CN114789310B - U rib plate unit single-side welding and double-side forming device and forming method thereof - Google Patents
U rib plate unit single-side welding and double-side forming device and forming method thereof Download PDFInfo
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- CN114789310B CN114789310B CN202210418001.2A CN202210418001A CN114789310B CN 114789310 B CN114789310 B CN 114789310B CN 202210418001 A CN202210418001 A CN 202210418001A CN 114789310 B CN114789310 B CN 114789310B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0461—Welding tables
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Abstract
The invention discloses a U rib plate unit single-side welding double-side forming device and a forming method thereof, which are used for welding and forming a U rib plate unit, wherein the U rib plate unit single-side welding double-side forming device comprises a bearing platform, a portal frame and a welding mechanism; the bearing platform is used for placing a bridge deck and a U-shaped rib plate to be welded; the portal frame is erected above the bearing table along a first horizontal direction and can move along a second horizontal direction, a transverse moving seat which can move along the first horizontal direction is arranged on a cross beam of the portal frame, and the transverse moving seat is provided with a longitudinal moving frame which can move up and down; welding mechanism indulges two welding assembly of moving both sides on first horizontal direction including locating separately, and each welding assembly all includes welder and soldering turret, and the handlebar of welder is located and is indulged the frame that moves, and its nozzle is used for the welding seam setting of corresponding side towards, and the soldering turret is used for the centre gripping welding rod, and makes the tip of welding rod arrange the welding seam department that corresponds the side in, and the soldering turret activity is located and is indulged the frame that moves to make the welding rod can swing on the width direction that corresponds the side weld, so can realize the two-sided shaping of single face welding.
Description
Technical Field
The invention relates to the technical field of welding equipment, in particular to a U rib plate unit single-side welding and double-side forming device and a forming method thereof.
Background
The U-ribbed plate unit is a single-element type with the largest number in bridge projects, and in order to produce the U-ribbed plate unit in a large scale, a U-ribbed plate unit production line is generally adopted for mass production. The U floor unit is by decking and a plurality of U type rib welding forming, and in welding process, adopts traditional two-sided welding not only to be unfavorable for welding forming, reduces welding quality, can bring inconvenience for operating personnel moreover, increases the welding degree of difficulty.
Disclosure of Invention
The invention mainly aims to provide a single-side welding and double-side forming device and a forming method for a U rib plate unit, and aims to solve the problems that welding quality is reduced and welding difficulty is increased when the U rib plate unit is formed by double-side welding.
In order to achieve the above object, the present invention provides a single-side welding and double-side forming device for a U-shaped rib plate unit, which is used for welding and forming the U-shaped rib plate unit, wherein the U-shaped rib plate unit includes a bridge deck and a plurality of U-shaped rib plates, the plurality of U-shaped rib plates are arranged at intervals along a first horizontal direction, and each U-shaped rib plate is arranged along a second horizontal direction, and the device includes:
the bearing platform is used for placing a bridge deck and a U-shaped rib plate to be welded;
the portal frame is erected above the bearing table along the first horizontal direction and can move along the second horizontal direction, a transverse moving seat capable of moving along the first horizontal direction is arranged on a transverse beam of the portal frame, and the transverse moving seat is provided with a longitudinal moving frame capable of moving up and down; and the number of the first and second groups,
welding mechanism including dividing to locate indulge the frame and indulge the frame two welding subassemblies of the ascending both sides of first horizontal direction, each welding subassembly all includes welder and soldering turret, welder's stock is located indulge the frame, its nozzle is used for the welding seam setting of corresponding side of orientation, the soldering turret is used for centre gripping welding rod, and makes the tip of welding rod is arranged in and is corresponded the side welding seam department, the soldering turret activity is located indulge the frame that moves, so that the welding rod can be in corresponding the side the width direction of welding seam is swung.
Optionally, the welding mechanism further includes two position adjusting assemblies, the two position adjusting assemblies are respectively disposed on two sides of the vertical moving frame in the first horizontal direction, and each of the position adjusting assemblies includes:
the moving block can move relative to the longitudinal moving frame in the first horizontal direction; and the number of the first and second groups,
a position adjustment driver, wherein a position adjustment driving part is connected with the moving block in a driving way;
the welding assembly is arranged on the moving block on the corresponding side.
Optionally, the position adjusting assembly further comprises a laser range finder arranged on the welding tongs, the laser range finder comprises a transmitter and a receiver which are arranged side by side, and a transmitting end and a receiving end of the laser range finder are arranged towards the welding seam and used for detecting the distance from the end of the welding rod to the U-shaped rib plate;
wherein the laser ranging is electrically connected with the position adjustment driver.
Optionally, the welding mechanism further includes two angle adjustment assemblies, the two angle adjustment assemblies are respectively disposed on two sides of the longitudinal moving frame in the first horizontal direction, and each angle adjustment assembly includes:
the rotating end of the oscillating bar is rotatably arranged on the end surface of the corresponding side of the longitudinal moving frame, so that the mounting end of the oscillating bar can swing up and down;
an output shaft of the angle adjusting motor is in driving connection with the rotating end of the oscillating bar; and the number of the first and second groups,
the angle gauge is arranged on the output shaft and used for detecting the rotation angle of the swing rod;
the welding tongs are arranged at the mounting end, so that the inclination angle of the welding rod in the vertical direction can be adjusted.
Optionally, the longitudinal movement frame is used for arranging an avoidance groove on one side end surface of the longitudinal movement frame facing the U-shaped rib plate, the avoidance groove is arranged in the second horizontal direction in a penetrating manner, and two side walls of the avoidance groove in the first horizontal direction are used for being matched with outer walls of two side plates of the U-shaped rib plate;
u floor unit single face welds two-sided forming device still includes guide structure, guide structure includes:
the two universal wheels are oppositely arranged in the first horizontal direction, are respectively arranged on the two side walls of the avoidance groove and are close to the positions of the notches of the avoidance groove, and the rolling wheels of the two universal wheels are respectively in rolling contact with the outer walls of the side plates on the corresponding sides; and the number of the first and second groups,
and the pressing roller is rotatably arranged on the bottom wall of the avoidance groove along the axis of the first horizontal direction, and the roller is used for being in rolling and abutting joint with the bottom plate of the U-shaped rib plate.
