CN114789310A - U rib plate unit single-side welding and double-side forming device and forming method thereof - Google Patents
U rib plate unit single-side welding and double-side forming device and forming method thereof Download PDFInfo
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- CN114789310A CN114789310A CN202210418001.2A CN202210418001A CN114789310A CN 114789310 A CN114789310 A CN 114789310A CN 202210418001 A CN202210418001 A CN 202210418001A CN 114789310 A CN114789310 A CN 114789310A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0461—Welding tables
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Abstract
The invention discloses a single-side welding and double-side forming device and a forming method for a U rib plate unit, which are used for welding and forming the U rib plate unit, wherein the single-side welding and double-side forming device for the U rib plate unit comprises a bearing table, a portal frame and a welding mechanism; the bearing platform is used for placing a bridge deck plate and a U-shaped rib plate to be welded; the portal frame is erected above the bearing table along a first horizontal direction and can move along a second horizontal direction, a transverse moving seat which can move along the first horizontal direction is arranged on a cross beam of the portal frame, and the transverse moving seat is provided with a longitudinal moving frame which can move up and down; welding mechanism indulges two welding assembly of moving both sides on first horizontal direction including locating separately, and each welding assembly all includes welder and soldering turret, and the handlebar of welder is located and is indulged the frame that moves, and its nozzle is used for the welding seam setting of corresponding side towards, and the soldering turret is used for the centre gripping welding rod, and makes the tip of welding rod arrange the welding seam department that corresponds the side in, and the soldering turret activity is located and is indulged the frame that moves to make the welding rod can swing on the width direction that corresponds the side weld, so can realize the two-sided shaping of single face welding.
Description
Technical Field
The invention relates to the technical field of welding equipment, in particular to a U rib plate unit single-side welding and double-side forming device and a forming method thereof.
Background
The U-shaped rib plate unit is a single unit type with the largest number in bridge projects, and in order to produce the U-shaped rib plate unit in a large scale, a U-shaped rib plate unit production line is generally adopted for batch production. The U floor unit is by decking and a plurality of U type rib welding forming, and in welding process, adopts traditional two-sided welding not only to be unfavorable for welding forming, reduces welding quality, can bring inconvenience for operating personnel moreover, increases the welding degree of difficulty.
Disclosure of Invention
The invention mainly aims to provide a single-side welding and double-side forming device and a forming method for a U rib plate unit, and aims to solve the problems that when the U rib plate unit is formed by double-side welding, the welding quality is reduced and the welding difficulty is increased.
In order to achieve the above object, the present invention provides a single-side welding and double-side forming device for a U-shaped rib plate unit, which is used for welding and forming the U-shaped rib plate unit, wherein the U-shaped rib plate unit includes a bridge deck and a plurality of U-shaped rib plates, the plurality of U-shaped rib plates are arranged at intervals along a first horizontal direction, and each U-shaped rib plate is arranged along a second horizontal direction, and the device includes:
the bearing platform is used for placing a bridge deck and a U-shaped rib plate to be welded;
the portal frame is erected above the bearing table along the first horizontal direction and can move along the second horizontal direction, a transverse moving seat capable of moving along the first horizontal direction is arranged on a transverse beam of the portal frame, and the transverse moving seat is provided with a longitudinal moving frame capable of moving up and down; and the number of the first and second groups,
welding mechanism, including locating indulge the frame and indulge two welding subassembly of the ascending both sides of horizontal direction, each welding subassembly all includes welder and soldering turret, welder's stock is located indulge the frame that moves, its nozzle is used for the welding seam setting of corresponding side of orientation, the soldering turret is used for the centre gripping welding rod, and makes the tip of welding rod is arranged in and is corresponded the side welding seam department, the soldering turret activity is located indulge the frame that moves, so that the welding rod can be in corresponding the side the width direction of welding seam is gone up the swing.
Optionally, the welding mechanism further includes two position adjustment assemblies, the two position adjustment assemblies are respectively disposed on two sides of the longitudinal frame in the first horizontal direction, and each of the position adjustment assemblies includes:
the moving block can move relative to the longitudinal moving frame in the first horizontal direction; and (c) a second step of,
a position adjustment driver, wherein a position adjustment driving part is connected with the moving block in a driving way;
the welding assembly is arranged on the moving block on the corresponding side.
Optionally, the position adjusting assembly further comprises a laser range finder arranged on the welding tongs, the laser range finder comprises a transmitter and a receiver which are arranged side by side, and a transmitting end and a receiving end of the laser range finder are arranged towards the welding seam and used for detecting the distance from the end of the welding rod to the U-shaped rib plate;
wherein the laser ranging is electrically connected with the position adjustment driver.
Optionally, the welding mechanism further includes two angle adjusting assemblies, the two angle adjusting assemblies are respectively disposed on two sides of the longitudinal frame in the first horizontal direction, and each angle adjusting assembly includes:
the rotating end of the swing rod is rotatably arranged on the end surface of the corresponding side of the longitudinal moving frame, so that the mounting end of the swing rod can swing up and down;
an output shaft of the angle adjusting motor is in driving connection with the rotating end of the oscillating bar; and (c) a second step of,
the angle instrument is arranged on the output shaft and used for detecting the rotation angle of the oscillating bar;
the welding tongs are arranged at the mounting end, so that the upward and downward inclination angle of the welding rod can be adjusted.
Optionally, the longitudinal movement frame is used for arranging an avoidance groove on one side end surface of the longitudinal movement frame facing the U-shaped rib plate, the avoidance groove is arranged in the second horizontal direction in a penetrating manner, and two side walls of the avoidance groove in the first horizontal direction are used for being matched with outer walls of two side plates of the U-shaped rib plate;
u floor unit single face welds two-sided forming device still includes guide structure, guide structure includes:
the two universal wheels are arranged oppositely in the first horizontal direction, are respectively arranged on the two side walls of the avoidance groove and are close to the positions of the notches of the avoidance groove, and the rolling wheels of the two universal wheels are respectively in rolling contact with the outer walls of the side plates on the corresponding sides; and the number of the first and second groups,
and the pressing roller is rotatably arranged on the bottom wall of the avoidance groove along the axis of the first horizontal direction, and the roller is used for being in rolling and abutting joint with the bottom plate of the U-shaped rib plate.
