CN115351476A - Automatic welding robot for splicing steel box girders and using method - Google Patents
Automatic welding robot for splicing steel box girders and using method Download PDFInfo
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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
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Abstract
The application relates to the field of constructional engineering, and particularly discloses an automatic welding robot for steel box girder splicing and a use method thereof, wherein the automatic welding robot for steel box girder splicing comprises an equipment platform and a welding system, wherein the welding system is arranged on the equipment platform and is used for welding a welding seam of the steel box girder; the traveling system is arranged on the other side of the equipment platform and linearly reciprocates along the welding seam of the steel plate; and the control system is arranged in the equipment platform and is used for controlling the working states of the welding system and the walking system. This application has the intelligent welded effect of welding seam that realizes whole steel box girder concatenation, and intelligent construction operation improves production efficiency under the prerequisite of guaranteeing construction quality, alleviates workman intensity of labour.
Description
Technical Field
The application relates to the field of constructional engineering, in particular to an automatic welding robot for splicing steel box girders and a using method.
Background
At present, with the continuous development of the construction level, the construction quality and the construction efficiency of national bridges, more and more new technologies are continuously developed and popularized, in the production process of steel box girders production and manufacturing and construction splicing, the main connection processing mode is welding, the steel box girders are large in size, each splicing welding line is different from several meters to dozens of meters, and at present, the forms of carbon dioxide gas shielded welding, submerged arc welding and the like exist.
But in carrying out welding process to the steel box roof beam, at present all be manual welding, work load is big, and the workman often need emit burning sun, high temperature, welding dense smoke in on-the-spot steel box roof beam concatenation welding process, no matter the safety and the travelling comfort of construction operation all can not be ensured, production efficiency also can be influenced along with high temperature, many smog, need apply new technology to solve present construction conditions, steel box roof beam concatenation automatic weld robot can replace workman manual welding to solve present difficult problem, consequently, need solve the problem that artifical inefficiency and working strength are big.
Disclosure of Invention
In order to improve the problem that the working strength of a welding worker for welding seams of the steel box girder is high, the application provides an automatic welding robot for splicing the steel box girder and a using method.
The application provides a pair of steel box girder concatenation automatic weld robot adopts following technical scheme:
an automatic welding robot for splicing steel box girders and a use method thereof, which comprises an equipment platform,
the welding system is arranged on the equipment platform and is used for welding the welding seam of the steel box girder;
the traveling system is arranged on the other side of the equipment platform and linearly reciprocates along the welding seam of the steel plate;
and the control system is arranged in the equipment platform and is used for controlling the working states of the welding system and the walking system.
Through adopting above-mentioned technical scheme, the welding system who equips installation on the platform is used for welding the welding seam, and when placing the robot on the steel box girder, provides power for traveling system through control system, and traveling system is along the length direction of welding seam this moment, equips the platform and takes welding system to move along the length direction of welding seam, can accomplish welding seam weldment work, need not the manual work scene and operates, greatly reduced staff's working strength.
Optionally, the traveling system includes first displacement platform, second displacement platform, be used for with the adsorbed absorption subassembly of steel box girder and be used for driving first displacement platform or the displacement subassembly of the crisscross motion of second displacement platform, first displacement platform and second displacement platform all with it connects to equip the platform.
Through adopting above-mentioned technical scheme, be used for guaranteeing the adsorption work between first displacement platform and second displacement platform and the steel box girder through adsorption component, guarantee to equip the stability of platform, make first displacement platform and second displacement platform staggered movement through displacement component in addition, for example first displacement platform moves first, second displacement platform orientation is close to first displacement platform direction motion, and then realizes first displacement platform and second displacement platform staggered movement each other, realizes promoting the effect of equipping the platform motion.
Optionally, the displacement subassembly includes first slide, second slide, lead screw, slide bar and is used for the drive lead screw pivoted displacement motor, first slide in first displacement bench and with equipment platform fixed connection, the second slide in second displacement bench and with equipment platform fixed connection, the lead screw displacement motor and the slide bar all sets up to two sets ofly, and two sets of the lead screw respectively with first slide and second slide spiral cooperation, two sets of the slide bar respectively with first slide and second slide wear to establish and slide.