Optionally, a first elastic buffer structure is arranged between the universal wheel and the side wall of the avoidance groove on the corresponding side; and/or the presence of a gas in the gas,
and a second elastic buffer structure is arranged between the pressing roller and the bottom wall of the avoidance groove.
Optionally, the U-ribbed plate unit single-side welding and double-side forming device further includes a shooting mechanism and/or a grinding mechanism and/or a positioning mechanism, wherein:
the shooting mechanism comprises two detection cameras which are respectively arranged on two sides of the longitudinal moving frame in the first horizontal direction, and each detection camera is used for shooting a formed image of the welded welding seam on the corresponding side; the detection camera is used for being in communication connection with an external monitor;
the polishing mechanism comprises two polishing assemblies which are respectively arranged on two sides of the longitudinal moving frame in the first horizontal direction, each polishing assembly is arranged side by side with the welding assembly on the corresponding side, and the polishing mechanism is provided with a movably arranged grinding wheel for polishing the welding seam welded by the welding assemblies;
positioning mechanism is including locating the plummer is in the infrared scanner of the ascending one side of second horizontal direction, the infrared scanner activity sets up, is used for gathering U type floor with the size parameter of bridge floor board.
Optionally, the grinding assembly comprises:
the fixed seat is arranged on one side end face of the longitudinal moving frame in the first horizontal direction;
the upper end of the hinged rod is hinged to the fixed seat; and
the telescopic component is arranged on the fixed seat and is provided with a telescopic part which can approach and depart from one side of the welding line, and the free end of the telescopic part is hinged to the middle part of the hinge rod;
the grinding wheel is rotatably mounted at the lower end of the hinge rod and can rotate along the second horizontal direction.
The invention further provides a U rib plate unit forming method based on the U rib plate unit single-side welding double-side forming device, the U rib plate unit single-side welding double-side forming device further comprises a transverse moving seat driver, a longitudinal moving frame driver, a gantry driver and a welding clamp driver, and the U rib plate unit forming method comprises the following steps:
controlling the transverse moving seat driver to drive the transverse moving seat to move to the position above the U-shaped rib plate to be welded;
controlling the longitudinal moving frame driver to drive the longitudinal moving frame to move to the welding position;
controlling a welding gun to be started;
adjusting the position and the inclination angle of the welding rod;
controlling the electrode holder driver to drive the electrode holder to move so that the end of the welding rod can swing in the width direction of the welding seam;
and controlling the gantry driver to drive the gantry to move along the second direction.
Optionally, the single-side welding and double-side forming device for the U-shaped rib plate unit further includes a positioning mechanism, the positioning mechanism includes an infrared scanner disposed on one side of the carrying platform in the second horizontal direction, and the infrared scanner is movably disposed and is used for acquiring size parameters of the U-shaped rib plate and the bridge deck;
the U rib plate unit single-side welding and double-side forming device further comprises a position adjusting assembly and an angle adjusting assembly, wherein the position adjusting assembly comprises a position adjusting driver and is used for driving and connecting the welding assembly, the angle adjusting assembly comprises an angle adjusting motor and an angle instrument, an output shaft of the angle adjusting motor is connected with the welding tongs in a driving mode, and the angle instrument is used for detecting the rotating angle of the output shaft;
the U rib plate unit single-side welding double-side forming device further comprises a laser range finder for detecting the distance from the end part of the welding rod to the welding line;
the step of adjusting the position and the inclination angle of the welding rod comprises the following steps:
acquiring a first size parameter of a U-shaped rib plate to be welded and a second size parameter of a bridge deck;
acquiring a target distance parameter between the end of the welding rod and the U-shaped rib plate;
calculating a plate thickness ratio parameter of the U-shaped rib plate and the bridge deck according to the first size parameter and the second size parameter;
acquiring a target inclination angle of the welding rod according to the plate thickness ratio parameter;
acquiring an actual distance parameter between the end of the welding rod and the U-shaped rib plate;
calculating a moving distance parameter of the welding assembly according to the actual distance parameter and the target distance parameter;
controlling the position adjusting driver to drive the welding assembly to move according to the moving distance parameter;
acquiring an actual rotation angle of an output shaft of the angle adjusting motor;
calculating the actual inclination angle of the welding rod according to the actual rotation angle;
calculating a target rotation angle of the welding rod according to the actual inclination angle and the target inclination angle;
and controlling the angle adjusting motor to drive the welding tongs to rotate according to the target rotating angle.
