CN115922177A - Welding robot for stiff columns of buildings and construction method - Google Patents
Welding robot for stiff columns of buildings and construction method Download PDFInfo
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- CN115922177A CN115922177A CN202211597857.7A CN202211597857A CN115922177A CN 115922177 A CN115922177 A CN 115922177A CN 202211597857 A CN202211597857 A CN 202211597857A CN 115922177 A CN115922177 A CN 115922177A
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- 238000003466 welding Methods 0.000 title claims abstract description 82
- 238000010276 construction Methods 0.000 title claims abstract description 32
- 238000001125 extrusion Methods 0.000 claims description 10
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000001179 sorption measurement Methods 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 238000010030 laminating Methods 0.000 description 13
- 238000000034 method Methods 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention discloses a building stiff column welding robot and a construction method, wherein the building stiff column welding robot comprises a structural floor slab, wherein a stiff column lower part is welded and installed on the structural floor slab, a stiff column upper part is fixedly installed on the stiff column lower part through a connecting lug plate, a stiff column butt welding seam is arranged between the stiff column upper part and the stiff column lower part, a track support is arranged on the structural floor slab and comprises a plurality of supporting legs and a circular track, the supporting legs are arranged on the structural floor slab, the circular track is fixedly installed on the supporting legs, and the upper surface of the circular track and the stiff column butt welding seam are at the same horizontal height. Has the advantages that: the invention solves the problem that the butt welding of the stiff columns of the large-thickness plates in the existing building structure is difficult, achieves the effects of saving labor, improving efficiency, ensuring welding quality and saving cost, does not make high-altitude welding operation unmanned, and eliminates the potential safety hazard of high-altitude construction operation.
Description
Technical Field
The invention relates to the technical field of building robot welding, in particular to a building stiff column welding robot and a construction method.
Background
At present, with the rapid development of robot technology, robots are increasingly applied to the building field, and the building robots solve the problems that the existing building industry needs a large number of workers, the construction efficiency is low, and the construction period is long;
the stiffness column is generally applied to large-scale stadiums and super high-rise buildings, and the section of the common stiffness column is large because the stiffness column resists large horizontal load and vertical load in the structure. In the field construction, the welding workload of a plurality of stiff columns is very large, under normal conditions, one stiff column needs more than 4 workers for 8 hours a day, in an ultrahigh layer, one layer of stiff columns is calculated according to 30, and one layer of stiff columns needs 120 welders for connection, so that the number and the welding workload are very large, the welding efficiency is slow, the construction cost is high on the premise that the number of workers is large, and the risk of high-altitude welding operation is high;
the existing stiff column has the following technical problems during welding:
1. the existing welding of the stiff columns needs a large amount of labor consumption;
2. because of different levels of welders, the welding quality cannot be guaranteed;
3. the manual welding construction efficiency is low;
4. the risk of high-altitude welding is high.
Therefore, it is necessary to design a robot for welding stiff columns of a building and a construction method thereof to solve the above problems.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a robot for welding stiff columns of buildings and a construction method.
In order to achieve the purpose, the invention adopts the following technical scheme:
a robot for welding stiff columns of a building and a construction method of the robot comprise a structural floor slab, wherein lower stiff column parts are welded and installed on the structural floor slab, upper stiff column parts are fixedly installed on the lower stiff column parts through connecting ear plates, stiff column butt welding seams are formed between the upper stiff column parts and the lower stiff column parts, and a track support is arranged on the structural floor slab;
the track support comprises a plurality of supporting legs and a circular track, the supporting legs are arranged on the structural floor slab, the circular track is fixedly installed on the supporting legs, the upper surface of the circular track and the butt welding seams of the stiff columns are at the same horizontal height, a small rail car is installed on the circular track through a connecting mechanism, and a welding robot is fixedly installed on the small rail car.
In the above-mentioned building strength nature post welding robot and construction method, coupling mechanism is including seting up the walking rail groove in the small rail car, there is the absorption magnetic sheet through sponge backing plate fixed mounting in the walking rail groove, and adsorbs magnetic sheet and circular orbital upper surface looks extrusion laminating, install a plurality of laminating wheels through two steering structure on the walking rail groove, and a plurality of laminating wheels all extrude the laminating with circular orbital lateral wall looks.
