CN114247964A

CN114247964A - Device for machining non-vertical T-shaped beam of bridge and welding method thereof

Info

Publication number: CN114247964A
Application number: CN202210024855.2A
Authority: CN
Inventors: 徐文敏; 苏建鹏; 何卫; 文三进
Original assignee: Shanghai Construction Jiangsu Steel Structure Co ltd
Current assignee: Shanghai Construction Jiangsu Steel Structure Co ltd
Priority date: 2022-01-11
Filing date: 2022-01-11
Publication date: 2022-03-29
Anticipated expiration: 2042-01-11
Also published as: CN114247964B

Abstract

The invention discloses a device for processing a non-vertical T-shaped beam of a bridge, which comprises a wing plate clamp, an upright post and a mechanical arm track platform, wherein an adjusting platform supporting rod is arranged on the upright post; the adjusting platform supporting rod is provided with an earring; the wing plate adjusting platform is provided with a wing plate clamp through a rectangular open slot on the wing plate adjusting platform and is also provided with a wing plate adjusting rod through a T-shaped slot in the middle of the wing plate adjusting platform; the earring at the back of the wing plate adjusting platform is connected with the earring of the adjusting platform supporting rod through a pin shaft; two ends of the hydraulic cylinder of the adjusting platform are respectively connected with the upright post and the wing plate adjusting platform through earrings; a web plate platform is arranged in front of the mechanical arm track platform, and a web plate jacking assembly is arranged on the web plate platform; the web platform is arranged on the web platform lifting hydraulic cylinder, and the web platform lifting hydraulic cylinder is fixed on the ground. The invention also discloses a welding method of the bridge non-vertical T-beam machining device. The invention ensures the angle of the wing plate and the web plate of the T beam, reduces the deformation of the T beam after welding and reduces the workload of correction.

Description

Device for machining non-vertical T-shaped beam of bridge and welding method thereof

Technical Field

The invention relates to the technical field of welding deformation control, in particular to a device for machining a non-vertical T-shaped beam of a bridge and a welding method thereof.

Background

The steel-concrete composite beam is widely applied to urban main line elevated frames due to the advantages of steel saving, beam height reduction, good mechanical property and the like.

The steel beams in the steel-concrete composite beam are generally in the form of I-shaped, open or closed box beams and other sections. The top plate of the I-shaped beam and the open box beam is often a strip-shaped plate with the width of 800-1000 mm. The top plate and the web plate are both penetration welded, and in order to avoid overhead welding after the steel beam is fed with tires, reduce the correction workload and improve the quality of the steel beam, the strip-shaped top plate and the web plate of the steel beam can be firstly processed into T-beam unit parts and then are integrally assembled.

The bridge steel structure is different from a common building steel structure, and has transverse slope, longitudinal slope, plane linearity and the like, a T-shaped beam consisting of a strip-shaped top plate and a web plate is not vertical to a wing plate and the web plate of the T-shaped beam. How to guarantee the angle of the pterygoid lamina and the web of T roof beam, reduce the deformation that the T roof beam produced after the welding to and reduce the work load of correcting is the problem that urgently needs to be solved.

CN211136021U discloses a T type roof beam welds anti-deformation device, rotates at the middle part of set bolt and is connected with the location hook, and the bottom of positioning seat is provided with the T-shaped roof beam, the T-shaped roof beam is located between positioning seat and the location hook, and the flange of T-shaped roof beam is fixed with the rigidity of two location hooks to the positioning seat, then welds the web of T-shaped roof beam and the flange of T-shaped roof beam. For the T-beam with a large wing plate width, the positioning hook and the screw shaft must be lengthened, and the longer the positioning hook and the screw shaft are, the more difficult the rigid fixation of the T-beam is; the single-point control is adopted, so that the wave deformation of the T-beam wing plate is easily caused, and the deformation effect of the T-beam is controlled to be poor; and it adopts hand screw nut control, can not guarantee the atress condition of T roof beam pterygoid lamina each position, if the atress of each point is inconsistent, then causes T roof beam pterygoid lamina to warp inconsistent easily.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a device for processing a non-vertical T beam of a bridge and a welding method thereof, wherein the device can ensure the angles of a wing plate and a web plate of the T beam, reduce the deformation of the T beam after welding and reduce the correction workload.