In the technical scheme of the invention, the bridge deck plate and the U-shaped rib plate to be welded are placed on the bearing platform, so that the bridge deck plate and the U-shaped rib plate to be welded can be kept stable, the welding stability is improved, and the welding quality is improved; in the welding process, the transverse moving seat drives the welding structure to move to the position above the U-shaped rib plate to be welded, the longitudinal moving frame drives the welding mechanism to move to the welding position, welding assemblies are respectively arranged on two sides of the longitudinal moving frame in the first horizontal direction, and each welding assembly comprises a welding gun and a welding clamp; in the welding position, the nozzle of the welding gun is arranged towards the welding seam on the corresponding side, and the welding tongs clamp the welding rod and enable the end part of the welding rod to be arranged at the welding seam on the corresponding side, so that the arrangement is convenient for an operator to adjust the position of the welding assembly according to the position of the U-shaped rib plate to be welded, and the position moving precision of the welding assembly can be improved; meanwhile, the welding tongs are movably arranged on the longitudinal moving frame, so that the welding rod can swing in the width direction of the welding seam on the corresponding side; it should be noted that, when a thicker plate is welded, if the welding rod is fed to the weld pool along the extension direction of the central line of the welding rod, the welded seam is narrower, and the welding stability of the U-shaped rib plate is poor; the welding tongs are movably arranged on the longitudinal moving frame, so that the welding rod can regularly swing in the width direction of the welding seam on the corresponding side, a wider welding seam can be obtained after welding, and the welding quality and the stability of the U-shaped rib plate are improved; according to the technical scheme, the U-shaped rib plate is subjected to single-side welding and double-side forming, the welding quality and stability of the U-shaped rib plate can be improved, and meanwhile, the position of the welding assembly can be adjusted through the portal frame, the transverse moving seat and the longitudinal moving frame body, so that the displacement precision is improved, convenience is brought to operators, and the processing difficulty is reduced.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of a U rib plate unit single-side welding and double-side forming device provided by the invention;
FIG. 2 is a schematic structural view of the welding mechanism of FIG. 1;
FIG. 3 is a schematic view of the angle adjustment assembly of FIG. 2;
FIG. 4 is a schematic structural diagram of the carrier stage of FIG. 1;
FIG. 5 is a schematic diagram of the grinding mechanism of FIG. 1;
FIG. 6 is a flowchart of a method for forming a U-ribbed plate unit according to a first embodiment of the present invention;
fig. 7 is a flowchart of a U rib plate unit forming method according to a second embodiment of the present invention.
The embodiment of the invention is illustrated by reference numerals:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that, if directional indications (such as upper, lower, left, right, front, rear, 8230; \8230;) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components in a specific posture (as shown in the figure), the motion situation, etc., and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B", including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The U-shaped rib plate unit is a single unit type with the largest number in bridge projects, and in order to produce the U-shaped rib plate unit in a large scale, a U-shaped rib plate unit production line is generally adopted for batch production. The U floor unit is by decking and a plurality of U type rib welding forming, and in welding process, adopts traditional two-sided welding not only to be unfavorable for welding forming, reduces welding quality, can bring inconvenience for operating personnel moreover, increases the welding degree of difficulty.
In view of this, the invention provides a single-side welding and double-side forming device and a forming method for a U rib plate unit, and aims to solve the problems that when the U rib plate unit is formed by double-side welding, the welding quality is reduced and the welding difficulty is increased; fig. 1 to 5 are specific embodiments of a single-side welding and double-side forming device for a U rib plate unit provided by the present invention; fig. 6 to 7 are specific embodiments of the U rib plate unit forming method provided by the present invention.
Referring to fig. 1 to 5, the U-rib plate unit single-side welding double-side forming device 100 is used for welding and forming a U-rib plate unit, the U-rib plate unit includes a bridge deck 200 and a plurality of U-shaped rib plates 300, the plurality of U-shaped rib plates 300 are arranged at intervals along a first horizontal direction F1, each U-shaped rib plate 300 is arranged along a second horizontal direction F2, and the U-rib plate unit single-side welding double-side forming device 100 includes a bearing platform 1, a portal frame 2 and a welding mechanism 3; the bearing platform 1 is used for placing a bridge deck 200 and a U-shaped rib plate 300 to be welded; the portal frame 2 is erected above the bearing table 1 along the first horizontal direction F1 and can move along the second horizontal direction F2, a transverse moving seat 21 capable of moving along the first horizontal direction F1 is arranged on a transverse beam of the portal frame, and the transverse moving seat 21 is provided with a longitudinal moving frame 22 capable of moving along the vertical direction; the welding mechanism 3 comprises two welding assemblies 31 respectively arranged on two sides of the longitudinal moving frame 22 in the first horizontal direction F1, each welding assembly 31 comprises a welding gun 311 and a welding holder 312, a gun handle of the welding gun 311 is arranged on the longitudinal moving frame 22, a nozzle of the welding gun 311 is used for facing a welding seam on the corresponding side, the welding holder 312 is used for clamping a welding rod 313 and enabling the end part of the welding rod 313 to be arranged on the welding seam on the corresponding side, and the welding holder 312 is movably arranged on the longitudinal moving frame 22 so that the welding rod 313 can swing on the corresponding side in the width direction of the welding seam.
In the technical scheme of the invention, the bridge deck 200 and the U-shaped rib plate 300 to be welded are placed on the bearing platform 1, so that the bridge deck 200 and the U-shaped rib plate 300 to be welded can be kept stable, the welding stability is improved, and the welding quality is further improved; in the welding process, the transverse moving seat 21 drives the welding structure to move to the position above the U-shaped rib plate 300 to be welded, the longitudinal moving frame 22 drives the welding mechanism 3 to move to the welding position, two sides of the longitudinal moving frame 22 in the first horizontal direction F1 are respectively provided with a welding assembly 31, and each welding assembly 31 comprises a welding gun 311 and a welding clamp 312; in the welding position, the nozzle of the welding gun 311 is arranged towards the welding seam on the corresponding side, and the welding clamp 312 clamps the welding rod 313 and enables the end part of the welding rod 313 to be arranged at the welding seam on the corresponding side, so that the arrangement is convenient for an operator to adjust the position of the welding component 31 according to the position of the U-shaped rib plate 300 to be welded, and the position moving precision of the welding component 31 is improved; meanwhile, as the welding tongs 312 is movably arranged on the longitudinal moving frame 22, the welding rod 313 can swing in the width direction of the welding seam on the corresponding side; it should be noted that, when a thicker plate is welded, if the welding rod 313 is fed toward the weld pool along the extension direction of the central line thereof, the welded seam is narrower, so that the welding stability of the U-shaped rib plate 300 is poor; by movably arranging the welding tongs 312 on the longitudinal moving frame 22, the welding rods 313 can regularly swing in the width direction of the welding seam on the corresponding side, so that a wider welding seam can be obtained after welding, and the welding quality and stability of the U-shaped rib plate 300 are improved; through the technical scheme of the invention, the U-shaped rib plate 300 is subjected to single-side welding and double-side forming, so that the welding quality and stability of the U-shaped rib plate 300 can be improved, and meanwhile, as the position of the welding assembly 31 can be adjusted through the portal frame 2, the transverse moving seat 21 and the longitudinal moving frame 22, the displacement precision is improved, convenience is brought to operators, and the processing difficulty is reduced.