Optionally, a first elastic buffer structure is arranged between the universal wheel and the side wall of the avoidance groove on the corresponding side; and/or the presence of a gas in the atmosphere,
and a second elastic buffer structure is arranged between the pressing roller and the bottom wall of the avoidance groove.
Optionally, the U-ribbed plate unit single-side welding and double-side forming device further includes a shooting mechanism and/or a grinding mechanism and/or a positioning mechanism, wherein:
the shooting mechanism comprises two detection cameras which are respectively arranged on two sides of the longitudinal moving frame in the first horizontal direction, and each detection camera is used for shooting a formed image after welding the welding seam on the corresponding side; the detection camera is used for being in communication connection with an external monitor;
the polishing mechanism comprises two polishing assemblies which are respectively arranged on two sides of the longitudinal moving frame in the first horizontal direction, each polishing assembly is arranged side by side with the welding assembly on the corresponding side, and the polishing mechanism is provided with a movably arranged grinding wheel for polishing the welding seam welded by the welding assemblies;
positioning mechanism is including locating the plummer is in the infrared scanner of the ascending one side of second horizontal direction, the infrared scanner activity sets up, is used for gathering U type floor with the size parameter of bridge floor board.
Optionally, the grinding assembly comprises:
the fixed seat is arranged on one side end face of the longitudinal moving frame in the first horizontal direction;
the upper end of the hinged rod is hinged to the fixed seat; and
the telescopic component is arranged on the fixed seat and is provided with a telescopic part which can approach and depart from one side of the welding line, and the free end of the telescopic part is hinged to the middle part of the hinge rod;
the grinding wheel is rotatably mounted at the lower end of the hinge rod and can rotate along the second horizontal direction.
The invention also provides a U rib plate unit forming method based on the U rib plate unit single-side welding double-side forming device, the U rib plate unit single-side welding double-side forming device further comprises a transverse moving seat driver, a longitudinal moving frame driver, a gantry driver and a welding tongs driver, and the U rib plate unit forming method comprises the following steps:
controlling the transverse moving seat driver to drive the transverse moving seat to move to the position above the U-shaped rib plate to be welded;
controlling the longitudinal moving frame driver to drive the longitudinal moving frame to move to the welding position;
controlling a welding gun to be started;
adjusting the position and the inclination angle of the welding rod;
controlling the electrode holder driver to drive the electrode holder to move so that the end of the welding rod can swing in the width direction of the welding seam;
and controlling the gantry driver to drive the gantry to move along the second direction.
Optionally, the single-side welding and double-side forming device for the U-shaped rib plate unit further includes a positioning mechanism, the positioning mechanism includes an infrared scanner disposed on one side of the carrying platform in the second horizontal direction, and the infrared scanner is movably disposed and is used for acquiring size parameters of the U-shaped rib plate and the bridge deck;
the U rib plate unit single-side welding double-side forming device further comprises a position adjusting assembly and an angle adjusting assembly, wherein the position adjusting assembly comprises a position adjusting driver and is used for driving and connecting the welding assembly, the angle adjusting assembly comprises an angle adjusting motor and an angle instrument, an output shaft of the angle adjusting motor is connected with the welding tongs in a driving mode, and the angle instrument is used for detecting the rotating angle of the output shaft;
the U rib plate unit single-side welding double-side forming device further comprises a laser range finder for detecting the distance from the end part of the welding rod to the welding line;
the step of adjusting the position and the inclination angle of the welding rod comprises the following steps:
acquiring a first size parameter of a U-shaped rib plate to be welded and a second size parameter of a bridge deck;
acquiring a target distance parameter between the end of the welding rod and the U-shaped rib plate;
calculating a plate thickness ratio parameter of the U-shaped rib plate and the bridge deck according to the first size parameter and the second size parameter;
acquiring a target inclination angle of the welding rod according to the plate thickness ratio parameter;
acquiring an actual distance parameter between the end of the welding rod and the U-shaped rib plate;
calculating a moving distance parameter of the welding assembly according to the actual distance parameter and the target distance parameter;
controlling the position adjusting driver to drive the welding assembly to move according to the moving distance parameter;
acquiring an actual rotation angle of an output shaft of the angle adjusting motor;
calculating the actual inclination angle of the welding rod according to the actual rotation angle;
calculating a target rotation angle of the welding rod according to the actual inclination angle and the target inclination angle;
and controlling the angle adjusting motor to drive the welding tongs to rotate according to the target rotating angle.