In order to solve the technical problem, the invention provides a device for machining a non-vertical T-shaped beam of a bridge, which comprises a wing plate clamp, an upright post and a mechanical arm track platform. The upright post is provided with an adjusting platform supporting rod; the adjusting platform supporting rod is provided with an earring; the earrings of the adjusting platform supporting rods are connected with the earrings at the back of the wing plate adjusting platform through pin shafts; the wing plate adjusting platform is provided with a wing plate clamp through a rectangular open slot on the wing plate adjusting platform and is also provided with a wing plate adjusting rod through a T-shaped slot in the middle of the wing plate adjusting platform; two ends of the hydraulic cylinder of the adjusting platform are respectively connected with the upright post and the wing plate adjusting platform through earring matching pins on the hydraulic cylinder of the adjusting platform; a web plate platform is arranged in front of the mechanical arm track platform, and a web plate jacking assembly is arranged on the web plate platform; the web platform is arranged on the web platform lifting hydraulic cylinder, and the web platform lifting hydraulic cylinder is fixed on the ground.

Through adopting above-mentioned technical scheme, the pterygoid lamina is adjusted to regulation platform bracing piece on the stand, pterygoid lamina adjusting platform longitudinal symmetry sets up clamping pneumatic cylinder driven pterygoid lamina clamping, the pterygoid lamina is adjusted the installation pterygoid lamina in the T notch on the platform and is adjusted the pole, adjust platform pneumatic cylinder both ends and connect the stand through the earrings respectively, the platform is adjusted to the pterygoid lamina, set up the tight subassembly in web top on the web platform, guarantee the pterygoid lamina and the angle of web of T roof beam, reduce the deformation that the welding back T roof beam produced, and reduce the work load of correcting. The reverse deflection angle delta alpha of the T-shaped beam wing plate can be adjusted by adjusting the hydraulic cylinder of the platform, the angle of the wing plate and the angle of the web plate of the T-shaped beam are changed, the deflection of the T-shaped beam wing plate caused by inconsistent heat input of welding at two sides is reduced, and the workload of correction is further reduced.

Furthermore, the wing plate adjusting platform is fixedly provided with an adjusting rod hydraulic cylinder, and a hydraulic rod of the adjusting rod hydraulic cylinder penetrates through the T-shaped notch to be connected with the wing plate adjusting rod.

By adopting the technical scheme, the hydraulic cylinder of the adjusting rod drives the wing plate adjusting rod to lift or retract the wing plate adjusting rod in the groove.

Furthermore, a clamping hydraulic cylinder is fixedly arranged on the wing plate adjusting platform, and one end of the clamping hydraulic cylinder is connected with a wing plate clamp. The wing plate clamp and the clamp hydraulic cylinder are symmetrically arranged on the wing plate adjusting platform together and are used for fixedly clamping the T-beam wing plate and enabling the center of the T-beam wing plate to be located at the center of the wing plate adjusting platform all the time. The wing plate clip is provided with a strain gauge for determining whether the clip is clamped.

Through adopting above-mentioned technical scheme, set up the clamping pneumatic cylinder on the pterygoid lamina is adjusted the platform, and the pterygoid lamina clamping is connected to the clamping pneumatic cylinder, drives the pterygoid lamina clamping through the clamping pneumatic cylinder, makes T roof beam pterygoid lamina paste tight pterygoid lamina earlier and adjusts the platform, can fix the T roof beam pterygoid lamina of different width.

Furthermore, the wing plate adjusting rod is of a T-shaped structure.

By adopting the technical scheme, the anti-deformation welding device is used for applying anti-deformation to the T-shaped beam wing plate, and simultaneously provides a rigid fixing point for the anti-deformation of the T-shaped beam wing plate during welding.

Further, the number of the mechanical arm track platforms is two, one is arranged on the upright post, and the other is arranged on the ground.

By adopting the technical scheme, the mechanical arm track platform on the upright post is used for arranging the mechanical arm of the submerged arc welding gun, and the bottom mechanical arm track platform is used for arranging the mechanical arm of the CO2 gas shield welding gun.

