CN114247964B

CN114247964B - Bridge non-vertical T-beam machining device and welding method thereof

Info

Publication number: CN114247964B
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: 2023-06-13
Anticipated expiration: 2042-01-11
Also published as: CN114247964A

Abstract

The invention discloses a bridge non-vertical T-beam processing device, which comprises wing plate clamps, a stand column, a mechanical arm track platform and an adjusting platform support rod, wherein the stand column is provided with a support rod; earrings are arranged on the supporting rods of the adjusting platform; the wing plate adjusting platform is provided with a wing plate clamping through a rectangular slot on the wing plate adjusting platform and a wing plate adjusting rod through a T-shaped slot in the middle of the wing plate adjusting platform; the earrings on the back of the wing plate adjusting platform are connected with the earrings of the supporting rod of the adjusting platform through pin shafts; 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 a web platform lifting hydraulic cylinder which is fixed on the ground. The invention also discloses a welding method of the bridge non-vertical T-beam processing device. The invention ensures the angles of the wing plates and the web plates of the T beam, reduces the deformation generated by the welded T beam, and reduces the correcting workload.

Description

Bridge non-vertical T-beam machining device and welding method thereof

Technical Field

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

Background

The steel-concrete composite beam is widely applied to urban main line overhead due to the advantages of saving steel, reducing beam height, having good mechanical properties and the like.

The steel beams in the steel-concrete composite beam are generally in the cross section form of I-shaped, open or closed box beams and the like. The top plate of the I-shaped beam and the open box beam is usually a strip plate with the width of 800-1000 mm. The top plate and the web are welded in a penetration way, so that overhead welding after the steel beam is put on the tire is avoided, correction workload is reduced, quality of the steel beam is improved, and the strip-shaped top plate and the web of the steel beam can be processed into a T-shaped beam single element in advance and then are assembled integrally.

The bridge steel structure is different from a general building steel structure, and comprises a transverse slope, a longitudinal slope, a plane line shape and the like, wherein a T-shaped beam is formed by a strip-shaped top plate and a web plate, and the wing plate and the web plate of the T-shaped beam are not vertical. How to ensure the angles of the wing plates and the web plates of the T beam, reduce the deformation of the T beam after welding and reduce the workload of correction is an urgent problem to be solved.

The T-shaped beam welding reverse deformation device disclosed by CN211136021U is characterized in that a positioning hook is rotationally connected to the middle part of a positioning bolt, a T-shaped beam is arranged at the bottom of a positioning seat, the T-shaped beam is positioned between the positioning seat and the positioning hook, the positioning seat and the two positioning hooks rigidly fix the flange of the T-shaped beam, and then a web plate of the T-shaped beam is welded with the flange of the T-shaped beam. For the T-beam with larger wing plate width, the positioning hook and the screw shaft of the T-beam 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 easy to cause, and the T beam deformation control effect is poor; and the hand-operated screw nuts are adopted to control, so that the stress condition of each position of the T-beam wing plate cannot be ensured, and if the stress of each point is inconsistent, the deformation of the T-beam wing plate is easy to cause inconsistent.

Disclosure of Invention

The invention aims to solve the technical problem of providing a bridge non-vertical T-beam processing device and a welding method thereof, wherein the angle of a wing plate and a web plate of a T-beam is ensured, the deformation of the T-beam after welding is reduced, and the correction workload is reduced.

In order to solve the technical problems, the invention provides a bridge non-vertical T-beam processing device which comprises wing plate clamps, an upright post and a mechanical arm track platform. An adjusting platform supporting rod is arranged on the upright post; earrings are arranged on the supporting rods of the adjusting platform; the earrings of the supporting rods of the adjusting platform are connected with the earrings on the back of the wing plate adjusting platform through pin shafts; the wing plate adjusting platform is provided with a wing plate clamping through a rectangular slot on the wing plate adjusting platform and a wing plate adjusting rod through a T-shaped slot in the middle of the wing plate adjusting platform; the 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 on the hydraulic cylinder and matched with pin shafts; 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 a web platform lifting hydraulic cylinder, and the web platform lifting hydraulic cylinder is fixed on the ground.

