fingers 39 themselves to drive the finger portions thereof to continue to move along the X-axis. Or a portion of the second X-axis track 38 and the mechanical gripper 39 extend outwardly beyond the bottom of the side frame 23, without affecting the operation of the welding robot 26 because the second X-axis track 38 is aligned with the direction of extension of the rebar 2.

The mechanical gripper 39 is instructed to move along the X axis for a preset displacement and to release the reinforcement bar 2 after this preset displacement has been completed. The gripper robot 34 releases the rebar 2 in synchronism with the mechanical gripper 39. The released rebar 2 is in a set position. The mechanical gripper 39 and the gripper robot 34 may be instructed to sequentially align the bars 2 in a plurality of prescribed positions from left to right or from right to left.

The clamp is mainly of a plate body structure. The plate bodies of the two parallel clamps are parallel to each other.

The sidewall 10 of the first clamp 41 for forming the clamping space 45 is provided with a second groove 47. The second groove 47 is formed to penetrate forward and backward in a direction perpendicular to the plate body of the clamp.

In a preferred embodiment, the second recess 47 has at least a first wall 52, a second wall 53 and a third wall 54 connected in series to one another. The second wall surface 53 and an open end of the second groove 47 facing the holding space 45 are opposed to each other. First wall 52 and third wall 54 are opposite each other. The third wall 54 is closer to the free end 43 of the clamp than the first wall 52. At least one mounting groove 49 is formed in at least one of first wall 52, second wall 53, and third wall 54 of first clamp 41.

In a preferred embodiment, the inner wall surface of the second groove 47 is an arc surface. Which is arched away from the clamping space 45. The second recess 47 defines at least one mounting slot 49 therein. Since the shape of the inner wall surface of the second groove 47 has many variations, the second groove 47 under many variations can achieve its auxiliary clamping function in the present application, and therefore the shape and structure thereof are only exemplified, and the shape and structure of the second groove 47 in the technical solution proposed in the present application are not limited singly.

The first clamp 41 further comprises at least one first rolling element 48. The first rolling bodies 48 are provided in the fitting grooves 49. The rolling elements may preferably be ball transfer units.

Preferably, the ball bearings may be disposed in the assembly grooves 49 by the ball seats 51. The ball transfer unit is rotatably mounted on the ball mount 51. The ball seats 51 are movably attached to the inner wall of the fitting groove 49 by the elastic member 50. By the elastic force of the elastic member 50, the ball seat 51 and the ball bearing can be retracted into the fitting groove 49 when being subjected to an external force, or extended out of the fitting groove 49 when the external force is removed. When the reinforcing bar 2 is inserted into the holding space 45, the reinforcing bar 2 is not directly in contact with the inner wall surface of the second groove 47, but abuts against the ball bearing.

After the mechanical gripper 39 has gripped the reinforcing bar 2, the reinforcing bar 2 is supported in the holding space 45 by the universal balls. The mechanical gripper 39 is driven to move relative to the first X-axis track 37 or the second X-axis track 38, and the universal balls and the steel bar 2 are in rolling friction, so that the mechanical gripper 39 can smoothly grip and align the steel bar 2.

The mechanical gripper 39 may comprise a second telescopic bar 40 located above the clamp. The height position of the clamp in the vertical direction relative to the Y-axis track 36 can be controlled by adjusting the second telescopic rod 40. The mechanical gripper 39 may drive the clamp towards the bar 2.

The free end 43 of the first clamp 41 has a first end face 44. The first end face 44 is located on the other side of the first clamp 41 from the clamping space 45. The first end surface 44 may be the end surface of the free end 43 that is farthest from the first fixed end of the first jaw 41. I.e. the mechanical gripper 39 is placed downwards, the first end surface 44 first contacts the platform or other component, e.g. the reinforcement bar 2. The first end surface 44 may be flat or curved.