In the building stiff column welding robot and the construction method, the steering structure comprises a fixed groove arranged in the rail trolley, the fixed groove is communicated with the traveling rail groove, a self-resetting rotating shaft is rotatably mounted in the fixed groove, a connecting rod is fixedly mounted on the self-resetting rotating shaft, a movable plate is rotatably mounted on the connecting rod through the steering shaft, a plurality of extrusion spring rods are fixedly mounted on the movable plate, and a plurality of laminating wheels are respectively rotatably mounted on the corresponding extrusion spring rods.
In the building stiff column welding robot and the construction method, the adsorption magnetic plate is provided with a plurality of linkage grooves, and each linkage groove is rotatably provided with an auxiliary wheel.
In the welding robot and the construction method for the stiff columns of the building, the welding robot comprises an intelligent control part, a power device, a supporting arm, a rotating joint and a welding gun, the intelligent control part is fixedly installed on the upper portion of the rail trolley, the power device is fixedly installed on the side wall of the rail trolley, the supporting arm is fixedly installed on the power device, and the supporting arm is fixedly installed on the welding gun through the rotating joint.
A construction method of a robot for welding stiff columns of buildings comprises the following steps:
s1, connecting and fixing the upper part of a stiff column and the lower part of the stiff column on a construction site through a connecting lug plate;
s2, the rail support is located on the structural floor slab and erected to the position of the butt welding seam of the stiff column;
s3, installing the welding robot on the circular track through the small rail car;
s4, inputting the cross-sectional shapes and the sizes of the upper part of the stiff column and the lower part of the stiff column and the welding mode to the welding robot control device;
s5, welding the butt-jointed seam of the stiff column by using a welding robot;
and S6, finishing butt welding of the stiff columns.
Compared with the prior art, the invention has the advantages that:
in conclusion, the invention solves the problem that the butt welding of the large-thickness plate stiffness column in the existing building structure is difficult, achieves the effects of saving labor, improving efficiency, ensuring welding quality and saving cost, is unmanned in high-altitude welding operation, and eliminates potential safety hazards in high-altitude construction operation.
Drawings
Embodiments of the invention are described in further detail below with reference to the attached drawing figures, wherein:
fig. 1 is a schematic structural diagram of a robot for welding stiff columns of a building and a construction method according to the present invention;
FIG. 2 is a schematic view of the construction of the robotic track support of FIG. 1;
FIG. 3 is a schematic view of a butt joint configuration of the stiff columns of the building structure of FIG. 1;
FIG. 4 is a schematic diagram of a robot for welding stiff columns of the building structure of FIG. 1;
FIG. 5 is a front view of the connection between the rail car and the circular rail of FIG. 1;
fig. 6 is an enlarged view of a node at a portion a in fig. 5.
In the figure: the self-resetting welding machine comprises a welding robot 1, a rail trolley 2, a circular rail 3, a rail support 4, a stiff column upper part 5, a stiff column butt welding line 6, a stiff column lower part 7, a structural floor 8, an intelligent control part 9, a power device 10, a support arm 11, a rotary joint 12, a welding gun 13, a walking rail groove 14, a sponge cushion plate 15, an adsorption magnetic plate 16, a moving plate 17, a laminating wheel 18, an auxiliary wheel 19, an extrusion spring rod 20, a steering shaft 21, a connecting rod 22, a self-resetting rotating shaft 23 and a fixing groove 24.
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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1-3, a building stiff column welding robot and a construction method thereof comprise a structural floor slab 8, wherein a stiff column lower part 7 is welded and installed on the structural floor slab 8, a stiff column upper part 5 is fixedly installed on the stiff column lower part 7 through a connecting ear plate, a stiff column butt weld 6 is arranged between the stiff column upper part 5 and the stiff column lower part 7, and a track support 4 is arranged on the structural floor slab 8;
the track support 4 comprises a plurality of supporting legs and a circular track 3, the supporting legs are arranged on a structural floor slab 8, the circular track 3 is fixedly arranged on the supporting legs, the upper surface of the circular track 3 and the stiff column butt-joint welding seam 6 are positioned at the same horizontal height, a small track car 2 is arranged on the circular track 3 through a connecting mechanism, and a welding robot 1 is fixedly arranged on the small track car 2;
the following points are notable:
1. coupling mechanism is including seting up the walking rail groove 14 in small rail car 2, there is absorption magnetic sheet 16 through sponge backing plate 15 fixed mounting in the walking rail groove 14, and absorption magnetic sheet 16 extrudees the laminating mutually with circular track 3's upper surface, it has a plurality of laminating wheels 18 to turn to the structural installation through two on the walking rail groove 14, and a plurality of laminating wheels 18 all extrude the laminating mutually with circular track 3's lateral wall for can extrude the laminating mutually with circular track 3 all the time when making small rail car 2 walk on circular track 3.
