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CN-224223025-U - Automatic welding system for suspension bridge grids

CN224223025UCN 224223025 UCN224223025 UCN 224223025UCN-224223025-U

Abstract

The utility model relates to suspension bridge grid welding equipment, in particular to an automatic suspension bridge grid welding system which comprises a workbench which is arranged on an installation foundation, wherein the workbench is used for bearing grid workpieces, cantilever eight-axis linkage intelligent welding robots are respectively installed on the installation foundation along the left side and the right side of the longitudinal direction of the workbench, upright posts of the welding robots can slide along the longitudinal direction of the workbench, cross beams of the welding robots extend to the upper side of the workbench along the transverse direction of the workbench, mechanical arms which can slide along the transverse direction of the workbench and are positioned below the cross beams are assembled on the cross beams of the welding robots, and the two welding robots are in signal connection with a central control system through corresponding execution control systems. According to the utility model, the two welding robots are matched in a coordinated manner to perform balanced and automatic welding on the grid workpiece, so that the welding efficiency is improved, the welding thermal deformation is controlled, the welding quality is improved, and the welding technical difficulty is reduced.

Inventors

  • SHI HONGCHANG
  • HUANG ANMING
  • HUANG HUI
  • YANG FURONG

Assignees

  • 德阳天元重工股份有限公司

Dates

Publication Date
20260512
Application Date
20250514

Claims (10)

  1. 1. An automated welding system for suspension bridge grids, comprising a work bench (2) arranged on a mounting base (1), said work bench (2) serving as a carrying grid work piece (3); the method is characterized in that: The intelligent welding robot is characterized in that cantilever eight-axis linkage intelligent welding robots are respectively arranged on the mounting foundations (1) along the left side and the right side of the longitudinal direction of the workbench (2); The upright post (42) of the welding robot (4) can slide along the longitudinal direction of the workbench (2), the cross beam (43) of the welding robot (4) extends to the upper side of the workbench (2) along the transverse direction of the workbench (2), and the cross beam (43) of the welding robot (4) is provided with a mechanical arm (44) which can slide along the transverse direction of the workbench (2) and is positioned below the cross beam (43); The two welding robots (4) at the left side and the right side of the workbench (2) are in signal connection with the central control system (C) through corresponding execution control systems.
  2. 2. The automated welding system of suspension bridge grids according to claim 1, wherein: The welding robot (4) is provided with a ground rail (41) which is arranged at one side corresponding to the workbench (2), a stand column (42) which is assembled on the ground rail (41) in a slidable structure and extends upwards, a cross beam (43) which is fixedly connected to the top of the stand column (42) and extends to the upper part of the workbench (2), a mechanical arm (44) which is assembled on the cross beam (43) in a slidable structure and is arranged below the cross beam (43), a welding gun (45) which is assembled at the front end of the mechanical arm (44) in a flange structure, and an execution control system which receives and outputs control instructions.
  3. 3. The automated welding system of suspension bridge grids according to claim 2, wherein: The bottom of a cross beam (43) of the welding robot (4) is provided with a first linear slide rail (48); the mechanical arm (44) of the welding robot (4) is assembled on the first linear sliding rail (48) through a mounting seat in a linear sliding structure.
  4. 4. A suspension bridge grid automated welding system according to claim 2 or 3, wherein: the welding robot (4) also has a global vision system (46) arranged at the rear end of the mechanical arm (44), close to the cross beam (43), for image recognition of the current grid workpiece (3).
  5. 5. The automated welding system for suspension bridge grids according to claim 4, wherein: The effective recognition range of the global vision system (46) is between a proximal field of view, which is 950mm long by 2550mm wide by 1800mm high, and a distal field of view, which is 1850mm long by 4000mm wide by 2800mm high.
  6. 6. A suspension bridge grid automated welding system according to claim 2 or 3, wherein: The welding robot (4) is also provided with a fine positioning vision system (47) which is arranged at the flange of the welding gun (45) and used for carrying out image recognition on the current cavity joint of the current grid workpiece (3).
  7. 7. The automated welding system of suspension bridge grids according to claim 6, wherein: The flange of the welding gun (45) is provided with an adjusting structure for adjusting the relative position of the fine positioning vision system (47) in the length direction of the welding gun (45).
  8. 8. The automated welding system of suspension bridge grids according to claim 6, wherein: The effective identification range of the fine positioning vision system (47) is 300-800 mm away from the lens.
  9. 9. The automated welding system of suspension bridge grids according to claim 1 or 2, wherein: The installation level of the welding robot (4) at the corresponding side of the workbench (2) is controlled within 1mm along the longitudinal direction of the workbench (2).
  10. 10. The automated welding system of suspension bridge grids according to claim 8, wherein: the two welding robots (4) at the left side and the right side of the workbench (2) are arranged in a bilateral symmetry structure.