Further, a mechanical arm is mounted on the mechanical arm track platform, and a welding gun is mounted on the mechanical arm and used for welding two sides of the welding surface of the T-shaped beam. The main arm and the slave arm of the mechanical arm are both provided with a stepping motor, and the stepping motor of the main arm controls the moving speed of the main arm on the mechanical arm track platform by matching a gear on the stepping motor with a rack arranged on the mechanical arm track platform; the stepping motor of the slave arm is fixed on the slave arm, the rotating shaft of the stepping motor of the slave arm is connected with the main arm, the rotating shaft is fixedly connected with the main arm, and the rotating angle of the slave arm is directly controlled by rotation; meanwhile, a visual sensor is arranged on the mechanical arm and used for positioning the position of the welding line. The welding gun on the upright post mechanical arm is a submerged arc welding gun, and the welding gun on the ground mechanical arm is a CO2 gas shield welding gun.

By adopting the technical scheme, the mechanical arm can move left and right on the mechanical arm track platform through the stepping motor arranged on the main arm, so that the moving speed and the welding speed of a welding gun on the mechanical arm can be controlled. The slave arm is provided with a stepping motor to control the rotation angle, so that the welding realization direction on the mechanical arm is adjustable, the welding gun is driven to move back and forth, and the welding gun reaches the accurate position of a welding seam. The method for realizing non-back gouging penetration welding by the submerged arc welding frame gas shielded welding aims to solve the problem that the automatic welding quality of a mechanical arm is influenced due to inconsistent depth and size of a welding line caused by manual carbon back gouging.

Furthermore, electromagnets are uniformly distributed on the web platform.

Through adopting above-mentioned technical scheme, the electro-magnet adsorbs T web on the web platform, makes T web hug closely and is fixed in on the web platform, guarantees the welding dimension, reduces the T web deformation that the welding leads to.

Furthermore, the web plate jacking assembly comprises a stepping motor, a rack and pinion pair and a hook clamp, wherein the stepping motor is connected with the rack and pinion pair, the rack and pinion pair is provided with the hook clamp, and the hook clamp is provided with a strain gauge and used for determining whether the hook clamp jacks tightly; when the web plate jacking assembly is tightened, the web plate of the T-shaped beam is tightly attached to the wing plate of the T-shaped beam, and the assembly size is ensured.

Through adopting above-mentioned technical scheme, the tight subassembly in web top catches hold of T roof beam pterygoid lamina for T roof beam web and the tight laminating top of T roof beam pterygoid lamina are tight, guarantee that the welding edge does not have the clearance, prepare for subsequent weldment work.

A welding method of a bridge non-vertical T-beam machining device comprises the following steps:

firstly, performing reversible deformation prefabrication on a plate with the thickness of the T-shaped beam wing plate being more than 20 mm; arranging a groove on the welding edge of the T-shaped beam web;

and secondly, hoisting the T-beam wing plate into a wing plate clamping of the wing plate adjusting platform, starting a clamping hydraulic cylinder, and driving the wing plate clamping to move inwards by the clamping hydraulic cylinder to clamp the T-beam wing plate.

And thirdly, starting the hydraulic cylinder of the adjusting rod, and controlling the moving distance of the wing plate adjusting rod through the hydraulic cylinder of the adjusting rod to enable the wing plate adjusting rod to slide to a set position.

And fourthly, starting the hydraulic cylinder of the adjusting platform, and controlling the wing plate adjusting platform to reach a set angle through the hydraulic cylinder of the flow adjusting platform.

And fifthly, starting the web platform lifting hydraulic cylinder, and lifting the web platform to a set position through the web platform lifting hydraulic cylinder.

Sixthly, hoisting the T-shaped beam web plate to place the web plate platform, and starting a stepping motor on the web plate jacking assembly to enable the T-shaped beam web plate to jack the T-shaped beam wing plate.

And seventhly, positioning the visual recognition system on the mechanical arm on the ground to the position of the lower side weld joint, starting to weld the lower side of the T-shaped beam, and moving the mechanical arm on the mechanical arm track platform to finish the lower side CO2 gas shield welding.