In the technical scheme of the invention, the bridge deck plate and the U-shaped rib plate to be welded are placed on the bearing platform, so that the bridge deck plate and the U-shaped rib plate to be welded can be kept stable, the welding stability is improved, and the welding quality is improved; in the welding process, the transverse moving seat drives the welding structure to move to the position above the U-shaped rib plate to be welded, the longitudinal moving frame drives the welding mechanism to move to the welding position, welding assemblies are respectively arranged on two sides of the longitudinal moving frame in the first horizontal direction, and each welding assembly comprises a welding gun and a welding clamp; in the welding position, the nozzle of the welding gun is arranged towards the welding seam on the corresponding side, and the welding tongs clamp the welding rod and enable the end part of the welding rod to be arranged at the welding seam on the corresponding side, so that the arrangement is convenient for an operator to adjust the position of the welding assembly according to the position of the U-shaped rib plate to be welded, and the position moving precision of the welding assembly can be improved; meanwhile, the welding tongs are movably arranged on the longitudinal moving frame, so that the welding rod can swing in the width direction of the welding seam on the corresponding side; it should be noted that, when a thicker plate is welded, if the welding rod is fed to the weld pool along the extension direction of the central line of the welding rod, the welded seam is narrower, and the welding stability of the U-shaped rib plate is poor; the welding tongs are movably arranged on the longitudinal moving frame, so that the welding rods can regularly swing in the width direction of the welding seam on the corresponding side, a wider welding seam can be obtained after welding, and the welding quality and the stability of the U-shaped rib plate are improved; according to the technical scheme, the U-shaped rib plate is subjected to single-side welding and double-side forming, the welding quality and stability of the U-shaped rib plate can be improved, and meanwhile, the position of the welding assembly can be adjusted through the portal frame, the transverse moving seat and the longitudinal moving frame body, so that the displacement precision is improved, convenience is brought to operators, and the processing difficulty is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of a U rib plate unit single-side welding and double-side forming device provided by the invention;
FIG. 2 is a schematic view of the welding mechanism of FIG. 1;
FIG. 3 is a schematic view of the angle adjustment assembly of FIG. 2;
FIG. 4 is a schematic view of the carrier table shown in FIG. 1;
FIG. 5 is a schematic diagram of the grinding mechanism of FIG. 1;
FIG. 6 is a flowchart of a method for forming a U-ribbed plate unit according to a first embodiment of the present invention;
fig. 7 is a flowchart of a U rib plate unit forming method according to a second embodiment of the present invention.
The embodiment of the invention is illustrated by reference numerals:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely 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 obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B", including either A or B or both A and B. In addition, technical solutions between the embodiments may be combined with each other, but must be based on the realization of the technical solutions by a person skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The U-ribbed plate unit is a single-element type with the largest number in bridge projects, and in order to produce the U-ribbed plate unit in a large scale, a U-ribbed plate unit production line is generally adopted for mass production. The U floor unit is by decking and a plurality of U type rib welded forming, and in welding process, adopts traditional two-sided welding not only to be unfavorable for welded forming, reduces welding quality, can bring inconvenience for operating personnel moreover, increases the welding degree of difficulty.
In view of the above, the invention provides a single-side welding and double-side forming device and a forming method for a U rib plate unit, and aims to solve the problems that when the U rib plate unit is formed by double-side welding, the welding quality is reduced and the welding difficulty is increased; fig. 1 to 5 show an embodiment of a single-side welding and double-side forming device for a U rib plate unit according to the present invention; fig. 6 to 7 show an embodiment of a method for forming a U rib plate unit according to the present invention.
Referring to fig. 1 to 5, the U-rib plate unit single-side welding double-side forming device 100 is used for welding and forming a U-rib plate unit, the U-rib plate unit includes a bridge deck 200 and a plurality of U-shaped rib plates 300, the plurality of U-shaped rib plates 300 are arranged at intervals along a first horizontal direction F1, each U-shaped rib plate 300 is arranged along a second horizontal direction F2, and the U-rib plate unit single-side welding double-side forming device 100 includes a bearing platform 1, a portal frame 2 and a welding mechanism 3; the bearing platform 1 is used for placing a bridge deck 200 and a U-shaped rib plate 300 to be welded; the gantry 2 is erected above the plummer 1 along the first horizontal direction F1 and can move along the second horizontal direction F2, a cross beam of the gantry is provided with a traverse motion seat 21 which can move along the first horizontal direction F1, and the traverse motion seat 21 is provided with a longitudinal motion frame 22 which can move along the vertical direction; the welding mechanism 3 comprises two welding assemblies 31 respectively arranged on two sides of the longitudinal moving frame 22 in the first horizontal direction F1, each welding assembly 31 comprises a welding gun 311 and a welding holder 312, a gun handle of the welding gun 311 is arranged on the longitudinal moving frame 22, a nozzle of the welding gun 311 is used for facing the welding seam on the corresponding side, the welding holder 312 is used for clamping a welding rod 313 and enabling the end part of the welding rod 313 to be arranged on the welding seam on the corresponding side, and the welding holder 312 is movably arranged on the longitudinal moving frame 22 so that the welding rod 313 can swing on the width direction of the welding seam on the corresponding side.
In the technical scheme of the invention, the bridge deck 200 and the U-shaped rib plate 300 to be welded are placed on the bearing platform 1, so that the bridge deck 200 and the U-shaped rib plate 300 to be welded can be kept stable, the welding stability is improved, and the welding quality is further improved; in the welding process, the traverse motion base 21 drives the welding structure to move to the position above the U-shaped rib plate 300 to be welded, the longitudinal motion frame 22 drives the welding mechanism 3 to move to the welding position, two sides of the longitudinal motion frame 22 in the first horizontal direction F1 are respectively provided with a welding assembly 31, and each welding assembly 31 comprises a welding gun 311 and a welding tongs 312; in the welding position, the nozzle of the welding gun 311 is arranged towards the welding seam on the corresponding side, and the welding clamp 312 clamps the welding rod 313 and enables the end part of the welding rod 313 to be arranged at the welding seam on the corresponding side, so that the arrangement is convenient for an operator to adjust the position of the welding component 31 according to the position of the U-shaped rib plate 300 to be welded, and the position moving precision of the welding component 31 is improved; meanwhile, as the welding tongs 312 is movably arranged on the longitudinal moving frame 22, the welding rod 313 can swing in the width direction of the welding seam on the corresponding side; it should be noted that, when a thicker plate is welded, if the welding rod 313 is fed toward the weld pool along the extension direction of the central line thereof, the welded seam is narrower, so that the welding stability of the U-shaped rib plate 300 is poor; by movably arranging the welding tongs 312 on the longitudinal moving frame 22, the welding rods 313 can regularly swing in the width direction of the welding seam on the corresponding side, so that a wider welding seam can be obtained after welding, and the welding quality and stability of the U-shaped rib plate 300 are improved; through the technical scheme of the invention, the U-shaped rib plate 300 is subjected to single-side welding and double-side forming, so that the welding quality and stability of the U-shaped rib plate 300 can be improved, and meanwhile, as the position of the welding assembly 31 can be adjusted through the portal frame 2, the transverse moving seat 21 and the longitudinal moving frame 22, the displacement precision is improved, convenience is brought to operators, and the processing difficulty is reduced.