Through adopting above-mentioned technical scheme, adjusting platform bracing piece on the stand connects the pterygoid lamina and adjusts the platform, and the pterygoid lamina adjusts the platform and sets up clamping pneumatic cylinder driven pterygoid lamina clamping from top to bottom symmetry, installs the pterygoid lamina and adjusts the pole in the T shape notch on the pterygoid lamina adjusting the platform, adjusts platform pneumatic cylinder both ends and connects stand, pterygoid lamina adjusting the platform through the earring respectively, sets up the tight subassembly in web top on the web platform, guarantees the angle of the pterygoid lamina and the web of T roof beam, reduces the deformation that the welding back T roof beam produced to reduce the work load of correction. The reverse deflection angle delta alpha of the T beam wing plate can be adjusted by adjusting the platform hydraulic cylinder, the angle of the wing plate and the web plate of the T beam is changed, the deflection of the T beam wing plate caused by inconsistent heat input due to welding at two sides is reduced, and the correcting workload is further reduced.

Further, an adjusting rod hydraulic cylinder is fixedly arranged on the wing plate adjusting platform, 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 adjusting rod hydraulic cylinder drives the wing plate adjusting rod to enable the wing plate adjusting rod to lift or retract in the notch.

Further, a clamping hydraulic cylinder is fixedly arranged on the wing plate adjusting platform, and one end of the clamping hydraulic cylinder is connected with the wing plate clamping. The wing plate clamps and the clamping hydraulic cylinders are symmetrically arranged on the wing plate adjusting platform together and are used for fixedly clamping the T-beam wing plates, and the centers of the T-beam wing plates are always positioned at the centers of the wing plate adjusting platform. The wing plate clips are provided with strain gauges for determining whether the clips are clamped.

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

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

By adopting the technical scheme, the welding fixture is used for applying the reverse deformation to the T beam wing plate and simultaneously providing a rigid fixing point for the reverse deformation of the T 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.

Through adopting above-mentioned technical scheme, arm track platform is used for setting up submerged arc welding welder's arm on the stand, and bottom surface arm track platform is used for setting up CO2 gas shield welding welder's arm.

Further, the mechanical arm is arranged on the mechanical arm track platform, and a welding gun is arranged on the mechanical arm and used for welding two sides of a welding surface of the T beam. The main arm and the auxiliary arm of the mechanical arm are respectively 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 through the matching of a gear on the stepping motor and a rack arranged on the mechanical arm track platform; the stepping motor of the slave arm is fixed on the slave arm, a rotating shaft of the stepping motor of the slave arm is connected with the master arm, and the rotating shaft is fixedly connected with the master arm to directly control the rotating angle of the slave arm through 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 mechanical arm is a submerged arc welding gun, and the welding gun on the ground mechanical arm is a CO2 gas shielded welding gun.

Through adopting above-mentioned technical scheme, can realize that the arm moves about on arm track platform through the step motor of master arm installation to control the speed of movement of welder on it, welding speed. The slave arm is provided with a stepping motor to control the rotation angle, so that the welding implementation direction on the mechanical arm is adjustable, and the welding gun is driven to move forwards and backwards, and the welding gun reaches the accurate position of the welding seam. The submerged arc welding frame gas shielded welding method is used for realizing non-back chipping penetration welding so as to reduce the problem that the automatic welding quality of the mechanical arm is affected due to inconsistent depth and size of welding seams caused by manual carbon planing back chipping.

Further, electromagnets are uniformly distributed on the web plate platform.

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

Further, the web jacking component comprises a stepping motor, a gear rack pair and a hook clamp, wherein the stepping motor is connected with the gear rack pair, the hook clamp is arranged on the gear rack pair, and a strain gauge is arranged on the hook clamp and used for determining whether the hook clamp is jacked; when the web jacking component is tightened, the T-beam web is tightly attached to the T-beam wing plate, so that the assembly size is ensured.