Eighthly, positioning the visual recognition system on the mechanical arm of the upright column to the position of the upper side weld joint, starting to weld the upper side of the T-shaped beam, and moving the mechanical arm on the mechanical arm track platform to complete the bottoming, filling and cover surface welding of the upper side submerged arc welding.

And ninthly, completing welding, opening wing plate clamping, web plate jacking components and the electromagnet in sequence, and returning the mechanical arm to the original position. And (5) lifting the T-shaped beam away from the device, and waiting for the T-shaped beam to be naturally cooled.

By adopting the technical scheme, the device is operated in a full-automatic mode, manual welding is avoided, various influence factors are controllable, welding quality is improved, and working efficiency is improved. The rigid fixing method and the inverse deformation method are combined to realize the uncorrect after welding. The wing plate angle of the device is adjustable, and T-beam welding at different angles is realized.

Furthermore, in the sixth step, after the T-beam web plate tightly props against the T-beam wing plate, the electromagnet is electrified to suck the T-beam web plate.

Through adopting above-mentioned technical scheme to this fixed T web reduces the unstability wave deformation that T web produced because of the welding.

Compared with the prior art, the invention has the following beneficial effects:

1. according to the invention, the adjusting platform support rod on the upright column is connected with the wing plate adjusting platform, wing plate clamps driven by clamping hydraulic cylinders are symmetrically arranged on the wing plate adjusting platform from top to bottom, a wing plate adjusting rod is arranged in a T-shaped notch on the wing plate adjusting platform, two ends of the adjusting platform hydraulic cylinder are respectively connected with the upright column and the wing plate adjusting platform through earrings, and a web plate jacking assembly is arranged on the web plate platform, so that the angles of the wing plate and the web plate of the T-shaped beam are ensured, the deformation of the T-shaped beam after welding is reduced, and the workload of correction is reduced. The reverse deflection angle delta alpha of the T-shaped beam wing plate can be adjusted by adjusting the hydraulic cylinder of the platform, the angle of the wing plate and the angle of the web plate of the T-shaped beam are changed, the deflection of the T-shaped beam wing plate caused by inconsistent heat input of welding at two sides is reduced, and the workload of correction is further reduced.

2. According to the invention, the mechanical arm moves left and right on the mechanical arm track platform through the stepping motor arranged on the main arm, so that the moving speed and the welding speed of a welding gun on the mechanical arm are controlled. The slave arm is provided with a stepping motor to control the rotation angle, so that the welding realization direction on the mechanical arm is adjustable, the welding gun is driven to move back and forth, and the welding gun reaches the accurate position of a welding seam. The method for realizing non-back gouging penetration welding by the submerged arc welding frame gas shielded welding aims to solve the problem that the automatic welding quality of a mechanical arm is influenced due to inconsistent depth and size of a welding line caused by manual carbon back gouging.

3. According to the invention, reverse deformation of the T-beam wing plate is prefabricated firstly, and then rigid fixation of the T-beam wing plate surface and line is realized through a plurality of groups of wing plate clamps on the wing plate adjusting platform and the full-length wing plate adjusting rod, the deformation of the T-beam is controlled through surface contact, and the effect of controlling the deformation after welding is improved for the T-beam with larger welding amount or the T-beam with larger thickness of the T-beam wing plate.

4. The device provided by the invention is operated automatically, manual welding is avoided, various influence factors are controllable, the welding quality is improved, and the working efficiency is improved. The rigid fixing method and the inverse deformation method are combined to realize the uncorrect after welding. The angle of the T-beam wing plate is adjustable, and T-beam welding at different angles is realized.

Drawings

Fig. 1 is an exploded view of the device of the present invention.

Fig. 2 is a left side view of the present invention.

Fig. 3 is a schematic cross-sectional view of the structure of the robot arm of the present invention.

Fig. 4 and 5 are isometric views of the present invention.

Fig. 6 is a processing state diagram of the present invention.

FIG. 7 is a diagram of a control system of the present invention.

FIG. 8 is a schematic view of the reverse deflection angle Δ α of the T-beam panel of the present invention.

Fig. 9 is a schematic view of the reverse deformation amount Δ h of the T-beam wing plate according to the present invention.