It should be noted that the method for transporting the welding rod 313 is not limited, and can be an inclined circular rod transporting method, which is beneficial to controlling molten pool metal not to flow down and is suitable for flat welding and overhead welding of T-shaped joints and transverse welding of butt joints; the method can also be an 8-shaped strip conveying method, can ensure that the edge of a welding seam is fully heated, is uniformly melted and completely welded, and is suitable for butt welding of thick plates with grooves; due to the selection of the specific strip conveying method, an operator can select the strip conveying method according to the actual welding condition.
It should be noted that, in the welding process, a gap needs to be formed between the welding rod 313 and the weldment to generate an arc, and therefore, in the present invention, the welding mechanism 3 further includes two position adjusting assemblies 32, the two position adjusting assemblies 32 are respectively disposed on two sides of the longitudinal moving frame 22 in the first horizontal direction F1, and each position adjusting assembly 32 includes a moving block 321 and a position adjusting driver; the moving block 321 is movable in the first horizontal direction F1 relative to the longitudinally moving frame 22; the position adjustment driving part of the position adjustment driver is connected with the moving block 321 in a driving manner; wherein, the welding assembly 31 is disposed on the moving block 321 on the corresponding side; the welding assembly 31 is driven to move by the movement of the moving block 321, so that the position of the welding rod 313 is adjusted more accurately, and the position of the welding rod 313 is adjusted more stably; meanwhile, the operation of operators is facilitated, and the adjustment difficulty is reduced.
It should be noted that, the specific form of the position adjustment driver is not limited, the position adjustment driver may be an electric push rod, and correspondingly, the position adjustment driving portion includes an expansion link; the position adjusting driving part comprises a piston rod; specifically, in this embodiment, the position adjustment driver includes a position adjustment motor, the position adjustment driving portion includes an output shaft of the position adjustment motor, the position adjustment assembly 32 further includes a worm gear mechanism, the worm gear mechanism includes a worm wheel and a worm that are engaged in a transmission manner, the worm wheel is disposed on an outer side of the output shaft of the position adjustment motor and can rotate coaxially with the output shaft of the position adjustment motor, the worm is disposed along the first horizontal direction F1, and one end of the worm is connected to the moving block 321, so that the worm gear mechanism is disposed to convert rotation of the output shaft of the position adjustment motor into linear motion of the moving block 321 along the first horizontal direction F1.
In the actual welding process, the distance between the end of the welding rod 313 and the weldment is the length of the welding arc, the length of the welding arc is L, the diameter of the welding rod 313 is D, and in order to ensure the welding safety, the length of the welding arc needs to satisfy the following formula: l \65126andD \ (0.5-1) mm.
Specifically, with further reference to fig. 2 and 3, the position adjusting assembly 32 further includes a laser range finder 322 disposed on the welding tongs 312, wherein the laser range finder 322 includes a transmitter and a receiver disposed side by side, and a transmitting end and a receiving end thereof are disposed facing the weld joint for detecting a distance from an end of the welding rod 313 to the weld joint; wherein the laser ranging is electrically connected with the position adjustment driver; in the present embodiment, the laser distance meter 322 is disposed on the welding tongs 312, so that the distance from the end of the welding rod 313 to the U-shaped rib 300 can be accurately measured; meanwhile, the laser distance measuring device is electrically connected with the position adjusting driver, and the position adjusting driver can adjust the position of the welding rod 313 according to the detection result of the laser distance measuring device 322, so that the operation is convenient and the adjustment is rapid.
It should be noted that, in order to ensure the welding quality, the inclination angle of the welding rod 313 needs to be adjusted according to the thickness ratio of two welding parts, in the present invention, the welding mechanism 3 further includes two angle adjusting assemblies 33, the two angle adjusting assemblies 33 are respectively disposed on two sides of the longitudinal moving frame 22 in the first horizontal direction F1, and each angle adjusting assembly 33 includes a swing rod 331, an angle adjusting motor, and an angle meter; the rotating end of the swing rod 331 is rotatably mounted on the end surface of the corresponding side of the longitudinal moving frame 22, so that the mounting end of the swing rod can swing up and down and up; an output shaft of the angle adjusting motor is in driving connection with a rotating end of the swing rod 331; the angle gauge is arranged on the output shaft and used for detecting the rotation angle of the swing rod 331; the welding tongs 312 is arranged at the mounting end, so that the inclination angle of the welding rod 313 in the vertical direction can be adjusted; before welding, the inclination angle of the welding rod 313 can be obtained according to the thickness ratio of the U-shaped rib plate 300 and the bridge deck plate 200, and the angle adjusting motor is started to enable an output shaft of the angle adjusting motor to drive a rotating end of the swing rod 331 to rotate so as to drive an installation end of the swing rod 331 to swing, so that the inclination angle of the welding rod 313 is changed; the arrangement is such that the angle of the welding rod 313 can be adjusted before welding, thereby improving the welding quality; meanwhile, the angle adjustment precision of the welding rod 313 can be improved, and the welding rod 313 can be adjusted more conveniently.