The method for transporting the welding rod 313 is not limited, and can be an inclined circular-ring-shaped method for transporting the welding rod, which is favorable for controlling molten pool metal not to flow down and is suitable for flat welding and overhead welding of T-shaped joints and transverse welding of butt joints; the method can ensure that the edge of the welding seam is fully heated, the welding seam is uniformly melted, the penetration of the welding seam is ensured, and the method is suitable for butt welding of thick plates with grooves; due to the selection of the specific strip conveying method, an operator can select the strip conveying method according to the actual welding condition.
It should be noted that, during the welding process, a gap needs to be formed between the welding rod 313 and the weldment to generate an arc, and therefore, in the present invention, the welding mechanism 3 further includes two position adjusting assemblies 32, the two position adjusting assemblies 32 are respectively disposed on two sides of the longitudinal moving frame 22 in the first horizontal direction F1, each of the position adjusting assemblies 32 includes a moving block 321 and a position adjusting driver; the moving block 321 is movable in the first horizontal direction F1 relative to the longitudinal moving frame 22; the position adjustment driving unit of the position adjustment driver is drivingly connected to the moving block 321; wherein, the welding assembly 31 is disposed on the moving block 321 on the corresponding side; the welding assembly 31 is driven to move by the movement of the moving block 321, so that the position of the welding rod 313 is adjusted more accurately, and the position of the welding rod 313 is adjusted more stably; meanwhile, the operation of operators is facilitated, and the adjustment difficulty is reduced.
It should be noted that, the specific form of the position adjustment driver is not limited, the position adjustment driver may be an electric push rod, and correspondingly, the position adjustment driving portion includes an expansion link; the position adjusting driving part comprises a piston rod; specifically, in this embodiment, the position adjustment driver includes a position adjustment motor, the position adjustment driving portion includes an output shaft of the position adjustment motor, the position adjustment assembly 32 further includes a worm gear mechanism, the worm gear mechanism includes a worm gear and a worm that are engaged in a transmission manner, the worm gear is disposed on an outer side of the output shaft of the position adjustment motor and can rotate coaxially with the output shaft of the position adjustment motor, the worm is disposed along the first horizontal direction F1, and one end of the worm is connected to the moving block 321, so that the worm gear mechanism is disposed to convert rotation of the output shaft of the position adjustment motor into linear motion of the moving block 321 along the first horizontal direction F1, and the position adjustment driver is simple in structure, easy and convenient to install, and low in cost.
In actual welding process, the distance between the end of the welding rod 313 and a weldment is the length of a welding arc, the length of the welding arc is L, the diameter of the welding rod 313 is D, and in order to ensure welding safety, the length of the welding arc needs to satisfy the following formula: l ﹦ D (0.5-1) mm.
Specifically, with further reference to fig. 2 and 3, the position adjustment assembly 32 further includes a laser range finder 322 disposed on the welding tongs 312, wherein the laser range finder 322 includes a transmitter and a receiver disposed side by side, and a transmitting end and a receiving end thereof are disposed toward the weld joint for detecting a distance from an end of the welding rod 313 to the weld joint; the laser ranging device is electrically connected with the position adjusting driver; in the present embodiment, the laser distance meter 322 is disposed on the welding tongs 312, so that the distance from the end of the welding rod 313 to the U-shaped rib 300 can be accurately measured; meanwhile, the laser distance measuring device is electrically connected with the position adjusting driver, and the position adjusting driver can adjust the position of the welding rod 313 according to the detection result of the laser distance measuring device 322, so that the operation is convenient and the adjustment is rapid.
It should be noted that, in order to ensure the welding quality, the inclination angle of the welding rod 313 needs to be adjusted according to the thickness ratio of two welding parts, in the present invention, the welding mechanism 3 further includes two angle adjusting assemblies 33, the two angle adjusting assemblies 33 are respectively disposed on two sides of the longitudinal moving frame 22 in the first horizontal direction F1, each angle adjusting assembly 33 includes a swing rod 331, an angle adjusting motor, and an angle gauge; the rotating end of the swing rod 331 is rotatably mounted on the end surface of the corresponding side of the longitudinal moving frame 22, so that the mounting end of the swing rod can swing up and down and up; an output shaft of the angle adjusting motor is in driving connection with a rotating end of the swing rod 331; the angle gauge is arranged on the output shaft and used for detecting the rotation angle of the swing rod 331; the welding tongs 312 is arranged at the mounting end, so that the inclination angle of the welding rod 313 in the vertical direction can be adjusted; before welding, according to the thickness ratio of the U-shaped rib plate 300 and the bridge deck plate 200, the inclination angle of the welding rod 313 can be obtained, and the angle adjusting motor is started to drive the output shaft thereof to drive the rotating end of the swing rod 331 to rotate so as to drive the mounting end of the swing rod 331 to swing, so that the inclination angle of the welding rod 313 is changed; the arrangement is such that the angle of the welding rod 313 can be adjusted before welding, thereby improving the welding quality; meanwhile, the angle adjustment precision of the welding rod 313 can be improved, and the welding rod 313 can be adjusted more conveniently.