In the figure, a vertical column 1, an adjusting platform support rod 2, a wing plate adjusting platform 3, an adjusting platform hydraulic cylinder 4, a clamping hydraulic cylinder 5, a wing plate clamping 6, an adjusting rod hydraulic cylinder 7, a wing plate adjusting rod 8, a mechanical arm track platform 9, a mechanical arm 10, a web plate platform 11, an electromagnet 12, a web plate platform lifting hydraulic cylinder 13, a web plate jacking assembly 14, a T-shaped beam wing plate 15, a T-shaped beam web plate 16, a CO2 gas shielded welding 17, a submerged arc welding 18, a main arm 19, a slave arm 20, a stepping motor 21, a gear 22 and a rack 23.

Detailed Description

As shown in figure 1, the device for machining the non-vertical T-shaped beam of the bridge comprises a wing plate clamp 6, a stand column 1 and a mechanical arm track platform 9. An adjusting platform supporting rod 2 is arranged on the upright post 1; the adjusting platform support rod 2 is provided with an earring; the wing plate adjusting platform 3 is provided with a wing plate clamp 6 through a rectangular open slot on the wing plate adjusting platform and is also provided with a wing plate adjusting rod 8 through a T-shaped slot in the middle of the wing plate adjusting platform; the earring at the back of the wing plate adjusting platform 3 is connected with the earring of the adjusting platform supporting rod 2 through a pin shaft; two ends of the adjusting platform hydraulic cylinder 4 are respectively connected with the upright post 1 and the wing plate adjusting platform 3 through the ear ring matching pin shaft thereon. The web plate jacking assembly 14 comprises a stepping motor, a rack-and-pinion pair and a hook clamp, the stepping motor is connected with the rack-and-pinion pair, the rack-and-pinion pair is provided with the hook clamp, and the hook clamp is provided with a strain gauge.

The wing plate adjusting platform 3 is fixedly provided with a clamping hydraulic cylinder 5, and one end of the clamping hydraulic cylinder 5 is connected with a wing plate clamp 6. The wing plate clamping clamps 6 and the clamping hydraulic cylinders 5 are symmetrically arranged on the wing plate adjusting platform 3. The clip is provided with a strain gauge.

The wing plate adjusting rod 8 is of a T-shaped structure.

As shown in fig. 2, the robot arm rail platform 9 is two in number, one mounted on the column 1 and one mounted on the ground. A web platform 11 is arranged in front of the mechanical arm track platform 9. The web platform 11 is provided with a web jacking assembly 14. The web platform 11 is arranged on a web platform lifting hydraulic cylinder 13, and the web platform lifting hydraulic cylinder 13 is fixed on the ground. A mechanical arm 10 is arranged on the mechanical arm track platform 9, and a welding gun is arranged on the mechanical arm 10. A welding gun on a mechanical arm 10 of the upright post 1 mechanical arm track platform 9 is a submerged arc welding gun, and a welding gun on a mechanical arm 10 of the ground mechanical arm track platform 9 is a CO2 gas shield welding gun.

As shown in fig. 3, the master arm 19 and the slave arm 20 of the robot arm 10 are both provided with a stepping motor 21, and the stepping motor 21 of the master arm 19 controls the moving speed of the master arm 19 on the robot arm track platform 9 through a gear 22 on the stepping motor 21 in cooperation with a rack 23 mounted on the robot arm track platform 9. The stepping motor 21 of the slave arm 20 is fixed to the slave arm 20, the rotation shaft of the stepping motor 21 of the slave arm 20 is connected to the master arm 19, the rotation shaft is fixedly connected to the master arm 19, and the rotation angle of the slave arm 20 is directly controlled by rotation. And a vision sensor is mounted on the mechanical arm 10.

As shown in fig. 4, electromagnets 12 are uniformly distributed on the web platform 11.

As shown in fig. 5, an adjusting rod hydraulic cylinder 7 is fixedly arranged on the wing plate adjusting platform 3. The hydraulic rod of the adjusting rod hydraulic cylinder 7 passes through the T-shaped notch to be connected with the wing plate adjusting rod 8.

As shown in fig. 6 and 7, a welding method of a non-vertical T-beam processing device for a bridge comprises the following steps:

A. and determining the specifications of the T-beam wing plate 15 and the T-beam web plate 16 and the angles of the T-beam wing plate 15 and the T-beam web plate 16, and inputting the information of the specifications, the angles and the groove angles of the T-beam into the PLC.