In the actual welding process, the inclination angle of the welding rod 313 is set to be α, and when the thickness ratio of the U-shaped rib 300 to the bridge deck 200 is 1:1, the inclination angle alpha of the welding rod 313 is 45 degrees; when the thickness ratio of the U-shaped rib 300 to the bridge deck 200 is 1: when 2, the inclination angle alpha of the welding rod 313 is 55-65 degrees; when the thickness ratio of the U-shaped rib 300 to the bridge deck 200 is 1:3, the inclination angle alpha of the welding rod 313 is 80-85 degrees; the operator can choose the inclination angle of the welding rod 313 according to the actual welding processing condition.
In order to further improve the welding stability, in the present invention, the longitudinal moving frame 22 is configured to provide an avoiding groove 221 on a side end surface of the longitudinal moving frame facing the U-shaped rib plate 300, the avoiding groove 221 is arranged in the second horizontal direction F2 in a penetrating manner, and two side walls of the avoiding groove 221 in the first horizontal direction F1 are configured to be adapted to outer walls of two side plates of the U-shaped rib plate 300; the U rib plate unit single-side welding double-side forming device 100 further comprises a guide structure 4, the guide structure 4 comprises two universal wheels 41 and a pressing roller 42, the two universal wheels 41 are oppositely arranged in the first horizontal direction F1, the two universal wheels 41 are respectively arranged on two side walls of the avoiding groove 221 at positions close to the notches of the two side walls, and the rollers are used for respectively rolling and abutting against the outer walls of the side plates on the corresponding sides; the pressing roller 42 is rotatably mounted on the bottom wall of the avoiding groove 221 along the axis of the first horizontal direction F1, and the roller is configured to be in rolling contact with the bottom plate of the U-shaped rib plate 300; that is to say, through setting up two universal wheel 41 and pinch-off roller 42, not only can play the guide effect for the activity of portal frame 2, can also compress tightly U type rib 300, further improve the stability of U type rib 300 to improve welded stability.
In the present invention, a first elastic buffer structure 43 is disposed between the universal wheel 41 and the sidewall of the avoidance groove 221 on the corresponding side; it should be noted that, in an actual production process, the size of each U-shaped rib 300 may deviate, and therefore, by providing the first elastic buffer structure 43, the universal wheel 41 can float relative to the U-shaped rib 300, so that not only can a pressing effect on the U-shaped rib 300 be achieved, but also the problem that the universal wheel 41 cannot be pressed due to the size difference of the U-shaped rib 300 or the U-shaped rib 300 is damaged due to too tight pressing can be avoided.
A second elastic buffer structure 44 is arranged between the pressing roller 42 and the bottom wall of the avoidance groove 221; it should be noted that, in an actual production process, the size of each U-shaped rib 300 may deviate, and therefore, by providing the second elastic buffer structure 44, the pressing roller 42 can float relative to the U-shaped rib 300, so that not only can a pressing effect on the U-shaped rib 300 be achieved, but also the pressing roller 42 cannot press due to the size difference of the U-shaped rib 300 or the U-shaped rib 300 is damaged due to too tight pressing can be avoided.
It should be noted that the two technical features may be alternatively or simultaneously provided, specifically, in this embodiment, the two technical features are simultaneously provided, that is, a first elastic buffer structure 43 is provided between the universal wheel 41 and the sidewall of the avoidance groove 221 on the corresponding side; a second elastic buffer structure 44 is arranged between the pressing roller 42 and the bottom wall of the avoidance groove 221; not only can the pressing effect on the U-shaped rib plate 300 be realized, but also the problem that the universal wheels 41 and the pressing rollers 42 cannot be pressed or the U-shaped rib plate 300 is damaged due to too tight pressing caused by the size difference of the U-shaped rib plate 300 can be avoided.
Specifically, the first elastic buffer structure 43 includes two first connection plates disposed oppositely, and a first elastic member disposed between the two first connection plates, wherein one of the first connection plates is disposed on a sidewall of the avoiding groove 221; the universal wheel 41 is correspondingly arranged on the other first connecting plate, so that the structure is simple and the installation is convenient.
Specifically, the second elastic buffer structure 44 includes two second connection plates disposed oppositely, and a second elastic member disposed between the two second connection plates, wherein one of the second connection plates is disposed on a sidewall of the avoiding groove 221; the universal wheel 41 is correspondingly arranged on the other second connecting plate, so that the structure is simple and the installation is convenient.
In the present invention, the U-ribbed-plate-unit single-side-welding double-side forming device 100 further includes a shooting mechanism 5, where the shooting mechanism 5 includes two detection cameras 51 respectively disposed on two sides of the longitudinal moving frame 22 in the first horizontal direction F1, and each detection camera 51 is configured to shoot a formed image after welding the weld joint on a corresponding side; the detection camera 51 is used for being in communication connection with an external monitor; through setting up detect camera 51, can shoot the welding seam condition after the welding to make operating personnel can in time know the welding abnormal conditions.
In the present invention, the U rib plate unit single-side welding double-side forming device 100 further includes a grinding mechanism 6, the grinding mechanism 6 includes two grinding assemblies respectively disposed on two sides of the longitudinal moving frame 22 in the first horizontal direction F1, each grinding assembly is disposed side by side with the welding assembly 31 on the corresponding side, and has a movably disposed grinding wheel 61 for grinding a welding seam welded by the welding assembly 31; in order to ensure the attractive appearance of the U-shaped rib plate unit, after welding is completed, the welded weld is polished by the grinding wheel 61, so that the attractive appearance of the U-shaped rib plate unit is improved.
In the present invention, referring to fig. 4, the single-side welding and double-side forming device 100 for U-shaped rib plate unit further includes a positioning mechanism 7, the positioning mechanism 7 includes an infrared scanner 71 disposed on one side of the plummer 1 in the second horizontal direction F2, and the infrared scanner 71 is movably disposed and configured to collect size parameters of the U-shaped rib plate 300 and the bridge deck 200; that is to say, the infrared scanner 71 collects the size parameters of the U-shaped rib 300 and the bridge deck 200, so that the traverse moving seat 21 can accurately move to the position above the U-shaped rib 300, thereby improving the welding precision and the welding efficiency.