By adopting the technical scheme, when the first sliding plate slides and the second sliding plate is fixed, the screw rod on the second displacement table rotates to drive the first displacement table and the equipment platform to move together, and meanwhile, as the first sliding plate is fixed with the equipment platform, the screw rod on the first displacement table controls the whole first displacement table to move.
Optionally, the adsorption assembly includes a plurality of first electromagnets and a plurality of second electromagnets, the first electromagnets are fixed below the first displacement table, the second electromagnets are fixed below the second displacement table, and the first electromagnets and the second electromagnets are both physically characterized in that they are magnetized when they are energized or de-energized.
Through adopting above-mentioned technical scheme, first electro-magnet and second electro-magnet adsorb or break away from with the steel box girder when circular telegram or outage, and then cooperate the displacement subassembly to realize the staggered movement.
Optionally, the welding system includes a welding work mechanism and a reciprocating motion mechanism, the reciprocating motion mechanism includes a work block and a power assembly, the work block slides on the equipment platform and the welding work mechanism is installed on the work block, and the power assembly is used for driving the work block to reciprocate along the length direction of the welding seam.
Through adopting above-mentioned technical scheme, under power component's effect, the work piece also moves along the length direction of welding seam, and the welding work mechanism follows the work piece and moves together, and then realizes the welding effect to the welding seam.
Optionally, the power assembly includes a reciprocating motor, a gear and a rack, the reciprocating motor is fixed to the working block and is used for driving the gear to rotate, the rack is fixed to the equipment platform, and the gear is engaged with the rack.
Through adopting above-mentioned technical scheme, reciprocating motion motor drive gear rotates, and the wheel interacts with the rack, realizes the drive effect to the work piece.
Optionally, the welding work mechanism includes a welding gun and a swing motor for controlling a swing angle of the welding gun, and the swing motor is installed on the work block.
Through adopting above-mentioned technical scheme, when welder does not need the during operation, only need control welder to move to the position of keeping away from the steel case roof beam this moment, have the effect of protecting the welder, when needs welder during operation, control welder towards the steel case roof beam welding seam swing this moment.
Optionally, the equipment platform is provided with an identification mechanism, the identification mechanism comprises an identification piece which is elastically arranged at the end part of the equipment platform, and the identification piece is used for identifying the motion path of the equipment platform.
By adopting the technical scheme, the identification piece is used for marking the movement path of the welding gun so as to facilitate whether the movement path of the welding gun is deviated from the welding line or not in the follow-up process, and further remind a worker of timely processing.
Optionally, the end of the equipment platform is provided with a through hole, the identification piece slides in the through hole, one end of the identification piece far away from the steel box girder is fixedly connected with a handle, a spring is sleeved outside the identification piece, and two ends of the spring are respectively fixedly connected with the handle and the surface of the equipment platform.
Through adopting above-mentioned technical scheme, when the marker was with steel box girder surface butt, the spring was by tensile deformation this moment, under the spring action of the spring recovering original shape, guaranteed that the marker is rule on steel box girder.
The application further provides a use method of the automatic welding robot for splicing the steel box girders, which adopts the following technical scheme:
a use method of an automatic welding robot for splicing steel box girders comprises the following steps:
s1, adjusting the position of a robot, placing the robot at a position corresponding to a steel box girder, ensuring that the working end of a welding gun is aligned with a welding seam, powering off a first electromagnet and a second electromagnet, positioning the welding gun at the tail end of a movement direction, and controlling the welding gun to swing to the position aligned with the welding seam by a swing motor;
s2, moving the equipment platform for the first time, wherein the first electromagnet is electrified, the second electromagnet is powered off, the first displacement table is driven to move towards the direction far away from the second displacement table, and meanwhile, a displacement motor on the second displacement table works to further continuously push the first displacement table to move towards the direction far away from the second displacement table;
s3, moving the equipment platform for the second time, wherein the first electromagnet is powered off, the second electromagnet is powered on, the second displacement table is driven to move towards the first displacement table, and meanwhile, a displacement motor on the second displacement table works to further continuously push the second displacement table to move towards the first displacement table;
s4, repeating S2 and S3, and when the equipment platform moves to the top end of the welding seam, driving a reciprocating motion motor, controlling a working block to drive a welding gun to move, and further ensuring that the whole welding seam welding work is finished;
and S5, detecting the welding seam, detecting the lineation linearity of the identification piece, and determining whether repair welding is needed.