2. Turn to the structure including offering the fixed slot 24 in small rail car 2, and fixed slot 24 is linked together with walking rail groove 14, the fixed slot 24 internal rotation is installed from pivot 23 that resets, from fixed mounting has connecting rod 22 on pivot 23 that resets, install movable plate 17 through steering spindle 21 rotation on the connecting rod 22, fixed mounting has a plurality of extrusion spring poles 20 on the movable plate 17, and a plurality of laminating wheels 18 rotate respectively and install on corresponding extrusion spring pole 20, can ensure that small rail car 2 can not separate with circular track 3 when the walking, and can turn to in a flexible way, be used for making small rail car 2 can extrude laminating mutually with circular track 3 all the time when walking on circular track 3 mutually with circular track 3
3. A plurality of linkage grooves are formed in the adsorption magnetic plate 16, and an auxiliary wheel 19 is rotatably mounted in each linkage groove.
4. Welding robot 1 includes intelligent control part 9, power device 10, support arm 11, revolute joint 12, welding gun 13, and intelligent control part 9 fixed mounting is on small rail car 2's upper portion, and power device 10 fixed mounting is on small rail car 2's lateral wall, and fixed mounting has support arm 11 on the power device 10, has welding gun 13 through revolute joint 12 fixed mounting on the support arm 11.
A construction method of a robot for welding stiff columns of buildings comprises the following steps:
s1, connecting and fixing an upper stiff column part 5 and a lower stiff column part 7 through connecting ear plates on a construction site;
s2, the rail support 4 is located on a structural floor slab 8 and erected to the position of the butt-joint welding seam 6 of the stiff column;
s3, the welding robot 1 is installed on the circular track 3 through the small rail car 2;
s4, inputting the cross-section shape and size of the upper stiff column part 5 and the lower stiff column part 7 and the welding mode to a control device of the welding robot 1;
s5, welding the stiff column butt weld 6 by using the welding robot 1;
and S6, completing butt welding of the stiff columns.
Further, unless otherwise specifically stated or limited, the above-described fixed connection is to be understood in a broad sense, and may be, for example, welded, glued, or integrally formed as is conventional in the art.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. A building stiff column welding robot and a construction method thereof comprise a structural floor slab (8), and are characterized in that a stiff column lower part (7) is welded and installed on the structural floor slab (8), a stiff column upper part (5) is fixedly installed on the stiff column lower part (7) through a connecting lug plate, a stiff column butt welding seam (6) is arranged between the stiff column upper part (5) and the stiff column lower part (7), and a track support (4) is arranged on the structural floor slab (8);
track support (4) include a plurality of landing legs, circular track (3), and a plurality of landing legs set up on structure floor (8), and circular track (3) fixed mounting is on a plurality of landing legs, and the upper surface and the strength nature post butt weld (6) of circular track (3) are in same level, install small rail car (2) through coupling mechanism on circular track (3), fixed mounting has welding robot (1) on small rail car (2).
2. The building stiff column welding robot and the construction method according to claim 1, wherein the connecting mechanism comprises a walking rail groove (14) formed in the rail trolley (2), an adsorption magnetic plate (16) is fixedly mounted in the walking rail groove (14) through a sponge base plate (15), the adsorption magnetic plate (16) is attached to the upper surface of the circular rail (3) in an extrusion manner, a plurality of attaching wheels (18) are mounted on the walking rail groove (14) through two steering structures, and the attaching wheels (18) are attached to the side wall of the circular rail (3) in an extrusion manner.
3. The building stiff column welding robot and the construction method according to claim 2, wherein the steering structure comprises a fixing groove (24) formed in the rail trolley (2), the fixing groove (24) is communicated with the traveling rail groove (14), a self-resetting rotating shaft (23) is rotatably mounted in the fixing groove (24), a connecting rod (22) is fixedly mounted on the self-resetting rotating shaft (23), a moving plate (17) is rotatably mounted on the connecting rod (22) through a steering shaft (21), a plurality of extrusion spring rods (20) are fixedly mounted on the moving plate (17), and a plurality of attaching wheels (18) are respectively rotatably mounted on the corresponding extrusion spring rods (20).