Preferably, the first end surface 44 is a curved surface shape bent toward the first fixed end. The first end surface 44 is curved on both sides in a direction perpendicular to the plate body of the clamp. This arrangement increases the contact area between the first end surface 44 and the cylindrical member.

Preferably, the first end surface 44 may be provided with an elastic portion thereon. The elastic portion deforms in accordance with the shape of the member in contact with the first end surface 44, increasing the contact area. The elastic part can be made of a high-temperature resistant polyurethane elastic material, a high-temperature resistant low-dielectric elastomer material and other known materials.

The second clamp 42 has the same structural features as the first clamp 41. The free end 43 of the second jaw 42 has a second end face 46. The second end surface 46 may be planar or curved with the first end surface 44. Second end surface 46 is preferably curved.

The first and second clamps 41 and 42 are provided with a first rolling element 48 and a second rolling element, respectively, on opposite surfaces to each other. When the rolling body is aligned with the object to be clamped, the two clamps are driven to be close to each other, and the rolling body is close to the object to be clamped. The rolling bodies can be displaced relative to the assembly grooves 49 so as to adapt to the structural shape of the object to be clamped, i.e. the reinforcement 2.

Through this setting, treat that the centre gripping object can support with a plurality of rolling element butt simultaneously, can reach better stable centre gripping purpose.

When the free ends 43 of the first clamp 41 and the second clamp 42 are close to each other, neither the first end surface 44 nor the second end surface 46 is aligned with the right above the reinforcing steel bar 2, so that the first end surface 44 and the second end surface 46 have a certain inclination angle relative to the plane of the rib plate 11. So as to better assist the mechanical gripper 39 in its stabilizing action on the bar 2.

After releasing the reinforcement bar 2 to the predetermined position, the free ends 43 of the first and second clamps 41, 42 are instructed to move closer together, and the first and second end surfaces 44, 46 move closer to each other from both sides of the reinforcement bar 2, both of which are located above the reinforcement bar 2. By actuating the extension of the second telescopic rod 40 of the mechanical gripper 39, the first end face 44 and the second end face 46 are jointly moved downwards until they abut against the reinforcement bar 2. Preferably, the mechanical gripper 39 can determine the timing of stopping the driving of the extension of the second telescopic rod 40 by means of a pressure detecting member. In another preferred embodiment, since the height distance between the mechanical gripper 39 and the rib 11 and the size of the reinforcing bar 2 are known, the mechanical gripper 39 can be calculated based on the known data, and the displacement scheme of the gripper after releasing the reinforcing bar 2 can be determined in advance.

Because the reinforcing steel bar 2 is long, when two ends of the reinforcing steel bar are respectively placed on different rib plates 11 and the middle rib body is in a suspended state, two ends of the reinforcing steel bar 2 are easy to tilt, and part of the rib body is not completely contacted with the rib plates 11, so that the welding reliability and accuracy cannot be guaranteed. According to the flexible welding equipment of the ship body interbay robot, which is provided by the patent document with the publication number of CN204366234U in the prior art, when the steel bars 2 are welded, the placed steel bars 2 are directly welded, the steel bars 2 are not additionally fixed, the position of the steel bars 2 is mostly adjusted manually, or manual assistance is arranged to fix the steel bars 2 so as to facilitate robot welding, and the practicability is poor. Even if the existing common reinforcing steel bars 2 are adopted for bundling to fix the reinforcing steel bars 2 on the rib plates 11, firstly, the task load of workers is increased, and secondly, the bundling part can influence the welding operation of the welding robot 26 or even cause the damage of the welding robot 26.