B. And performing pre-deformation prefabrication on the plate with the thickness of the T-shaped beam wing plate 15 being more than 20 mm. The prefabricated reverse deformation is bent by an oil press, and the bending deformation is determined by calculating the plate thickness of a T-shaped beam wing plate 15; the plate with the thickness of the T-beam wing plate 15 being less than or equal to 20mm does not need to be prefabricated in a reversible deformation mode, and can be directly bent through a device.

C. And (3) arranging a groove on the welding edge of the T-shaped beam web 16, and calculating the angle of the groove according to the specification and the angle of the T-shaped beam.

D. The T-beam wing plate 15 is hoisted and placed into the wing plate clamp 6 of the wing plate adjusting platform 3, the electromagnetic valve of the clamp hydraulic cylinder 5 is started, and the hydraulic cylinder group simultaneously drives the wing plate clamp 6 to move inwards to clamp the T-beam wing plate 15. After the strain gauge on the wing plate clamp 6 reaches a set value, the electromagnetic valve of the clamp hydraulic cylinder 5 is switched, and the T-beam wing plate is fixed under pressure maintaining.

E. The servo valve of the adjusting rod hydraulic cylinder 7 is started, and the travel of the adjusting rod hydraulic cylinder 7 is controlled through flow control, so that the moving distance of the wing plate adjusting rod 8 is controlled, and the wing plate adjusting rod 8 slides to a set position. For the plate with the thickness of the T-beam wing plate 15 being less than or equal to 20mm, the T-beam wing plate 15 can be directly bent, and the reverse deformation of the T-beam wing plate 15 is realized. And closing the servo valve after the sliding is carried out for a set distance, and maintaining the pressure and fixing.

F. And starting a servo valve of the adjusting platform hydraulic cylinder 4, and controlling the stroke of the adjusting platform hydraulic cylinder 4 through flow control so as to control the wing plate adjusting platform 3 to reach a set angle. And closing the servo valve after reaching the set angle, and maintaining the pressure and fixing.

G. And starting a servo valve of the web platform lifting hydraulic cylinder 13, and controlling the stroke of the web platform lifting hydraulic cylinder 13 through flow control, so that the web platform 11 is lifted to a set position. And closing the servo valve after reaching the set position, and maintaining the pressure and fixing.

H. And (3) hoisting the T-shaped beam web plate 16 on the web plate platform 11, and starting a stepping motor on the web plate jacking assembly 14 to enable the T-shaped beam web plate 16 to jack the T-shaped beam wing plate 15. After the strain gauge of the hook clamp on the web abutting assembly 14 reaches a set value, the stepping motor is stopped and self-locked.

I. The electromagnet 12 is electrified, and attracts the T-shaped web plate 16 to fix the T-shaped web plate 16.

J. And positioning the visual recognition system on the mechanical arm 10 on the ground mechanical arm track platform 9 to the position of the lower side weld joint, starting welding the lower side of the T-shaped beam, and moving the mechanical arm 10 on the mechanical arm track platform 9 to finish welding the lower side CO2 gas shield 17.

K. A visual recognition system on a mechanical arm 10 on a mechanical arm track platform 9 of the upright post 1 is positioned to the position of an upper side weld joint, the upper side of the T-shaped beam starts to be welded, the mechanical arm 10 moves on the mechanical arm track platform 9, and the bottoming, filling and cover surface welding of the upper side submerged arc welding 18 are completed.

L, after welding, the wing plate clamp 6, the web plate jacking assembly 14 and the electromagnet 12 are opened sequentially, and the mechanical arm 10 returns to the original position. And after the T beam is lifted away from the device, waiting for the T beam to be naturally cooled.

According to the welding method, the lower side of a welding surface is welded by CO2 gas shield welding, the upper side of the welding surface is welded by submerged arc welding, and a non-back-gouging fusion penetration welding method is adopted, so that the depth and the size of a welding line caused by back chipping of a manual carbon plane are reduced, and the automatic welding quality of a mechanical arm is affected.