Through adopting above-mentioned technical scheme, the tight subassembly of web top is hooked up tight T roof beam pterygoid lamina for T roof beam web and tight laminating top of T roof beam pterygoid lamina are tight, guarantee that the welded edge does not have the clearance, are for subsequent welding work preparation.

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

1. prefabricating the plate with the thickness of the T beam wing plate being larger than 20mm in an inverse deformation way; forming a groove on the welding edge of the T beam web plate;

2. and lifting the T beam wing plate into a wing plate clamp of the wing plate adjusting platform, starting a clamp hydraulic cylinder, and driving the wing plate clamp to move inwards by the clamp hydraulic cylinder to clamp the T beam wing plate.

3. The adjusting rod hydraulic cylinder is started, and the moving distance of the wing plate adjusting rod is controlled by the adjusting rod hydraulic cylinder, so that the wing plate adjusting rod slides to a set position.

4. And 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.

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

6. And lifting the T beam web plate and placing the T beam web plate on the web plate platform, and starting a stepping motor on the web plate jacking assembly to enable the T beam web plate to jack the T beam wing plate tightly.

7. And the visual recognition system on the mechanical arm on the ground is positioned to the position of the lower side welding seam, the lower side of the T beam is welded, and the mechanical arm moves on the mechanical arm track platform to finish the welding of the lower side CO2 gas shielded welding.

8. And the visual recognition system on the mechanical arm of the upright post is positioned to the position of the upper side welding seam, the upper side of the T beam is welded, and the mechanical arm moves on the mechanical arm track platform to finish the welding of the upper side submerged arc welding backing, filling and covering.

9. And after the welding is finished, the wing plate clamping, the web plate propping assembly and the electromagnet are sequentially opened, and the mechanical arm returns to the original position. And (5) hanging the T beam away from the device, and waiting for the T beam to cool naturally.

Through adopting above-mentioned technical scheme, device full automatization operation avoids manual welding, realizes that multiple influencing factor is controllable, improves welded quality, improves work efficiency. The method combines a rigid fixing method and an inverse deformation method to realize non-correction after welding. The angle of the wing plate of the device is adjustable, and T beam welding at different angles is realized.

Further, in the step six, after the T beam web plate is tightly propped against the T beam wing plate, the electromagnet is electrified to attract the T beam web plate.

By adopting the technical scheme, the T-beam web is fixed, and the unstable wave deformation of the T-beam web caused by welding is reduced.

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

1. according to the invention, the support rods of the adjusting platform on the upright post are connected with the wing plate adjusting platform, the wing plate clamping clamps driven by the clamping hydraulic cylinders are symmetrically arranged up and down on the wing plate adjusting platform, the wing plate adjusting rods are arranged in the T-shaped notch on the wing plate adjusting platform, two ends of the hydraulic cylinders of the adjusting platform are respectively connected with the upright post and the wing plate adjusting platform through the earrings, and the web plate jacking component is arranged on the web plate platform, so that the angles of the wing plates and the web plates of the T-beam are ensured, the deformation generated by the welded T-beam is reduced, and the correcting workload is reduced. The reverse deflection angle delta alpha of the T beam wing plate can be adjusted by adjusting the platform hydraulic cylinder, the angle of the wing plate and the web plate of the T beam is changed, the deflection of the T beam wing plate caused by inconsistent heat input due to welding at two sides is reduced, and the correcting workload 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 track platform are controlled. The slave arm is provided with a stepping motor to control the rotation angle, so that the welding implementation direction on the mechanical arm is adjustable, and the welding gun is driven to move forwards and backwards, and the welding gun reaches the accurate position of the welding seam. The submerged arc welding frame gas shielded welding method is used for realizing non-back chipping penetration welding so as to reduce the problem that the automatic welding quality of the mechanical arm is affected due to inconsistent depth and size of welding seams caused by manual carbon planing back chipping.