In this regard, in the present application, since the first end surface 44 and the second end surface 46 restrict the relative position of the reinforcing bar 2 at least from both sides of the reinforcing bar 2, the welding robot 26 can perform the welding operation better when performing the welding. Preferably, in order to improve welding efficiency, the welding robot 26 may first adopt spot welding when it issues information on the mechanical gripper 39 that the reinforcing bar 2 is released or the positioning operation of the reinforcing bar 2 thereof is completed. The welds may be spaced along the length of the same side of the bar 2. The welding point can be stabilized reinforcing bar 2 on gusset 11 earlier, is favorable to welding robot 26 to carry out reliable welding. At the same time, the mechanical gripper 39 no longer needs to maintain its stabilizing effect on the reinforcement bar 2. The mechanical gripper 39 may be retracted below the main frame 22 and then cooperate with the gripper robot 34 to grip and position the next rebar 2. Under this setting, the location efficiency and the welding efficiency of reinforcing bar 2 all can effectively promote.

The steel plate double-sided lap welding system further includes a visual recognition module 35. The vision recognition module 35 is mainly used for acquiring and analyzing the arrangement condition of the steel bars 2 below the welding device 3. The visual recognition module 35 is used in particular to detect and evaluate the arrangement of the reinforcement 2 overlapping the web 11 of the other box section steel 1.

The vision recognition module 35 may be disposed at the side of the robot magazine 14. The vision recognition module 35 is preferably disposed on the grasping robot arm 34 in the robot magazine 14. The visual recognition module 35 is assisted by the grabbing mechanical arm 34 to achieve the purpose of accurately and reliably grabbing the steel bar 2.

In the process of assembling the welding device 3 onto the box section steel 1 from top to bottom, the grabbing mechanical arm 34 is in the first working position, and the visual recognition module 35 can acquire the arrangement condition of the reinforcing steel bars 2 placed on the rib plate 11.

The vision recognition module 35 may be disposed at a grasping end of the grasping robot arm 34. The grasping robot arm 34 in the first working position has its grasping end portion extended out of the robot magazine 14. The gripping arm 34 and the vision recognition module 35 partially extending out of the robot magazine 14 do not interfere with the smooth assembly of the welding device 3.

Since the welding device 3 is assembled from top to bottom, and the vision recognition module 35 is located outside the robot chamber 14, before welding, the vision recognition module 35 can collect the arrangement of all the steel bars 2 corresponding to one side wall 10 of the box-shaped steel 1 in advance.

The first operating position may refer to the grasping end of the grasping robot arm 34 being located near an outermost side of the robot magazine 14. In this position, the grasping robot 34 may grasp the rebar 2 sequentially from left to right or from right to left.

In the process of grabbing the steel bar 2, the grabbing mechanical arm 34 may determine the steel bar 2 to be grabbed next by using the information of the steel bar 2 collected by the visual recognition module 35, and/or determine the position information of the steel bar 2 to be grabbed next, and/or determine the control displacement of the grabbing mechanical arm 34. The rebar 2 information includes at least the placement of all of the rebars 2.

When the welding work of one side wall 10 of the box section steel 1 is completed, the gripping robot arm 34 is located at the second working position. The second working position may refer to a position in which the grasping end of the grasping robot arm 34 is located in the vicinity of the other outermost side of the robot magazine 14.

Both the first and second working positions can be provided at the corner edges of the robot magazine 14 or the side frames 23. Preferably, the visual recognition module 35 may have a universal rotary camera.

When welding of the steel bar 2 on one side wall 10 of the box-shaped steel 1 is performed, the visual recognition module 35 can acquire information of the steel bar 2 on one end of the steel bar 2, which is lapped on the rib plate 11 of another box-shaped steel 1, in real time.

After the welding operation of one side wall 10 of the box section steel 1 is completed, the welding device 3 needs to rotate, and the robot chamber 14 is placed on the other side wall 10 for welding. In the process of rotating the welding device 3, the visual recognition module 35 can acquire and analyze the arrangement of all the steel bars 2 corresponding to the next side wall 10.

Preferably, when the plurality of reinforcing bars 2 are hoisted to the rib plate 11 by means of a crane or the like, the plurality of reinforcing bars 2 are hoisted in a manner biased toward an outermost side of the rib plate 11. The outermost side of the web 11 refers to the side of the web 11 parallel to the X-axis. Under this mode of placement, reinforcing bar 2 stacks together, is difficult for receiving influences such as wind-force and moves the position. Under this mode of placement, reinforcing bar 2 arranges the regularity height, is convenient for snatch and arrange and place.