In the actual welding process, the inclination angle of the welding rod 313 is set to be α, and when the thickness ratio of the U-shaped rib 300 to the bridge deck 200 is 1: 1, the inclination angle alpha of the welding rod 313 is 45 degrees; when the thickness ratio of the U-shaped rib 300 to the bridge deck 200 is 1: when 2, the inclination angle alpha of the welding rod 313 is 55-65 degrees; when the thickness ratio of the U-shaped rib 300 to the bridge deck 200 is 1: 3, the inclination angle alpha of the welding rod 313 is 80-85 degrees; the operator can choose the inclination angle of the welding rod 313 according to the actual welding processing condition.
In order to further improve the welding stability, in the present invention, the longitudinal moving frame 22 is configured to provide an avoiding groove 221 on a side end surface of the longitudinal moving frame facing the U-shaped rib 300, the avoiding groove 221 is configured to penetrate in the second horizontal direction F2, and two side walls of the avoiding groove 221 in the first horizontal direction F1 are configured to be matched with two side plate outer walls of the U-shaped rib 300; the single-side welding and double-side forming device 100 for the U rib plate unit further comprises a guide structure 4, the guide structure 4 comprises two universal wheels 41 and a pressing roller 42, the two universal wheels 41 are oppositely arranged in the first horizontal direction F1, the two universal wheels 41 are respectively arranged on two side walls of the avoiding groove 221 and close to the notch of the avoiding groove, and the roller is used for respectively rolling and abutting against the outer wall of the side plate on the corresponding side; the pressing roller 42 is rotatably mounted on the bottom wall of the avoiding groove 221 along the axis of the first horizontal direction F1, and the roller is configured to roll against the bottom plate of the U-shaped rib plate 300; that is to say, through setting up two universal wheel 41 and compress tightly gyro wheel 42, can not only be for the activity of portal frame 2 plays the guide effect, can also compress tightly U type rib 300, further improve U type rib 300's stability to improve welded stability.
In the present invention, a first elastic buffer structure 43 is disposed between the universal wheel 41 and the sidewall of the avoidance groove 221 on the corresponding side; it should be noted that, in the actual production process, the sizes of the U-shaped ribs 300 may deviate, and therefore, by providing the first elastic buffer structure 43, the universal wheel 41 can float relative to the U-shaped ribs 300, so that not only can the U-shaped ribs 300 be pressed, but also the problem that the universal wheel 41 cannot be pressed or the U-shaped ribs 300 are damaged due to too tight pressing caused by the size difference of the U-shaped ribs 300 can be avoided.
A second elastic buffer structure 44 is arranged between the pressing roller 42 and the bottom wall of the avoidance groove 221; it should be noted that, in an actual production process, the size of each U-shaped rib 300 may deviate, and therefore, by providing the second elastic buffer structure 44, the pressing roller 42 can float relative to the U-shaped rib 300, so that not only can a pressing effect on the U-shaped rib 300 be achieved, but also the pressing roller 42 cannot press due to the size difference of the U-shaped rib 300 or the U-shaped rib 300 is damaged due to too tight pressing can be avoided.
It should be noted that the two technical features may be alternatively or simultaneously disposed, specifically, in this embodiment, the two technical features are simultaneously disposed, that is, a first elastic buffer structure 43 is disposed between the universal wheel 41 and the sidewall of the avoidance groove 221 on the corresponding side; a second elastic buffer structure 44 is arranged between the pressing roller 42 and the bottom wall of the avoidance groove 221; not only can the pressing effect on the U-shaped rib plate 300 be realized, but also the problem that the universal wheels 41 and the pressing rollers 42 cannot be pressed or the U-shaped rib plate 300 is damaged due to too tight pressing caused by the size difference of the U-shaped rib plate 300 can be avoided.
Specifically, the first elastic buffer structure 43 includes two first connection plates disposed oppositely, and a first elastic member disposed between the two first connection plates, wherein one of the first connection plates is disposed on a sidewall of the avoiding groove 221; the universal wheel 41 is correspondingly arranged on the other first connecting plate, so that the structure is simple and the installation is convenient.
Specifically, the second elastic buffer structure 44 includes two second connection plates disposed oppositely, and a second elastic member disposed between the two second connection plates, wherein one of the second connection plates is disposed on a sidewall of the avoiding groove 221; the universal wheel 41 is correspondingly arranged on the other second connecting plate, so that the structure is simple and the installation is convenient.
In the present invention, the U-ribbed-plate-unit single-side welding and double-side forming device 100 further includes a shooting mechanism 5, where the shooting mechanism 5 includes two detection cameras 51 respectively disposed on two sides of the longitudinal moving frame 22 in the first horizontal direction F1, and each detection camera 51 is configured to shoot a formed image after welding the weld joint on a corresponding side; the detection camera 51 is used for being in communication connection with an external monitor; through setting up detect camera 51, can shoot the welding seam condition after the welding to make operating personnel can in time know the welding abnormal conditions.
In the present invention, the U rib plate unit single-side welding double-side forming device 100 further includes a grinding mechanism 6, where the grinding mechanism 6 includes two grinding assemblies respectively disposed on two sides of the longitudinal moving frame 22 in the first horizontal direction F1, each grinding assembly is disposed side by side with the corresponding welding assembly 31, and has a movably disposed grinding wheel 61 for grinding a welding seam welded by the welding assembly 31; in order to ensure the attractive appearance of the U-shaped rib plate unit, after welding is completed, the welded weld is polished by the grinding wheel 61, so that the attractive appearance of the U-shaped rib plate unit is improved.
In the present invention, referring to fig. 4, the U-rib plate unit single-side welding double-side forming device 100 further includes a positioning mechanism 7, the positioning mechanism 7 includes an infrared scanner 71 disposed on one side of the plummer 1 in the second horizontal direction F2, and the infrared scanner 71 is movably disposed and configured to collect size parameters of the U-rib plate 300 and the bridge deck 200; that is, the infrared scanner 71 collects the size parameters of the U-shaped rib 300 and the bridge deck 200, so that the traverse seat 21 can accurately move above the U-shaped rib 300, thereby improving the welding precision and the welding efficiency.