It should be noted that the three technical features may be set alternatively, or may be set simultaneously, specifically, in this embodiment, the three technical features are set simultaneously, that is, the U-ribbed plate unit single-side welding double-side forming device 100 further includes a shooting mechanism 5, a polishing mechanism 6, and a positioning mechanism 7, the shooting mechanism 5 includes two detection cameras 51 respectively disposed on two sides of the longitudinal moving frame 22 in the first horizontal direction F1, and each detection camera 51 is configured to shoot a formed image after welding the weld seam on the corresponding side; the detection camera 51 is used for being in communication connection with an external monitor; the polishing mechanism 6 comprises two polishing assemblies respectively arranged on two sides of the longitudinal moving frame 22 in the first horizontal direction F1, each polishing assembly is arranged side by side with the welding assembly 31 on the corresponding side, and is provided with a movably arranged grinding wheel 61 for polishing a welding seam welded by the welding assembly 31; the positioning mechanism 7 comprises an infrared scanner 71 arranged on one side of the plummer 1 in the second horizontal direction F2, and the infrared scanner 71 is movably arranged and used for acquiring the size parameters of the U-shaped rib plate 300 and the bridge deck 200; the welding line condition after welding can be shot through the detection camera 51, so that an operator can know the abnormal welding condition in time; the welded weld joint can be polished by the grinding wheel 61, so that the appearance of the U rib plate unit is improved; the infrared scanner 71 is used for collecting the size parameters of the U-shaped rib plate 300 and the bridge deck 200, so that the transverse moving seat 21 can accurately move to the position above the U-shaped rib plate 300, the welding precision is improved, and the welding processing efficiency can be improved.
Specifically, the positioning mechanism 7 further includes a traverse rod and a connecting block, the traverse rod is disposed on the plummer 1 and can move along the first horizontal direction F1, and the connecting block is disposed on the traverse rod and can move up and down; wherein, infrared scanner 71 locates the connecting block, and its scanning portion is used for the orientation plummer 1 one side sets up, so, infrared scanner 71 can follow first horizontal direction F1 and move from top to bottom to can scan more accurately.
Specifically, referring to fig. 5, the grinding assembly includes a fixing base 62, a hinge rod 63 and a telescopic assembly 64; the fixed seat 62 is arranged on one side end face of the longitudinal moving frame 22 in the first horizontal direction F1; the upper end of the hinge rod 63 is hinged to the fixed seat 62; the telescopic assembly 64 is arranged on the fixed seat 62 and is provided with a telescopic part which can approach and depart from one side of the welding line, and the free end of the telescopic part is hinged to the middle part of the hinge rod 63; wherein, the grinding wheel 61 is rotatably mounted at the lower end of the hinge rod 63 and can rotate along the second horizontal direction F2; in this embodiment, the movement of the telescopic portion can make the grinding wheel 61 contact with and separate from the welded seam, so that the grinding wheel 61 is flexibly adjustable.
The number of the traverse moving seats 21 and the number of the welding mechanisms 3 are not limited, one traverse moving seat 21 can be arranged, correspondingly, one welding mechanism 3 is arranged, and the welding mechanisms 3 are enabled to respectively weld a plurality of U-shaped ribs 300 through the movement of the traverse moving seats 21; in this embodiment, a plurality of the traverse moving seats 21 are provided, and the plurality of the traverse moving seats 21 are arranged on the beam of the gantry 2 at intervals and are used for corresponding to the plurality of U-shaped ribs 300 one by one; correspondingly, a plurality of welding structures are arranged, and each welding mechanism 3 is respectively arranged on the corresponding longitudinal moving frame 22 of the transverse moving seat 21; that is to say, a plurality of welding mechanisms 3 can weld a plurality of U-shaped ribs 300 simultaneously, so as to improve the welding efficiency and reduce the calculation difficulty of the welding operation.
Based on the above-mentioned single-side welding and double-side forming device for the U rib plate unit, the present invention further provides a forming method for the U rib plate unit, and fig. 6 to 7 are specific embodiments of the forming method for the U rib plate unit.
Referring to fig. 6, fig. 6 is a first embodiment of a forming method of a U rib plate unit according to the present invention.
The U ribbed plate unit single-side welding and double-side forming device further comprises a transverse moving seat driver, a longitudinal moving frame driver, a gantry driver and a welding clamp driver, and the U ribbed plate unit forming method comprises the following steps:
s10: controlling the transverse moving seat driver to drive the transverse moving seat to move to the position above the U-shaped rib plate to be welded;
s20: controlling the longitudinal moving frame driver to drive the longitudinal moving frame to move to the welding position;
s30: controlling a welding gun to be started;
s40: adjusting the position and the inclination angle of the welding rod;
s50: controlling the electrode holder driver to drive the electrode holder to move so that the end of the welding rod can swing in the width direction of the welding seam;
s60: and controlling the gantry driver to drive the gantry to move along the second direction.
Referring to fig. 7, fig. 7 is a second embodiment based on the first embodiment.