It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents. The present description contains several inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally", each indicating that the respective paragraph discloses a separate concept, the applicant reserves the right to submit divisional applications according to each inventive concept.

Claims (6)

1. The utility model provides a two-sided lap welding system of steel sheet for lap welding between gusset (11) and reinforcing bar (2) on box-section steel (1), includes at least:

the box-shaped steel (1) is fixedly positioned on the ground in a vertical column manner;

at least one rib plate (11) which is respectively fixed on different side walls (10) of the box section steel (1), and the plate body of the rib plate extends out of the box section steel (1);

at least one steel bar (2), wherein part of the steel bar body is arranged on the rib plate (11);

and a welding device (3),

it is characterized in that the preparation method is characterized in that,

the welding device (3) performs welding operation on a position (12) to be welded formed between the reinforcing steel bar (2) and the rib plate (11) in a mode that the welding device is supported on the box-shaped steel (1) in a non-wall-sticking mode,

the welding device (3) at least comprises a rotating framework (13) and a welding robot (26) positioned on the rotating framework (13), the rotating framework (13) is rotatably supported on the box-type steel (1) so that the welding robot (26) performs welding operation on different positions (12) to be welded on different side walls (10) on the box-type steel (1) under the condition that the supporting position of the rotating framework (13) is not changed,

a first groove (8) is formed in the top end face (6) of the box-shaped steel (1), the rotating framework (13) at least comprises a guide block (20), the guide block (20) is in incomplete shape matching with the first groove (8), the welding device (3) is preliminarily positioned on the box-shaped steel (1) in a mode that the guide block (20) is aligned to be inserted into the first groove (8),

still include at least one first telescopic link (25) on rotatory skeleton (13), two at least first telescopic links (25) set up relatively each other, make its tip butt carry out the secondary location to welding set (3) through driving first telescopic link (25) flexible and the mode on lateral wall (10) of its tip butt to box-shaped steel (1).

2. A steel plate double-sided lap welding system according to claim 1, wherein the rotary frame (13) further comprises a robot chamber (14) and an electrical appliance chamber (15) respectively provided on the frame bodies thereof in a weight-matching manner.

3. The steel plate double-sided lap welding system according to claim 1 or 2, characterized in that the rotary frame (13) further comprises an upper rotary disc and a lower rotary disc which are arranged above the guide block (20) and rotatably connected with each other, and the lower rotary disc is abutted and relatively fixed on the top end surface (6) of the box section steel (1) by means of the guide block (20) being placed into the first groove (8).

4. The steel plate double-sided lap welding system according to claim 2, characterized in that the robot chamber (14) at least comprises a welding robot (26), a protective cover (28) and an electric sliding table (27) arranged in the protective cover (28), wherein the welding robot (26) is slidably connected to the electric sliding table (27) for respectively welding a plurality of steel bars (2) arranged in parallel.

5. A steel plate double-sided lap welding system according to claim 1, wherein both ends of the steel bar (2) are respectively overlapped on different rib plates (11) respectively corresponding to two box section steels (1) arranged at intervals.

6. A steel plate double-side lap welding method of a steel plate double-side lap welding system according to any one of claims 1 to 5, characterized by comprising at least:

fixing and positioning the box section steel (1) on the ground in a vertical column manner;

respectively fixing a rib plate (11) on different side walls (10) of the box-shaped steel (1);

putting at least one steel bar (2) on the rib plate (11);

a position (12) to be welded is formed between the reinforcing steel bar (2) and the rib plate (11);

supporting the welding device (3) on the box-shaped steel (1) in a non-wall-adhering manner;

controlling a welding device (3) to perform a welding operation on a position (12) to be welded formed on the box section steel (1).

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