It should be noted that the three technical features may be set alternatively, or may be set simultaneously, specifically, in this embodiment, the three technical features are set simultaneously, that is, the U-rib plate unit single-side welding and double-side forming device 100 further includes a shooting mechanism 5, a grinding mechanism 6, and a positioning mechanism 7, the shooting mechanism 5 includes two detection cameras 51 respectively disposed on two sides of the longitudinal moving frame 22 in the first horizontal direction F1, and each detection camera 51 is configured to shoot a formed image after welding the weld seam on the corresponding side; the detection camera 51 is used for being in communication connection with an external monitor; the polishing mechanism 6 comprises two polishing assemblies respectively arranged on two sides of the longitudinal moving frame 22 in the first horizontal direction F1, each polishing assembly is arranged side by side with the welding assembly 31 on the corresponding side, and is provided with a movably arranged grinding wheel 61 for polishing the welding seam welded by the welding assembly 31; the positioning mechanism 7 comprises an infrared scanner 71 arranged on one side of the plummer 1 in the second horizontal direction F2, and the infrared scanner 71 is movably arranged and used for collecting the size parameters of the U-shaped rib plate 300 and the bridge deck 200; the detection camera 51 can be used for shooting the welded seam condition, so that an operator can know the abnormal welding condition in time; the welded weld joint can be polished by the grinding wheel 61, so that the appearance of the U rib plate unit is improved; the infrared scanner 71 is used for collecting the size parameters of the U-shaped rib plate 300 and the bridge deck plate 200, so that the transverse moving seat 21 can accurately move to the position above the U-shaped rib plate 300, the welding precision is improved, and the welding processing efficiency can be improved.
Specifically, the positioning mechanism 7 further includes a traverse bar and a connecting block, the traverse bar is disposed on the plummer 1 and can move along the first horizontal direction F1, and the connecting block is disposed on the traverse bar and can move along the vertical direction; wherein, infrared scanner 71 locates the connecting block, and its scanning portion is used for facing plummer 1 one side sets up, so, infrared scanner 71 can follow first horizontal direction F1 and move from top to bottom to can scan more accurately.
Specifically, referring to fig. 5, the grinding assembly includes a fixing base 62, a hinge rod 63 and a telescopic assembly 64; the fixed seat 62 is arranged on one side end face of the longitudinal moving frame 22 in the first horizontal direction F1; the upper end of the hinge rod 63 is hinged to the fixed seat 62; the telescopic assembly 64 is arranged on the fixed seat 62 and is provided with a telescopic part which can approach and depart from one side of the welding line, and the free end of the telescopic part is hinged to the middle part of the hinge rod 63; wherein the grinding wheel 61 is rotatably mounted at the lower end of the hinge rod 63 and can rotate along the second horizontal direction F2; in this embodiment, the movement of the telescopic portion can make the grinding wheel 61 contact with and separate from the welded seam, so that the grinding wheel 61 is flexibly adjustable.
The number of the traverse seats 21 and the welding mechanisms 3 is not limited, one traverse seat 21 can be arranged, correspondingly, one welding mechanism 3 is arranged, and the welding mechanisms 3 are enabled to respectively weld a plurality of U-shaped ribs 300 through the movement of the traverse seats 21; in this embodiment, a plurality of the traverse moving seats 21 are provided, and the plurality of the traverse moving seats 21 are arranged on the beam of the gantry 2 at intervals and are used for corresponding to the plurality of U-shaped ribs 300 one by one; correspondingly, a plurality of welding structures are arranged, and each welding mechanism 3 is respectively arranged on the corresponding longitudinal moving frame 22 of the transverse moving seat 21; that is to say, the plurality of welding mechanisms 3 can simultaneously weld the plurality of U-shaped ribs 300, thereby improving the welding efficiency and reducing the calculation difficulty of the welding operation.
Based on the above single-side welding and double-side forming device for the U rib plate unit, the invention further provides a forming method for the U rib plate unit, and fig. 6 to 7 are specific embodiments of the forming method for the U rib plate unit.
Referring to fig. 6, fig. 6 is a first embodiment of a forming method of a U rib plate unit according to the present invention.
The U ribbed plate unit single-side welding and double-side forming device further comprises a transverse moving seat driver, a longitudinal moving frame driver, a gantry driver and a welding clamp driver, and the U ribbed plate unit forming method comprises the following steps:
s10: controlling the transverse moving seat driver to drive the transverse moving seat to move above the U-shaped rib plate to be welded;
s20: controlling the longitudinal moving frame driver to drive the longitudinal moving frame to move to the welding position;
s30: controlling a welding gun to be started;
s40: adjusting the position and the inclination angle of the welding rod;
s50: controlling the electrode holder driver to drive the electrode holder to move so that the end of the welding rod can swing in the width direction of the welding seam;
s60: and controlling the gantry driver to drive the gantry to move along the second direction.
Referring to fig. 7, fig. 7 is a diagram illustrating a second embodiment of the present invention based on the first embodiment.