The U rib plate unit single-side welding double-side forming device further comprises a positioning mechanism, the positioning mechanism comprises an infrared scanner arranged on one side of the bearing table in the second horizontal direction, and the infrared scanner is movably arranged and used for collecting the size parameters of the U rib plate and the bridge deck plate;
the U rib plate unit single-side welding double-side forming device further comprises a position adjusting assembly and an angle adjusting assembly, wherein the position adjusting assembly comprises a position adjusting driver and is used for driving and connecting the welding assembly, the angle adjusting assembly comprises an angle adjusting motor and an angle instrument, an output shaft of the angle adjusting motor is connected with the welding tongs in a driving mode, and the angle instrument is used for detecting the rotating angle of the output shaft;
the U rib plate unit single-side welding double-side forming device further comprises a laser range finder for detecting the distance from the end part of the welding rod to the welding line;
step S40 of adjusting the position and the inclination angle of the welding rod includes:
s401: acquiring a first size parameter of a U-shaped rib plate to be welded and a second size parameter of a bridge deck;
s402: acquiring a target distance parameter between the end of the welding rod and the U-shaped rib plate;
s403: calculating a plate thickness ratio parameter of the U-shaped rib plate and the bridge deck according to the first size parameter and the second size parameter;
s404: acquiring a target inclination angle of the welding rod according to the plate thickness ratio parameter;
s405: acquiring an actual distance parameter between the end of the welding rod and the U-shaped rib plate;
s406: calculating a moving distance parameter of the welding assembly according to the actual distance parameter and the target distance parameter;
s407: controlling the position adjusting driver to drive the welding assembly to move according to the moving distance parameter;
s408: acquiring an actual rotation angle of an output shaft of the angle adjusting motor;
s409: calculating the actual inclination angle of the welding rod according to the actual rotation angle;
s410: calculating a target rotation angle of the welding rod according to the actual inclination angle and the target inclination angle;
s411: and controlling the angle adjusting motor to drive the welding tongs to rotate according to the target rotating angle.
It should be noted that, during welding, a gap is required to be formed between the welding rod and the weldment to generate an arc, a distance between an end of the welding rod and the weldment is a length of the welding arc, the length of the welding arc is L, a diameter of the welding rod is D, and in order to ensure welding safety, the length of the welding arc needs to satisfy the following formula: l \65126D (0.5-1) mm; therefore, the target distance parameter can be calculated when the diameter of the welding rod is D, the moving distance parameter of the welding assembly is calculated according to the actual distance parameter and the target distance parameter, and the position adjusting driver is controlled to drive the welding assembly to move, so that the structure is simple, the calculation is simple and convenient, and the operation is convenient and fast; simultaneously, for guaranteeing welding quality, the inclination angle of welding rod needs to adjust according to the thickness ratio of two weldment, and in actual welding process, the inclination angle of welding rod sets up to alpha, works as the U type floor with the thickness ratio of bridge floor plate is 1:1, the inclination angle alpha of the welding rod is 45 degrees; when the thickness ratio of the U-shaped rib plate to the bridge deck plate is 1: when 2, the inclination angle alpha of the welding rod is 55-65 degrees; when the thickness ratio of the U-shaped rib plate to the bridge deck plate is 1:3, the inclination angle alpha of the welding rod is 80-85 degrees; therefore, the target inclination angle of the welding rod can be obtained according to the plate thickness ratio parameter of the U-shaped rib plate and the bridge deck, the target rotation angle of the welding rod is calculated according to the target inclination angle and the actual inclination angle, the angle adjusting motor is controlled to drive the welding tongs to rotate, and the bridge deck welding device is simple in structure, simple and convenient to calculate and convenient to operate; the position and the inclination angle of the welding rod are adjusted before welding, so that the welding quality can be improved.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. The utility model provides a two-sided forming device of U floor unit single face welding for welding forming U floor unit, U floor unit includes decking and a plurality of U type floor, and a plurality of U type floor set up along first horizontal direction interval, each U type floor sets up along second horizontal direction, its characterized in that includes:
the bearing platform is used for placing a bridge deck and a U-shaped rib plate to be welded;
the portal frame is erected above the bearing table along the first horizontal direction and can move along the second horizontal direction, a transverse moving seat capable of moving along the first horizontal direction is arranged on a transverse beam of the portal frame, and the transverse moving seat is provided with a longitudinal moving frame capable of moving up and down; and the number of the first and second groups,
the welding mechanism comprises two welding assemblies which are respectively arranged on two sides of the longitudinal moving frame in the first horizontal direction, each welding assembly comprises a welding gun and a welding tongs, a gun handle of the welding gun is arranged on the longitudinal moving frame, a nozzle of the welding gun is used for facing the welding seam on the corresponding side, the welding tongs are used for clamping a welding rod and enabling the end part of the welding rod to be arranged at the welding seam on the corresponding side, and the welding tongs are movably arranged on the longitudinal moving frame so that the welding rod can swing in the width direction of the welding seam on the corresponding side;
u floor unit single face welds two-sided forming device still includes shoots mechanism and/or grinding machanism and/or positioning mechanism, wherein:
the shooting mechanism comprises two detection cameras which are respectively arranged on two sides of the longitudinal moving frame in the first horizontal direction, and each detection camera is used for shooting a formed image of the welded welding seam on the corresponding side; the detection camera is used for being in communication connection with an external monitor;
the polishing mechanism comprises two polishing assemblies which are respectively arranged on two sides of the longitudinal moving frame in the first horizontal direction, each polishing assembly is arranged side by side with the welding assembly on the corresponding side, and the polishing mechanism is provided with a movably arranged grinding wheel which is used for polishing the welding seam welded by the welding assemblies;
the positioning mechanism comprises an infrared scanner arranged on one side of the bearing table in the second horizontal direction, and the infrared scanner is movably arranged and used for acquiring the size parameters of the U-shaped rib plate and the bridge deck plate;
the grinding assembly comprises:
the fixed seat is arranged on one side end face of the longitudinal moving frame in the first horizontal direction;
the upper end of the hinged rod is hinged to the fixed seat; and
the telescopic assembly is arranged on the fixed seat and is provided with a telescopic part which can approach and depart from one side of the welding line, and the free end of the telescopic part is hinged to the middle part of the hinge rod;
the grinding wheel is rotatably mounted at the lower end of the hinge rod and can rotate along the second horizontal direction.
2. The single-side welding and double-side forming device for the U-ribbed plate unit according to claim 1, wherein the welding mechanism further comprises two position adjusting assemblies, the two position adjusting assemblies are respectively arranged on two sides of the vertical moving frame in the first horizontal direction, and each position adjusting assembly comprises:
the moving block can move relative to the longitudinal moving frame in the first horizontal direction; and the number of the first and second groups,
a position adjustment driver, wherein a position adjustment driving part is connected with the moving block in a driving way;
the welding assembly is arranged on the moving block on the corresponding side.