The working principle is as follows: the processing device realizes the automation of processing through the PLC. The hydraulic cylinder controls oil inlet and oil return through a PLC control electromagnetic valve or a servo valve, so that the stroke of the hydraulic cylinder is controlled. The step motors control the drivers through the PLC, so that the step number and the rotating speed of the step motors are controlled. The electromagnet controls the relay to be attracted through the PLC, so that the electromagnet is controlled to be attracted. As shown in fig. 8, since the heat input amount of the submerged arc welding is larger than that of the CO2 gas shield welding, the T-beam is subjected to angular deformation after the welding is completed, and the T-beam wing plate 15 deflects around the side of the T-beam web plate 16 where the heat input is larger. In order to ensure the accuracy of the angle of the T-beam, a certain reverse deflection angle delta alpha is added, and the deflection angle is determined according to the specification, the angle, the groove and the like of the T-beam. As shown in fig. 9, in order to reduce the angular deformation of the T-beam panel 15 caused by welding, a certain amount of reverse deformation Δ h is applied to the T-beam panel 15, and the amount of reverse deformation is calculated from the thickness of the T-beam panel 15. And meanwhile, the T-shaped beam wing plate 15 is rigidly fixed through the wing plate clamp 6 and the full-length wing plate adjusting rod 8 during welding. The PLC controller inputs basic information of the T-shaped beam, the reverse deflection angle delta alpha of the T-shaped beam wing plate 15 and the reverse deformation delta h of the T-shaped beam wing plate 15 are calculated through a PLC program, electric signals which can be identified by the electromagnetic valve, the servo valve, the driver and the relay are converted through corresponding calculation programs, and therefore the device is controlled to operate. Signals acquired by the strain gauge, the sensor and the like can be identified by the PLC after being converted by the A/D. Meanwhile, the control system can synchronously acquire real-time signals of the electromagnetic valve, the servo valve, the driver and the relay and feed back the real-time signals to the PLC, so that the control system can detect and correct the signals and carry out automatic control.

Claims

1. The utility model provides a non-perpendicular T roof beam processingequipment of bridge, includes pterygoid lamina clamping (6), its characterized in that: the mechanical arm track platform is characterized by further comprising a stand column (1) and a mechanical arm track platform (9), wherein an adjusting platform supporting rod (2) is arranged on the stand column (1); the adjusting platform supporting rod (2) is provided with an earring; the earrings of the adjusting platform supporting rods (2) are connected with the earrings at the back of the wing plate adjusting platform (3) through pin shafts; the wing plate adjusting platform (3) is provided with a wing plate clamp (6) through a rectangular open slot on the wing plate adjusting platform and is also provided with a wing plate adjusting rod (8) through a T-shaped slot in the middle of the wing plate adjusting platform; two ends of the adjusting platform hydraulic cylinder (4) are respectively connected with the upright post (1) and the wing plate adjusting platform (3) through earrings; a web platform (11) is arranged in front of the mechanical arm track platform (9), and a web jacking assembly (14) is arranged on the web platform (11); the web platform (11) is arranged on a web platform lifting hydraulic cylinder (13), and the web platform lifting hydraulic cylinder (13) is fixed on the ground.

2. The device for machining the non-vertical T-shaped beam of the bridge according to claim 1, wherein: an adjusting rod hydraulic cylinder (7) is fixedly arranged on the wing plate adjusting platform (3), and a hydraulic rod of the adjusting rod hydraulic cylinder (7) penetrates through the T-shaped notch to be connected with a wing plate adjusting rod (8).

3. The device for machining the non-vertical T-shaped beam of the bridge according to claim 1, wherein: a clamping hydraulic cylinder (5) is fixedly arranged on the wing plate adjusting platform (3), and one end of the clamping hydraulic cylinder (5) is connected with a wing plate clamp (6); the wing plate clamp (6) and the clamp hydraulic cylinder (5) are symmetrically arranged on the wing plate adjusting platform (3); and the wing plate clamp (6) is provided with a strain gauge.

4. The device for machining the non-vertical T-shaped beam of the bridge according to claim 1, wherein: the wing plate adjusting rod (8) is of a T-shaped structure.