The U rib plate unit single-side welding double-side forming device further comprises a positioning mechanism, the positioning mechanism comprises an infrared scanner arranged on one side of the bearing table in the second horizontal direction, and the infrared scanner is movably arranged and used for collecting size parameters of the U rib plate and the bridge deck;
the U rib plate unit single-side welding double-side forming device further comprises a position adjusting assembly and an angle adjusting assembly, wherein the position adjusting assembly comprises a position adjusting driver and is used for driving and connecting the welding assembly, the angle adjusting assembly comprises an angle adjusting motor and an angle instrument, an output shaft of the angle adjusting motor is connected with the welding tongs in a driving mode, and the angle instrument is used for detecting the rotating angle of the output shaft;
the U rib plate unit single-side welding double-side forming device further comprises a laser range finder for detecting the distance from the end part of the welding rod to the welding line;
the step S40 of adjusting the position and the inclination angle of the welding rod includes:
s401: acquiring a first size parameter of a U-shaped rib plate to be welded and a second size parameter of a bridge deck;
s402: acquiring a target distance parameter between the end of the welding rod and the U-shaped rib plate;
s403: calculating a plate thickness ratio parameter of the U-shaped rib plate and the bridge deck according to the first size parameter and the second size parameter;
s404: acquiring a target inclination angle of the welding rod according to the plate thickness ratio parameter;
s405: acquiring an actual distance parameter between the end of the welding rod and the U-shaped rib plate;
s406: calculating a moving distance parameter of the welding assembly according to the actual distance parameter and the target distance parameter;
s407: controlling the position adjusting driver to drive the welding assembly to move according to the moving distance parameter;
s408: acquiring an actual rotation angle of an output shaft of the angle adjusting motor;
s409: calculating the actual inclination angle of the welding rod according to the actual rotation angle;
s410: calculating a target rotation angle of the welding rod according to the actual inclination angle and the target inclination angle;
s411: and controlling the angle adjusting motor to drive the welding tongs to rotate according to the target rotating angle.
It should be noted that, during welding, a gap is required to be formed between the welding rod and the weldment to generate an arc, a distance between an end of the welding rod and the weldment is a length of the welding arc, the length of the welding arc is L, a diameter of the welding rod is D, and in order to ensure welding safety, the length of the welding arc needs to satisfy the following formula: l ﹦ D (0.5-1) mm; therefore, the target distance parameter can be calculated when the diameter of the welding rod is D, the moving distance parameter of the welding assembly is calculated according to the actual distance parameter and the target distance parameter, and the position adjusting driver is controlled to drive the welding assembly to move, so that the structure is simple, the calculation is simple and convenient, and the operation is convenient and fast; meanwhile, in order to guarantee welding quality, the inclination angle of the welding rod needs to be adjusted according to the thickness ratio of two weldments, in the actual welding process, the inclination angle of the welding rod is set to be alpha, and when the thickness ratio of the U-shaped rib plate to the bridge deck plate is 1: 1, the inclination angle alpha of the welding rod is 45 degrees; when the thickness ratio of the U-shaped rib plate to the bridge deck plate is 1: when 2, the inclination angle alpha of the welding rod is 55-65 degrees; when the thickness ratio of the U-shaped rib plate to the bridge deck plate is 1: 3, the inclination angle alpha of the welding rod is 80-85 degrees; therefore, the target inclination angle of the welding rod can be obtained according to the plate thickness ratio parameter of the U-shaped rib plate and the bridge deck, the target rotation angle of the welding rod is calculated according to the target inclination angle and the actual inclination angle, the angle adjusting motor is controlled to drive the welding tongs to rotate, and the bridge deck welding device is simple in structure, simple and convenient to calculate and convenient to operate; the position and the inclination angle of the welding rod are adjusted before welding, so that the welding quality can be improved.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides a two-sided forming device of U floor unit single face welding for welding forming U floor unit, U floor unit includes decking and a plurality of U type floor, and a plurality of U type floor set up along first horizontal direction interval, each U type floor sets up along second horizontal direction, its characterized in that includes:
the bearing platform is used for placing a bridge deck and a U-shaped rib plate to be welded;
the portal frame is erected above the bearing table along the first horizontal direction and can move along the second horizontal direction, a transverse moving seat capable of moving along the first horizontal direction is arranged on a transverse beam of the portal frame, and the transverse moving seat is provided with a longitudinal moving frame capable of moving up and down; and the number of the first and second groups,
welding mechanism, including locating indulge the frame and indulge two welding subassembly of the ascending both sides of horizontal direction, each welding subassembly all includes welder and soldering turret, welder's stock is located indulge the frame that moves, its nozzle is used for the welding seam setting of corresponding side of orientation, the soldering turret is used for the centre gripping welding rod, and makes the tip of welding rod is arranged in and is corresponded the side welding seam department, the soldering turret activity is located indulge the frame that moves, so that the welding rod can be in corresponding the side the width direction of welding seam is gone up the swing.
2. A U-ribbed plate unit single-side welding and double-side forming device as claimed in claim 1, wherein the welding mechanism further includes two position adjusting assemblies, the two position adjusting assemblies are respectively provided on both sides of the vertical moving frame in the first horizontal direction, each of the position adjusting assemblies includes:
the moving block can move relative to the longitudinal moving frame in the first horizontal direction; and the number of the first and second groups,
a position adjustment driver, wherein a position adjustment driving part is connected with the moving block in a driving way;
the welding assembly is arranged on the moving block on the corresponding side.
3. The U-ribbed panel unit single-side welding double-side forming device of claim 2 wherein the position adjustment assembly further comprises a laser range finder disposed on the welding tongs, the laser range finder comprising a transmitter and a receiver disposed side by side, and a transmitting end and a receiving end thereof for being disposed toward the weld for detecting a distance from an end of the welding rod to the U-ribbed panel;
wherein the laser ranging is electrically connected with the position adjustment driver.
4. A single-side welding and double-side forming device for a U-ribbed plate unit according to claim 1, wherein the welding mechanism further includes two angle adjusting assemblies, the two angle adjusting assemblies are respectively disposed on two sides of the longitudinal moving frame in the first horizontal direction, and each angle adjusting assembly includes:
the rotating end of the swing rod is rotatably arranged on the end surface of the corresponding side of the longitudinal moving frame, so that the mounting end of the swing rod can swing up and down;
an output shaft of the angle adjusting motor is in driving connection with the rotating end of the oscillating bar; and (c) a second step of,
the angle instrument is arranged on the output shaft and used for detecting the rotation angle of the oscillating bar;
the welding tongs are arranged at the mounting end, so that the upward and downward inclination angle of the welding rod can be adjusted.