By adopting the technical scheme, the robot is placed at the position corresponding to the steel box girder, the swinging motor controls the welding gun to swing towards the welding seam position, the welding gun working end is ensured to be aligned to the welding seam position, the first electromagnet and the second electromagnet are powered off, the welding gun is positioned at the tail end of the movement direction, the two displacement motors are respectively positioned at one ends, far away from each other, of the first displacement table and the second displacement table, and the welding gun is positioned at the end part position, close to the second displacement table, of the equipment platform; the first electromagnet is electrified, the second electromagnet is powered off, the first displacement table slides, the second displacement table is fixed, the first displacement table is driven to move towards the direction far away from the second displacement table, and the screw rod rotates to drive the equipment platform to move towards the direction far away from the second displacement table together due to the fact that the first sliding plate is fixed with the equipment platform; meanwhile, a displacement motor on the second displacement table works to control the equipment platform and the first displacement table to move together through the screw rod and the second sliding plate, and the first displacement table is continuously pushed to move towards the direction far away from the second displacement table; the first electromagnet is powered off, the second electromagnet is powered on, the first displacement table is fixed in position, the second displacement table can slide, and at the moment, the first sliding plate on the first displacement table drives the equipment platform and the second displacement table to move towards the direction close to the first displacement table; under the driving action of the rotation of the screw rod, the second displacement table moves towards the direction close to the first displacement table; when the equipment platform moves to the end part of the welding seam, the equipment platform is inconvenient to move, the reciprocating motion motor is driven, the working block is controlled to drive the welding gun to move, and the welding operation of the whole section of welding seam is guaranteed to be completed; under the cooperation of the spring and the handle, the end part of the identification piece is attached to the steel box girder, so that the identification piece can mark the steel box girder, and after welding is completed, the marking linearity of the identification piece is detected to determine whether repair welding is needed.
In summary, the present application includes at least one of the following beneficial technical effects:
1. when the robot is placed on the steel box girder, the walking system is powered by the control system, and the walking system moves along the length direction of the welding seam, so that the welding work of the welding seam can be finished;
2. when the first sliding plate slides and the second sliding plate is fixed, the screw rod on the second displacement table rotates to drive the first displacement table and the equipment platform to move together, and meanwhile, as the first sliding plate is fixed with the equipment platform, the screw rod on the first displacement table controls the whole first displacement table to move;
3. the identification piece is used for marking the movement path of the welding gun so as to facilitate whether the movement path of the welding gun is deviated from the welding line or not in the follow-up process, and further remind a worker of timely processing.
Drawings
Fig. 1 is a schematic overall structure diagram of a first embodiment of the present application.
Fig. 2 is a schematic view of a walking system, a welding system and an equipment platform according to an embodiment of the present disclosure.
Fig. 3 is an enlarged schematic view of a portion a in fig. 2.
Fig. 4 is an enlarged schematic view of a portion B in fig. 1.
Fig. 5 is a construction flowchart in the second embodiment of the present application.
Reference numerals: 1. an equipment platform; 2. a welding system; 3. a traveling system; 4. a control system; 5. a first displacement stage; 6. a second displacement stage; 7. a first slide plate; 8. a second slide plate; 9. a screw rod; 10. a slide bar; 11. a displacement motor; 12. a first electromagnet; 13. a second electromagnet; 14. a working block; 15. a reciprocating motor; 16. a gear; 17. a rack; 18. a welding gun; 19. a swing motor; 20. an identification member; 21. a handle; 22. a spring.
Detailed Description
The present application is described in further detail below with reference to figures 1-5.
Example one
The embodiment of the application discloses steel box girder concatenation automatic weld robot. Referring to fig. 1 and 2, an automatic welding robot for steel box girder splicing comprises an equipment platform 1, a welding system 2, a walking system 3 and a control system 4, the welding system 2 is used for welding a welding seam on the steel box girder, the welding system 2 is installed on the equipment platform 1, the walking system 3 is used for controlling the equipment platform 1 to move along the length direction of the welding seam of the steel box girder, and then the welding system 2 is driven to move, the effect of welding the welding seam on the steel box girder is achieved, the control system 4 is used for providing power for the welding system 2 and the walking system 3 and is also installed on the equipment platform 1, namely, the working state for controlling the welding system 2 and the walking system 3 is provided.