Description

Automatic welding system for suspension bridge grids Technical Field The utility model relates to a suspension bridge grid welding device, in particular to an automatic welding system for a suspension bridge grid. Background In the stress structure system of the suspension bridge, the grille is pre-buried at the top of the main tower and supports the cable saddle, thereby playing a role in' supporting the force transmission of the cable saddle on the main tower. The grid of the suspension bridge is formed by welding a top steel plate, a bottom steel plate, a plurality of longitudinal steel plates, a plurality of transverse steel plates and the like which are arranged between the top steel plate and the bottom steel plate, is an integral box-type steel frame structure formed by welding a large number of steel plates, has a plurality of welding seams, is permanently anchored and not replaceable in a suspension bridge structure system, and has high requirement on the quality of the welding seams. For a long time, the welding of the suspension bridge grids has been done by means of manual welding. This necessarily has technical problems of low welding efficiency, different welding quality control, and the like. Disclosure of utility model Aiming at the particularity of the suspension bridge grating and the defects of the prior welding technology, the utility model provides an automatic welding system for the suspension bridge grating, which is favorable for improving the welding efficiency of the suspension bridge grating, reducing the welding technology difficulty and controlling the welding thermal deformation. The technical aim of the utility model is achieved by the following technical scheme that the automatic welding system for the suspension bridge grating comprises work tables which are arranged on an installation foundation and used for bearing grating workpieces; On the basis of installation along the left and right sides of the longitudinal direction of the workbench, cantilever type eight-axis linkage intelligent welding robots are respectively installed; The stand column of the welding robot can slide along the longitudinal direction of the workbench, the cross beam of the welding robot extends to the upper side of the workbench along the transverse direction of the workbench, and the cross beam of the welding robot is provided with a mechanical arm which can slide along the transverse direction of the workbench and is positioned below the cross beam; And the two welding robots at the left side and the right side of the workbench are in signal connection with the central control system through corresponding execution control systems. As one of the preferred technical schemes, the welding robot is provided with a ground rail arranged at one side corresponding to the workbench, a stand column which is assembled on the ground rail in a slidable structure and extends upwards, a cross beam which is fixedly connected to the top of the stand column and extends to the upper part of the workbench, a mechanical arm which is assembled on the cross beam in a slidable structure and is positioned below the cross beam, a welding gun which is assembled at the front end of the mechanical arm in a flange structure, and an execution control system for receiving and outputting control instructions. Further, a first linear slide rail is arranged at the bottom of the cross beam of the welding robot; The mechanical arm of the welding robot is assembled on the first linear sliding rail through the mounting seat in a linear sliding structure. Further, the welding robot is also provided with a global vision system which is arranged at the rear end of the mechanical arm and is close to the cross beam and used for carrying out image recognition on the current grid workpiece. Still further, the effective recognition range of the global vision system is between a proximal field of view, which is 950mm long by 2550mm wide by 1800mm high, and a distal field of view, which is 1850mm long by 4000mm wide by 2800mm high. Furthermore, the welding robot is also provided with a fine positioning vision system which is arranged at the welding gun flange and used for carrying out image recognition on the current cavity joint of the current grid workpiece. Still further, the flange department of welder has in the length direction of welder adjust the regulation structure of fine positioning vision system relative position. Still further, the effective recognition range of the fine positioning vision system is 300-800 mm away from the lens. As one of preferable embodiments, the installation level of the welding robot at the corresponding side of the table is controlled to be within 1mm in the longitudinal direction along the table. Further, the two welding robots at the left side and the right side of the workbench are arranged in a bilateral symmetry structure. The special welding device has the beneficial technical effects that the technic