5. The U-ribbed-plate-unit single-side-welding double-side forming device according to claim 1, wherein the longitudinal moving frame is used for arranging an avoiding groove on one side end face of the longitudinal moving frame facing the U-ribbed plate, the avoiding groove is arranged in a penetrating manner in the second horizontal direction, and two side walls of the avoiding groove in the first horizontal direction are used for being matched with outer walls of two side plates of the U-ribbed plate;
u floor unit single face welds two-sided forming device still includes guide structure, guide structure includes:
the two universal wheels are oppositely arranged in the first horizontal direction, are respectively arranged on the two side walls of the avoidance groove and are close to the positions of the notches of the avoidance groove, and the rolling wheels of the two universal wheels are respectively in rolling contact with the outer walls of the side plates on the corresponding sides; and (c) a second step of,
and the pressing roller is rotatably arranged on the bottom wall of the avoidance groove along the axis of the first horizontal direction, and the roller is used for being in rolling and abutting joint with the bottom plate of the U-shaped rib plate.
6. The single-side welding and double-side forming device of the U rib plate unit as claimed in claim 5, wherein a first elastic buffer structure is arranged between the universal wheel and the side wall of the avoidance groove on the corresponding side; and/or the presence of a gas in the gas,
and a second elastic buffer structure is arranged between the pressing roller and the bottom wall of the avoidance groove.
7. The U-ribbed board unit single-side welding and double-side forming device of claim 1, wherein the U-ribbed board unit single-side welding and double-side forming device further comprises a shooting mechanism and/or a grinding mechanism and/or a positioning mechanism, wherein:
the shooting mechanism comprises two detection cameras which are respectively arranged on two sides of the longitudinal moving frame in the first horizontal direction, and each detection camera is used for shooting a formed image after welding the welding seam on the corresponding side; the detection camera is used for being in communication connection with an external monitor;
the polishing mechanism comprises two polishing assemblies which are respectively arranged on two sides of the longitudinal moving frame in the first horizontal direction, each polishing assembly is arranged side by side with the welding assembly on the corresponding side, and the polishing mechanism is provided with a movably arranged grinding wheel which is used for polishing the welding seam welded by the welding assemblies;
positioning mechanism is including locating the plummer is in the infrared scanner of the ascending one side of second horizontal direction, the infrared scanner activity sets up, is used for the collection U type floor with the size parameter of bridge floor board.
8. The U rib plate unit single-side welding double-side forming device of claim 7, wherein the grinding assembly comprises:
the fixed seat is arranged on one side end face of the longitudinal moving frame in the first horizontal direction;
the upper end of the hinged rod is hinged to the fixed seat; and
the telescopic assembly is arranged on the fixed seat and is provided with a telescopic part which can approach and depart from one side of the welding line, and the free end of the telescopic part is hinged to the middle part of the hinge rod;
the grinding wheel is rotatably mounted at the lower end of the hinge rod and can rotate along the second horizontal direction.
9. A U rib plate unit forming method based on the U rib plate unit single-side welding double-side forming device of any one of claims 1 to 8, characterized in that the U rib plate unit single-side welding double-side forming device further comprises a transverse moving seat driver, a longitudinal moving frame driver, a gantry driver and a welding clamp driver, and the U rib plate unit forming method comprises the following steps:
controlling the transverse moving seat driver to drive the transverse moving seat to move to the position above the U-shaped rib plate to be welded;
controlling the longitudinal moving frame driver to drive the longitudinal moving frame to move to the welding position;
controlling a welding gun to be started;
adjusting the position and the inclination angle of the welding rod;
controlling the electrode holder driver to drive the electrode holder to move so that the end of the welding rod can swing in the width direction of the welding seam;
and controlling the gantry driver to drive the gantry to move along the second direction.
10. The forming method of the U ribbed plate unit as claimed in claim 9, wherein the U ribbed plate unit single-side welding and double-side forming device further comprises a positioning mechanism, the positioning mechanism comprises an infrared scanner disposed on one side of the bearing platform in the second horizontal direction, and the infrared scanner is movably disposed and used for collecting the size parameters of the U ribbed plate and the bridge deck;
the U rib plate unit single-side welding double-side forming device further comprises a position adjusting assembly and an angle adjusting assembly, wherein the position adjusting assembly comprises a position adjusting driver and is used for driving and connecting the welding assembly, the angle adjusting assembly comprises an angle adjusting motor and an angle instrument, an output shaft of the angle adjusting motor is connected with the welding tongs in a driving mode, and the angle instrument is used for detecting the rotating angle of the output shaft;
the U rib plate unit single-side welding double-side forming device further comprises a laser range finder for detecting the distance from the end part of the welding rod to the welding line;
the step of adjusting the position and the inclination angle of the welding rod comprises the following steps:
acquiring a first size parameter of a U-shaped rib plate to be welded and a second size parameter of a bridge deck;
acquiring a target distance parameter between the end of the welding rod and the U-shaped rib plate;
calculating a plate thickness ratio parameter of the U-shaped rib plate and the bridge deck according to the first size parameter and the second size parameter;
acquiring a target inclination angle of the welding rod according to the plate thickness ratio parameter;
acquiring an actual distance parameter between the end of the welding rod and the U-shaped rib plate;
calculating a moving distance parameter of the welding assembly according to the actual distance parameter and the target distance parameter;
controlling the position adjusting driver to drive the welding assembly to move according to the moving distance parameter;
acquiring an actual rotation angle of an output shaft of the angle adjusting motor;
calculating the actual inclination angle of the welding rod according to the actual rotation angle;
calculating a target rotation angle of the welding rod according to the actual inclination angle and the target inclination angle;
and controlling the angle adjusting motor to drive the welding tongs to rotate according to the target rotating angle.
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| CN202210418001.2A CN114789310B (en) | 2022-04-20 | 2022-04-20 | U rib plate unit single-side welding and double-side forming device and forming method thereof |
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