3. The U-ribbed-unit single-side welding double-side forming device of claim 2 wherein the position adjustment assembly further includes a laser range finder on the welding tongs, the laser range finder including a transmitter and a receiver arranged side by side with a transmitting end and a receiving end arranged toward the weld for detecting the distance from the end of the welding rod to the U-ribbed plate;
wherein the laser ranging is electrically connected with the position adjustment driver.
4. A single-side welding and double-side forming device for a U-ribbed plate unit according to claim 1, wherein the welding mechanism further includes two angle adjusting assemblies, the two angle adjusting assemblies are respectively disposed on two sides of the longitudinal moving frame in the first horizontal direction, and each angle adjusting assembly includes:
the rotating end of the oscillating bar is rotatably arranged on the end surface of the corresponding side of the longitudinal moving frame, so that the mounting end of the oscillating bar can swing up and down;
an output shaft of the angle adjusting motor is in driving connection with a rotating end of the oscillating bar; and (c) a second step of,
the angle gauge is arranged on the output shaft and used for detecting the rotation angle of the swing rod;
the welding tongs are arranged at the mounting end, so that the upward and downward inclination angle of the welding rod can be adjusted.
5. The device for forming the U-shaped rib plate unit by one-side welding and two-side forming according to claim 1, wherein the longitudinal moving frame is used for arranging an avoiding groove on one side end face of the longitudinal moving frame facing the U-shaped rib plate, the avoiding groove is arranged in the second horizontal direction in a penetrating manner, and two side walls of the avoiding groove in the first horizontal direction are used for being matched with outer walls of two side plates of the U-shaped rib plate;
u floor unit single face welds two-sided forming device still includes guide structure, guide structure includes:
the two universal wheels are arranged oppositely in the first horizontal direction, are respectively arranged on the two side walls of the avoidance groove and are close to the positions of the notches of the avoidance groove, and the rolling wheels of the two universal wheels are respectively in rolling contact with the outer walls of the side plates on the corresponding sides; and the number of the first and second groups,
and the pressing roller is rotatably arranged on the bottom wall of the avoidance groove along the axis of the first horizontal direction, and the roller is used for being in rolling and abutting joint with the bottom plate of the U-shaped rib plate.
6. The single-side welding and double-side forming device for the U rib plate unit according to claim 5, wherein a first elastic buffer structure is arranged between the universal wheel and the side wall of the avoidance groove on the corresponding side; and/or the presence of a gas in the gas,
and a second elastic buffer structure is arranged between the pressing roller and the bottom wall of the avoidance groove.
7. A U rib plate unit forming method based on the U rib plate unit single-side welding double-side forming device of any one of claims 1 to 6, characterized in that the U rib plate unit single-side welding double-side forming device further comprises a transverse moving seat driver, a longitudinal moving frame driver, a gantry driver and a welding clamp driver, and the U rib plate unit forming method comprises the following steps:
controlling the transverse moving seat driver to drive the transverse moving seat to move above the U-shaped rib plate to be welded;
controlling the longitudinal moving frame driver to drive the longitudinal moving frame to move to the welding position;
controlling a welding gun to be started;
adjusting the position and the inclination angle of the welding rod;
controlling the electrode holder driver to drive the electrode holder to move so that the end of the welding rod can swing in the width direction of the welding seam;
and controlling the gantry driver to drive the gantry to move along the second direction.
8. The forming method of a U-ribbed board unit of claim 7 wherein the U-ribbed board unit single-side welding double-side forming device further includes a positioning mechanism, the positioning mechanism includes an infrared scanner disposed on one side of the bearing platform in the second horizontal direction, the infrared scanner is movably disposed to collect the size parameters of the U-ribbed board and the bridge floor;
the U rib plate unit single-side welding and double-side forming device further comprises a position adjusting assembly and an angle adjusting assembly, wherein the position adjusting assembly comprises a position adjusting driver and is used for driving and connecting the welding assembly, the angle adjusting assembly comprises an angle adjusting motor and an angle instrument, an output shaft of the angle adjusting motor is connected with the welding tongs in a driving mode, and the angle instrument is used for detecting the rotating angle of the output shaft;
the U rib plate unit single-side welding double-side forming device further comprises a laser range finder for detecting the distance from the end part of the welding rod to the welding line;
the step of adjusting the position and the inclination angle of the welding rod comprises the following steps:
acquiring a first size parameter of a U-shaped rib plate to be welded and a second size parameter of a bridge deck;
acquiring a target distance parameter between the end of the welding rod and the U-shaped rib plate;
calculating a plate thickness ratio parameter of the U-shaped rib plate and the bridge deck according to the first size parameter and the second size parameter;
acquiring a target inclination angle of the welding rod according to the plate thickness ratio parameter;
acquiring an actual distance parameter between the end of the welding rod and the U-shaped rib plate;
calculating a moving distance parameter of the welding assembly according to the actual distance parameter and the target distance parameter;
controlling the position adjusting driver to drive the welding assembly to move according to the moving distance parameter;
acquiring an actual rotation angle of an output shaft of the angle adjusting motor;
calculating the actual inclination angle of the welding rod according to the actual rotation angle;
calculating a target rotation angle of the welding rod according to the actual inclination angle and the target inclination angle;
and controlling the angle adjusting motor to drive the welding tongs to rotate according to the target rotating angle.
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| CN115283927B (en) * | 2022-10-08 | 2022-12-16 | 四川华体照明科技股份有限公司 | Rod body assembling and welding tool |
| CN116586880B (en) * | 2023-07-17 | 2023-10-13 | 常州钢劲型钢股份有限公司 | Clamping device for welding U-shaped rib plates |
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