Referring to fig. 1 and 2, the traveling system 3 includes a first displacement table 5, a second displacement table 6, an adsorption component for adsorbing to the steel box girder, and a displacement component for driving the first displacement table 5 or the second displacement table 6 to move in a staggered manner, the first displacement table 5 and the second displacement table 6 are both connected to the equipment platform 1, and the first displacement table 5 and the second displacement table 6 move in a staggered manner, so as to realize a driving effect of the equipment platform 1.
The displacement assembly comprises a first sliding plate 7, a second sliding plate 8, a screw rod 9, a sliding rod 10 and a driving motor for driving the screw rod 9 to rotate, the driving motor can adopt a servo motor, the first sliding plate 7 slides on the first displacement table 5 and is fixedly connected with the side wall of the equipment platform 1, the second sliding plate 8 slides on the second displacement table 6 and is also fixedly connected with the equipment platform 1, the screw rod 9, the sliding rod 10 and the driving motor for driving the screw rod 9 to rotate are arranged in two groups and are respectively arranged on the first displacement table 5 and the second displacement table 6, the two groups of screw rods 9 are respectively in spiral fit with the first sliding plate 7 and the second sliding plate 8, the two groups of sliding rods 10 respectively penetrate and slide with the first sliding plate 7 and the second sliding plate 8, and therefore the purpose is achieved that when the first sliding plate 7 or the second sliding plate 8 can slide, the screw rod 9 is driven to rotate, at the time, the first sliding plate 7 or the second sliding plate 8 moves along the length direction of the sliding rod 10, similarly, when the sliding plate is fixed, when the driving corresponding screw rod 9 rotates, the first displacement table 5 or the second displacement table 6 is driven to move along the length direction of the sliding rod 10.
Referring to fig. 1 and 2, the adsorption assembly includes a plurality of first electromagnets 12 and a plurality of second electromagnets 13, in this embodiment, four first electromagnets 12 are used, and two first electromagnets 12 are in a group, two groups of first electromagnets 12 are respectively fixed at two ends below the first displacement table 5, similarly, two groups of second electromagnets 13 are respectively fixed at two ends below the second displacement table 6, and the first electromagnets 12 and the second electromagnets 13 are both physical characteristics of being electrified and demagnetized, and being deenergized and magnetized; when the first electromagnet 12 is powered on and the second electromagnet 13 is powered off, the first displacement table 5 can slide at the moment, the second displacement table 6 and the steel box girder are in the same height, at the moment, the two driving motors start to move, and the first sliding plate 7 is driven to move towards the direction far away from the driving motors.
Namely, the second displacement table 6 is fixed differently, the first displacement table 5 is fixed on the steel box girder, the driving motor on the second displacement table 6 controls the screw rod 9 to rotate, the second sliding plate 8 is moved along the length direction of the sliding rod 10, and at the moment, the first displacement table 5 and the equipment platform 1 are driven to move towards the direction far away from the second displacement table 6, namely, move forwards along the length direction of the welding seam; meanwhile, the driving motor on the first displacement table 5 controls the screw rod 9 to rotate, but the first sliding plate 7 is fixed at the moment, the screw rod 9 and the first displacement table 5 move towards the direction far away from the first displacement table 5 relative to the equipment platform 1, the effect of forward movement of the first displacement table 5 is realized under the driving effect, similarly, when the first electromagnet 12 is powered off and the second electromagnet 13 is powered on, the first displacement table 5 is fixed at the moment, the second displacement table 6 can slide, the process is operated according to the same principle, and the effect of movement of the whole robot along the welding seam is realized.