5. The device for machining the non-vertical T-shaped beam of the bridge according to claim 1, wherein: the number of the mechanical arm track platforms (9) is two, one is arranged on the upright post (1), and the other is arranged on the ground.

6. The device for machining the non-vertical T-shaped beam of the bridge according to claim 5, wherein: a mechanical arm (10) is arranged on the mechanical arm track platform (9), and a welding gun is arranged on the mechanical arm (10); a main arm 19 and a slave arm 20 of the mechanical arm (10) are both provided with a stepping motor (21), the stepping motor (21) of the main arm (19) is matched with a rack (23) arranged on a mechanical arm track platform (9) through a gear (22) on the stepping motor to control the moving speed of the main arm (19) on the mechanical arm track platform (9); a stepping motor (21) of the slave arm (20) is fixed on the slave arm (20), a rotating shaft of the stepping motor (21) of the slave arm (20) is connected with the master arm (19), the rotating shaft is fixedly connected with the master arm (19), and the rotating angle of the slave arm (20) is controlled through rotation; meanwhile, a visual sensor is arranged on the mechanical arm (10); the welding gun on the mechanical arm (10) of the upright post (1) is a submerged arc welding gun, and the welding gun on the mechanical arm (10) of the ground is a CO2 gas shield welding gun.

7. The device for machining the non-vertical T-shaped beam of the bridge according to claim 1, wherein: electromagnets (12) are uniformly distributed on the web platform (11).

8. The device for machining the non-vertical T-shaped beam of the bridge according to claim 1, wherein: the web plate jacking assembly (14) comprises a stepping motor, a rack-and-pinion pair and a hook clamp, the stepping motor is connected with the rack-and-pinion pair, the rack-and-pinion pair is provided with the hook clamp, and the hook clamp is provided with a strain gauge.

9. A welding method of a bridge non-vertical T-beam machining device is characterized in that: the method comprises the following steps:

firstly, performing reversible deformation prefabrication on a plate with the thickness of the T-beam wing plate (15) being more than 20 mm; arranging a groove on the welding edge of the T-shaped beam web (16);

secondly, hoisting the T-beam wing plate and placing the T-beam wing plate into a wing plate clamp (6) of a wing plate adjusting platform (3), starting a clamp hydraulic cylinder (5), and driving the wing plate clamp (6) to move inwards by the clamp hydraulic cylinder (5) to clamp the T-beam wing plate;

thirdly, starting the adjusting rod hydraulic cylinder (7), and controlling the moving distance of the wing plate adjusting rod (8) through the adjusting rod hydraulic cylinder (7) to enable the wing plate adjusting rod (8) to slide to a set position;

fourthly, starting an adjusting platform hydraulic cylinder (4), and controlling a wing plate adjusting platform (3) to reach a set angle through a flow adjusting platform hydraulic cylinder (4);

fifthly, starting a web platform lifting hydraulic cylinder (13), and lifting the web platform (11) to a set position through the web platform lifting hydraulic cylinder (13);

hoisting the T-beam web plate to the web plate platform (11), and starting a stepping motor on the web plate jacking assembly (14) to enable the T-beam web plate to jack the T-beam wing plate;

seventhly, positioning a visual recognition system on a mechanical arm (10) on the ground to the position of a lower side weld joint, starting to weld the lower side of the T-shaped beam, and moving the mechanical arm (10) on a mechanical arm track platform (9) to finish the lower side CO2 gas shielded welding;

eighthly, positioning a visual recognition system on a mechanical arm (10) of the upright post (1) to the position of an upper side weld joint, starting to weld the upper side of the T-shaped beam, and moving the mechanical arm (10) on a mechanical arm track platform (9) to finish upper side submerged arc welding bottoming, filling and cover surface welding;

ninthly, after welding is finished, opening the wing plate clamp (6), the web plate jacking assembly (14) and the electromagnet (12) in sequence, and returning the mechanical arm (10) to the original position; and (5) lifting the T-shaped beam away from the device, and waiting for the T-shaped beam to be naturally cooled.

10. The welding method of the bridge non-vertical T-beam processing device according to claim 9, characterized in that: in the sixth step, after the T-beam web tightly pushes against the T-beam wing plate, the electromagnet 12 is electrified to suck the T-beam web.