3. The T beam wing plate is prefabricated to be deformed reversely, then the rigid fixation of the T beam wing plate surface and the line is realized through the clamping of a plurality of groups of wing plates on the wing plate adjusting platform and the length-through wing plate adjusting rod, the deformation of the T beam is controlled by surface contact, and the effect of controlling the deformation after welding is improved for the T beam with larger welding quantity or the T beam with larger T beam wing plate thickness.

4. The device is fully automatically operated, manual welding is avoided, various influence factors are controllable, welding quality is improved, and working efficiency is improved. The method combines a rigid fixing method and an inverse deformation method to realize non-correction after welding. The angle of the T beam wing plate is adjustable, and T beam welding of 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 a mechanical arm according to the present invention.

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

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

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

Fig. 8 is a schematic view of the reverse deflection angle Δα of the T-beam airfoil of the present invention.

Fig. 9 is a schematic diagram of the reverse deformation Δh of the T-beam wing panel according to the present invention.

In the figure, a column 1, an adjusting platform supporting 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 component 14, a T beam wing plate 15, a T 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 fig. 1, the bridge non-vertical T-beam machining device comprises wing plate clips 6, an upright post 1 and a mechanical arm track platform 9. An adjusting platform supporting rod 2 is arranged on the upright post 1; earrings are arranged on the adjusting platform supporting rods 2; the wing plate adjusting platform 3 is provided with a wing plate clamping 6 through a rectangular slot on the wing plate adjusting platform and a wing plate adjusting rod 8 through a T-shaped slot in the middle of the wing plate adjusting platform; the earrings at the back of the wing plate adjusting platform 3 are connected with the earrings of the adjusting platform supporting rod 2 through pin shafts; the 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 on the adjusting platform hydraulic cylinder and matched with pin shafts. The web jacking assembly 14 comprises a stepping motor, a gear rack pair and a hook clamp, wherein the stepping motor is connected with the gear rack pair, the hook clamp is arranged on the gear rack pair, and a strain gauge is arranged on the hook clamp.

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 clamping 6. The wing plate clamping 6 and the clamping hydraulic cylinder 5 are symmetrically arranged on the wing plate adjusting platform 3. The strain gage is arranged on the clamp.

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

As shown in fig. 2, the number of the arm track platforms 9 is two, one is installed on the upright 1, and the other is installed on the ground. A web plate 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. The mechanical arm 10 is arranged on the mechanical arm track platform 9, and a welding gun is arranged on the mechanical arm 10. The welding gun on the mechanical arm 10 of the mechanical arm track platform 9 of the upright post 1 is a submerged arc welding gun, and the welding gun on the mechanical arm 10 of the ground mechanical arm track platform 9 is a CO2 gas shielded welding gun.

As shown in fig. 3, the master arm 19 and the slave arm 20 of the mechanical 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 mechanical arm track platform 9 through a gear 22 on the stepping motor 21 and a rack 23 mounted on the mechanical arm track platform 9. The stepping motor 21 of the slave arm 20 is fixed on the slave arm 20, the 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 directly controlled by rotation. While the robot arm 10 is provided with a vision sensor.

As shown in fig. 4, electromagnets 12 are uniformly distributed on the web plate 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 and is connected with the wing plate adjusting rod 8.

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

A. and determining the specifications of the T beam wing plates 15 and the T beam webs 16 and the angles of the T beam wing plates 15 and the T beam webs 16, and inputting the information of the specifications, the angles and the bevel angles of the T beam into the PLC.

B. And performing reverse deformation prefabrication on the plate with the thickness of the T beam wing plate 15 being larger 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 the T beam wing plate 15; the plate with the thickness less than or equal to 20mm of the T beam wing plate 15 does not need to be prefabricated in reverse deformation, and can be directly jacked and bent through the device.