Referring to fig. 2 and 3, the welding system 2 includes a welding work mechanism and a reciprocating motion mechanism, the reciprocating motion mechanism is used for controlling the welding work system to move along the length direction of the welding seam, the reciprocating motion mechanism includes a work block 14 and a power assembly, the work block 14 slides on the equipment platform 1, the welding work structure is installed on a work block, the work block 14 and the equipment platform 1 are mutually matched through a T-shaped block and a T-shaped groove, so that the work block 14 can only move along the length direction of the equipment platform 1, or a limiting rod is adopted in the embodiment, the work block 14 is sleeved outside the limiting rod, and the effect that the work block 14 moves along the length direction of the equipment platform 1 can also be realized.
The power assembly is used for driving the working block 14 to reciprocate along the length direction of the welding seam, and comprises a reciprocating motor, a gear 16 and a rack 17, wherein the reciprocating motor is fixed on the working block 14 and used for driving the gear 16 to rotate, the rack 17 is fixed on the equipment platform 1, the gear 16 is meshed with the rack 17 and is connected with the rack 17, when the equipment platform 1 moves to the end part of the steel box girder, the equipment platform 1 cannot move continuously at the moment, the gear 16 rotates by controlling the reciprocating motor, the gear 16 moves relative to the rack 17 in the rotating process, the driving effect on the working block 14 is further realized, the welding working structure moves along with the working block 14, and the welding work on the welding seam of the steel box girder is further completed.
Referring to fig. 2 and 3, the welding working mechanism adopts a welding gun 18 technology, and comprises a welding gun 18 and a swing motor 19 for controlling the swing angle of the welding gun 18, wherein the swing motor 19 is installed on the working block 14, when the welding gun 18 does not start working, the welding gun 18 is in a horizontal position or a position far away from a steel box girder, when a welding seam needs to be welded, the swing motor 19 controls the welding gun 18 to swing, and the welding gun 18 swings to be vertical to the length direction of the welding seam, so that the effect of protecting the welding gun 18 is achieved.
Referring to fig. 2 and 4, in order to further ensure the movement path of the welding operation, an identification mechanism is installed at the end of the equipment platform 1, and similarly, the identification mechanism may also be installed on the operation block 14, and the identification mechanism is used for displaying the movement path of the welding gun 18, and includes an identification member 20 elastically installed at the end of the equipment platform 1, and the identification member 20 is used for identifying the movement path of the equipment platform 1, and the identification member 20 may be a marking tool such as a marker pen, and the like, and the end of the equipment platform 1 is provided with a through hole, and the identification member 20 slides in the through hole, and one end of the identification member 20 far away from the steel box beam is fixedly connected with a handle 21, and the length direction of the handle 21 is perpendicular to the length direction of the identification member 20, and a spring 22 is sleeved outside the identification member 20, and both ends of the spring 22 are respectively fixedly connected with the handle 21 and the surface of the equipment platform 1, and when the equipment platform 1 is fixed on the steel box beam, the identification member 20 is driven to move, and the spring 22 is stretched, and when the equipment platform 1 is fixed on the steel box beam, and the welding operation of normal marking or normal marking of the welding operation is finished, and when the welding operation of the infrared ray is performed, and the position of the marking is corrected, and the welding operation position is performed, and the detection device is performed.
The implementation principle of the automatic welding robot for splicing the steel box girders in the embodiment of the application is as follows: the welding gun 18 is swung to the position of a welding seam through the swing motor 19, the fact that the identification part 20 is tightly attached to the steel box girder under the action of the spring 22 is guaranteed, the first electromagnet 12 is powered on, the second electromagnet 13 is powered off, the driving motor on the second displacement table 6 controls the screw rod 9 to rotate, the second sliding plate 8 drives the equipment platform 1 to move towards the direction far away from the second displacement table 6, meanwhile, the driving motor on the first displacement table 5 controls the screw rod 9 to rotate, the first sliding plate 7 is fixed in position, the first displacement table 5 is driven to integrally move towards the direction far away from the second displacement table 6, the driving effect on the equipment platform 1 is achieved, and the welding gun 18 welds the welding seam; when the equipment platform 1 moves to the end part of the steel box girder, the equipment platform 1 cannot move continuously at the moment, the gear 16 is driven to rotate by the reciprocating motion motor 15, and the working block 14 is driven to move along the length direction of the equipment platform 1 under the interaction between the rack 17 and the gear 16, so that the welding work of the welding gun 18 is completed; the marker 20 detects whether the welding position of the welding gun 18 is deviated by marking, and determines whether the worker needs to repair the welding.