4. The building stiff column welding robot and the construction method according to claim 2, wherein a plurality of linkage grooves are formed in the adsorption magnetic plate (16), and an auxiliary wheel (19) is rotatably mounted in each linkage groove.
5. The welding robot and the construction method for the stiff columns of the building according to claim 1 are characterized in that the welding robot (1) comprises an intelligent control part (9), a power device (10), a support arm (11), a rotating joint (12) and a welding gun (13), the intelligent control part (9) is fixedly installed on the upper portion of the rail trolley (2), the power device (10) is fixedly installed on the side wall of the rail trolley (2), the support arm (11) is fixedly installed on the power device (10), and the welding gun (13) is fixedly installed on the support arm (11) through the rotating joint (12).
6. The construction method of the welding robot for the stiff columns of the building according to claim 1, characterized by comprising the following steps:
s1, connecting and fixing an upper stiff column part (5) and a lower stiff column part (7) through connecting ear plates on a construction site;
s2, the rail support (4) is located on the structural floor slab (8) and erected to the position of the rigid column butt welding seam (6);
s3, the welding robot (1) is installed on the circular track (3) through the rail trolley (2);
s4, inputting the cross-sectional shapes and the sizes of the upper part (5) and the lower part (7) of the stiff column and the welding mode to a control device of the welding robot (1);
s5, welding the stiff column butt weld (6) by using the welding robot (1);
and S6, completing butt welding of the stiff columns.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211597857.7A CN115922177A (en) | 2022-12-12 | 2022-12-12 | Welding robot for stiff columns of buildings and construction method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211597857.7A CN115922177A (en) | 2022-12-12 | 2022-12-12 | Welding robot for stiff columns of buildings and construction method |
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| Publication Number | Publication Date |
|---|---|
| CN115922177A true CN115922177A (en) | 2023-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211597857.7A Pending CN115922177A (en) | 2022-12-12 | 2022-12-12 | Welding robot for stiff columns of buildings and construction method |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0687074A (en) * | 1992-09-09 | 1994-03-29 | Mitsubishi Heavy Ind Ltd | Carriage device for steel-frame welding robot |
| JP2000135594A (en) * | 1998-10-30 | 2000-05-16 | Shimizu Corp | Automatic welding device of steel frame pillars |
| CN102489838A (en) * | 2011-12-15 | 2012-06-13 | 上海交通大学 | Obstacle-crossing all-position automatic welding robot |
| KR20160025253A (en) * | 2014-08-27 | 2016-03-08 | 한국건설기술연구원 | Automatic welding apparatus |
| WO2019220827A1 (en) * | 2018-05-18 | 2019-11-21 | 株式会社アットロボティクス | Vertical multi-joint welding robot |
| CN113878278A (en) * | 2021-11-11 | 2022-01-04 | 上海雅跃智能科技有限公司 | Follow-up hanging system based on tubular pile welding track |
| CN217371067U (en) * | 2022-01-12 | 2022-09-06 | 青岛跃鸿博焊割设备有限公司 | Circular seam welding trolley |
-
2022
- 2022-12-12 CN CN202211597857.7A patent/CN115922177A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0687074A (en) * | 1992-09-09 | 1994-03-29 | Mitsubishi Heavy Ind Ltd | Carriage device for steel-frame welding robot |
| JP2000135594A (en) * | 1998-10-30 | 2000-05-16 | Shimizu Corp | Automatic welding device of steel frame pillars |
| CN102489838A (en) * | 2011-12-15 | 2012-06-13 | 上海交通大学 | Obstacle-crossing all-position automatic welding robot |
| KR20160025253A (en) * | 2014-08-27 | 2016-03-08 | 한국건설기술연구원 | Automatic welding apparatus |
| WO2019220827A1 (en) * | 2018-05-18 | 2019-11-21 | 株式会社アットロボティクス | Vertical multi-joint welding robot |
| CN113878278A (en) * | 2021-11-11 | 2022-01-04 | 上海雅跃智能科技有限公司 | Follow-up hanging system based on tubular pile welding track |
| CN217371067U (en) * | 2022-01-12 | 2022-09-06 | 青岛跃鸿博焊割设备有限公司 | Circular seam welding trolley |
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