C. And forming a groove on the welding edge of the T beam web 16, wherein the angle of the groove is calculated according to the specification and the angle of the T beam.

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

E. The servo valve of the adjusting rod hydraulic cylinder 7 is started, the travel of the adjusting rod hydraulic cylinder 7 is controlled through the flow, and therefore 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 plates 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 jacked and bent, and the reverse deformation of the T beam wing plate 15 is realized. And after the sliding is set for a distance, the servo valve is closed, and the pressure is maintained and fixed.

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 after the set angle is reached, the servo valve is closed, and the pressure is maintained and fixed.

G. The servo valve of the web platform lifting hydraulic cylinder 13 is started, and the travel of the web platform lifting hydraulic cylinder 13 is controlled through the flow, so that the web platform 11 is lifted to a set position. And after the set position is reached, the servo valve is closed, and the pressure is maintained and fixed.

H. The T beam web 16 is hoisted and placed on the web platform 11, and a stepping motor on the web jacking assembly 14 is started, so that the T beam web 16 jacks the T beam wing plate 15. After the strain gauge of the hook clamp on the web jacking assembly 14 reaches a set value, the stepping motor is stopped and self-locked.

I. The electromagnet 12 is electrified to attract the T-beam web 16, and the T-beam web 16 is fixed.

J. The visual recognition system on the mechanical arm 10 on the ground mechanical arm track platform 9 is positioned to the position of the lower side welding seam, the lower side of the T beam is welded, the mechanical arm 10 moves on the mechanical arm track platform 9, and the welding of the lower side CO2 gas shielded welding 17 is completed.

K. The visual recognition system on the mechanical arm 10 on the mechanical arm track platform 9 of the upright post 1 is positioned to the upper side welding seam position, the upper side of the T beam is welded, the mechanical arm 10 moves on the mechanical arm track platform 9, and the upper side submerged arc welding 18 priming, filling and capping welding are completed.

After the welding is completed, the wing plate clamping 6, the web plate jacking component 14 and the electromagnet 12 are sequentially opened, and the mechanical arm 10 returns to the original position. And after the T beam is lifted off the device, waiting for the T beam to cool naturally.

The welding surface downside adopts CO2 gas shielded welding, and the upside adopts submerged arc welding, adopts the method of not back gouging penetration welding to reduce the depth and the size inconsistency of welding seam that artifical carbon digs the back gouging brought, thereby influence the problem of arm automatic weld quality.

Working principle: the processing device realizes the automation of processing through the PLC. The hydraulic cylinders are all controlled to enter oil and return oil through the PLC control electromagnetic valve or the servo valve, so that the stroke of the hydraulic cylinders is controlled. The stepping motor controls the driver through the PLC so as to control the step number and the rotating speed of the stepping motor. The electromagnet is controlled to be attracted through the PLC to control the relay to attract. As shown in fig. 8, since the heat input amount of submerged arc welding is larger than that of CO2 gas shielded welding, the T-beam is deformed angularly after welding, and the T-beam fin 15 is deflected around the T-beam web 16 to the side 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, angle, groove and the like of the T beam. As shown in fig. 9, in order to reduce the angular deformation of the T-beam wing panel 15 caused by welding, a certain amount of deformation Δh is applied to the T-beam wing panel 15, and the amount of deformation is calculated according to the thickness of the T-beam wing panel 15. And meanwhile, the T beam wing plate 15 is rigidly fixed through the wing plate clamping 6 and the long wing plate adjusting rod 8 during welding. The PLC inputs basic information of the T beam, the reverse deflection angle delta alpha of the T beam wing plate 15 and the reverse deformation quantity delta h of the T beam wing plate 15 are calculated through a PLC program, and electric signals which can be identified by the electromagnetic valve, the servo valve, the driver and the relay are converted through corresponding calculation programs, so that the operation of the device is controlled. Signals collected 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 synchronously collects real-time signals of the electromagnetic valve, the servo valve, the driver and the relay and feeds the real-time signals back to the PLC so as to facilitate detection and correction of the control system and realize 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 is characterized by further comprising an upright post (1) and a mechanical arm track platform (9), wherein an adjusting platform supporting rod (2) is arranged on the upright post (1); earrings are arranged on the adjusting platform supporting rods (2); 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 clamping clip (6) through a rectangular slot on the wing plate adjusting platform, and 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 plate platform (11) is arranged in front of the mechanical arm track platform (9), and a web plate jacking assembly (14) is arranged on the web plate 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; 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;