Example two
The embodiment of the application discloses a use method of an automatic welding robot for splicing steel box girders. Referring to fig. 1, the use method of the automatic welding robot for splicing the steel box girders comprises the following steps:
s1, adjusting the position of a robot, placing the robot at a position corresponding to a steel box girder, controlling a welding gun 18 to swing towards a welding seam position by a swing motor 19, ensuring that the working end of the welding gun 18 is aligned with the welding seam position, powering off a first electromagnet 12 and a second electromagnet 13, positioning the welding gun 18 at the tail end of the movement direction, positioning two displacement motors 11 at one end of a first displacement table 5 and one end of a second displacement table 6 which are far away from each other respectively, and positioning the welding gun 18 at the end part of an equipment platform 1 close to the second displacement table 6;
s2, moving the equipment platform 1 for the first time, enabling the first electromagnet 12 to be powered on and the second electromagnet 13 to be powered off, enabling the first displacement table 5 to slide and the second displacement table 6 to be fixed, enabling the first displacement table 5 to be driven to move towards the direction far away from the second displacement table 6 at the moment, and enabling the screw rod 9 to rotate to drive the equipment platform 1 to move towards the direction far away from the second displacement table 6 at the moment as the first sliding plate 7 is fixed with the equipment platform 1; meanwhile, a displacement motor 11 on the second displacement table 6 works to control the equipment platform 1 and the first displacement table 5 to move together through a screw rod 9 and a second sliding plate 8, and the first displacement table 5 is continuously pushed to move towards a direction far away from the second displacement table 6;
s3, moving the equipment platform 1 for the second time, wherein the first electromagnet 12 is powered off, the second electromagnet 13 is powered on, the first displacement table 5 is fixed in position, the second displacement table 6 can slide, and at the moment, the first sliding plate 7 on the first displacement table 5 drives the equipment platform 1 and the second displacement table 6 to move towards the direction close to the first displacement table 5; under the driving action of the rotation of the screw rod 9 on the second displacement table 6, the second displacement table 6 moves towards the direction close to the first displacement table 5;
s4, repeating S2 and S3, when the equipment platform 1 moves to the end part of the welding seam, the equipment platform 1 is not convenient to move, the reciprocating motion motor 15 is driven, the working block 14 is controlled to drive the welding gun 18 to move, and the welding operation of the whole section of the welding seam is guaranteed to be completed;
and S5, detecting a welding seam, wherein under the matching action of the spring 22 and the handle 21, the end part of the identification piece 20 is attached to the steel box girder, so that the identification piece 20 can mark the steel box girder, and after the welding operation is finished, detecting the linearity of the marking of the identification piece 20 and determining whether repair welding is needed.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. The utility model provides a steel box girder concatenation automatic weld robot which characterized in that: comprises an equipment platform (1),
the welding system (2) is arranged on the equipment platform (1) and is used for welding the welding seam of the steel box girder;
the traveling system (3) is arranged on the other side of the equipment platform (1) and does linear reciprocating motion along the welding seam of the steel plate;
and the control system (4) is arranged in the equipment platform (1) and is used for controlling the working states of the welding system (2) and the walking system (3).
2. The automatic welding robot for splicing steel box girders according to claim 1, characterized in that: the walking system (3) comprises a first displacement table (5), a second displacement table (6), an adsorption component used for adsorbing the steel box girder and a displacement component used for driving the first displacement table (5) or the second displacement table (6) to move in a staggered mode, and the first displacement table (5) and the second displacement table (6) are connected with the equipment platform (1).
3. The automatic welding robot for splicing steel box girders according to claim 2, characterized in that: the displacement subassembly includes first slide (7), second slide (8), lead screw (9), slide bar (10) and is used for the drive lead screw (9) pivoted displacement motor (11), first slide (7) slide in on first displacement platform (5) and with equipment platform (1) fixed connection, second slide (8) slide in on second displacement platform (6) and with equipment platform (1) fixed connection, lead screw (9) displacement motor (11) and slide bar (10) all set up to two sets of, and two sets of lead screw (9) respectively with first slide (7) and second slide (8) screw-thread fit, two sets of slide bar (10) respectively with first slide (7) and second slide (8) are worn to establish and are slided.
4. The automatic welding robot for splicing steel box girders according to claim 2, characterized in that: the adsorption component comprises a plurality of first electromagnets (12) and a plurality of second electromagnets (13), the first electromagnets (12) are fixed below the first displacement table (5), the second electromagnets (13) are fixed below the second displacement table (6), and the first electromagnets (12) and the second electromagnets (13) are both in physical properties of being electrified, demagnetized and magnetized when power is off.
5. The automatic welding robot for splicing steel box girders according to claim 2, characterized in that: welding system (2) are including weldment work mechanism and reciprocating motion mechanism, reciprocating motion mechanism includes work piece (14) and power component, work piece (14) slide in equip on platform (1) just weldment work mechanism install in on work piece (14), power component is used for the drive work piece (14) along welding seam length direction reciprocating motion.
6. The automatic welding robot for splicing steel box girders and the use method thereof as claimed in claim 5, wherein the robot comprises: the power assembly comprises a reciprocating motion motor (15), a gear (16) and a rack (17), the reciprocating motor is fixed on the working block (14) and used for driving the gear (16) to rotate, the rack (17) is fixed on the equipment platform (1), and the gear (16) is meshed with the rack (17).
7. The automatic welding robot for splicing steel box girders according to claim 5, wherein: the welding work mechanism comprises a welding gun (18) and a swing motor (19) used for controlling the swing angle of the welding gun (18), and the swing motor (19) is installed on the work block (14).
8. The automatic welding robot for splicing steel box girders and the using method thereof as claimed in claim 1, characterized in that: the equipment platform (1) is provided with an identification mechanism, the identification mechanism comprises an identification piece (20) which is elastically arranged at the end part of the equipment platform (1), and the identification piece (20) is used for identifying the motion path of the equipment platform (1).
9. The automatic welding robot for splicing steel box girders and the use method thereof as claimed in claim 8, wherein: the steel box beam identification device is characterized in that a through hole is formed in the end portion of the equipment platform (1), the identification piece (20) slides in the through hole, one end of the identification piece (20) far away from the steel box beam is fixedly connected with a handle (21), a spring (22) is sleeved outside the identification piece (20), and two ends of the spring (22) are fixedly connected with the handle (21) and the surface of the equipment platform (1) respectively.
10. Use method of the automatic welding robot for splicing the steel box girders, which is based on the automatic welding robot for splicing the steel box girders as claimed in any one of claims 1 to 9, and is characterized in that: the method comprises the following steps:
s1, adjusting the position of a robot, placing the robot at a position corresponding to a steel box girder, ensuring that the working end of a welding gun (18) is aligned to the welding seam position, powering off a first electromagnet (12) and a second electromagnet (13), enabling the welding gun (18) to be located at the tail end of the movement direction, and controlling the welding gun (18) to swing to the position aligned to the welding seam by a swing motor (19);
s2, the equipment platform (1) is moved for the first time, the first electromagnet (12) is powered on, the second electromagnet (13) is powered off, the first displacement table (5) is driven to move towards the direction far away from the second displacement table (6), and meanwhile, a displacement motor (11) on the second displacement table (6) works to further continuously push the first displacement table (5) to move towards the direction far away from the second displacement table (6);
s3, moving the equipment platform (1) for the second time, wherein the first electromagnet (12) is powered off, the second electromagnet (13) is powered on, the second displacement table (6) is driven to move towards the first displacement table (5), and meanwhile, the displacement motor (11) on the second displacement table (6) works to further continuously push the second displacement table (6) to move towards the first displacement table (5);
s4, repeating S2 and S3, and when the equipment platform (1) moves to the top end of the welding seam, driving a reciprocating motion motor (15) to control a working block (14) to drive a welding gun (18) to move so as to ensure that the whole welding seam welding work is finished;
and S5, detecting the welding seam, detecting the lineation linearity of the marking piece (20), and determining whether repair welding is needed.
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| CN202210887001.7A CN115351476A (en) | 2022-07-26 | 2022-07-26 | Automatic welding robot for splicing steel box girders and using method |
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