the mechanical arm track platform (9) is provided with a mechanical arm (10), and the mechanical arm (10) is provided with a welding gun; the main arm (19) and the auxiliary arm (20) of the mechanical arm (10) are respectively provided with a stepping motor (21), and the stepping motor (21) of the main arm (19) is matched with a rack (23) arranged on the 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); the 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 main arm (19), the rotating shaft is fixedly connected with the main 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) on the ground is a CO2 gas shielded welding gun.

2. A bridge non-vertical T-beam tooling apparatus as defined in claim 1 wherein: the wing plate adjusting platform (3) is fixedly provided with an adjusting rod hydraulic cylinder (7), and a hydraulic rod of the adjusting rod hydraulic cylinder (7) penetrates through the T-shaped notch to be connected with the wing plate adjusting rod (8).

3. A bridge non-vertical T-beam tooling apparatus as defined in 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 clamping (6); the wing plate clamp (6) and the clamp hydraulic cylinder (5) are symmetrically arranged on the wing plate adjusting platform (3); the wing plate clamp (6) is provided with a strain gauge.

4. A bridge non-vertical T-beam tooling apparatus as defined in claim 1 wherein: the wing plate adjusting rod (8) is of a T-shaped structure.

5. A bridge non-vertical T-beam tooling apparatus as defined in claim 1 wherein: electromagnets (12) are uniformly distributed on the web plate platform (11).

6. A bridge non-vertical T-beam tooling apparatus as defined in claim 1 wherein: the web jacking assembly (14) comprises a stepping motor, a gear rack pair and a hook clamp, wherein the stepping motor is connected with the gear rack pair, the hook clamp is arranged on the gear rack pair, and the strain gauge is arranged on the hook clamp.

7. A welding method of a bridge non-vertical T-beam processing apparatus, the welding method adopting the bridge non-vertical T-beam processing apparatus of claim 1 or 2 or 3 or 4 or 5 or 6, characterized in that: the method comprises the following steps:

1. prefabricating the plate with the thickness of the T beam wing plate (15) being more than 20mm in a reverse deformation mode; forming a groove on the welding edge of the T-beam web plate (16);

2. the T beam wing plate is hoisted and placed into a wing plate clamp (6) of a wing plate adjusting platform (3), a clamp hydraulic cylinder (5) is started, and the clamp hydraulic cylinder (5) drives the wing plate clamp (6) to move inwards to clamp the T beam wing plate;

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

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

5. 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);

6. lifting the T-beam web plate on the upper 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; electrifying the electromagnet (12) to attract the T beam web;

7. the visual recognition system on the mechanical arm (10) on the ground is positioned to the position of the lower side welding seam, the lower side of the T-shaped beam is welded, the mechanical arm (10) moves on the mechanical arm track platform (9), and the lower side CO2 gas shielded welding is completed;

8. the visual recognition system on the mechanical arm (10) of the upright post (1) is positioned to the upper side welding seam position, the upper side of the T beam is welded, the mechanical arm (10) moves on the mechanical arm track platform (9), and the upper side submerged arc welding bottoming, filling and capping welding are completed;

9. after the welding is finished, the wing plate clamping (6), the web plate jacking component (14) and the electromagnet (12) are sequentially opened, and the mechanical arm (10) returns to the original position; and (5) hanging the T beam away from the device, and waiting for the T beam to cool naturally.