Minimally invasive reinforcement construction equipment for transverse diaphragms in the inner cavity of box girders and its construction method

Abstract

The present invention relates to the technical field of box girder reinforcement, and provides a minimally invasive reinforcement construction device for the transverse diaphragm in the inner cavity of a box girder, including a flexible multi-joint robot, a sliding seat and a machine head. Among them: one end of the flexible multi-joint robot is slidably arranged on the sliding seat along the length direction of the sliding seat; the machine head is detachably installed at the other end of the flexible multi-joint robot; the machine head includes a drilling machine head, a steel bar binding or welding machine head and a clamping machine head. The present invention adopts a minimally invasive construction process and uses special construction equipment to realize the reinforcement of the box girder by adding a transverse diaphragm in the box girder, improving and enhancing the mechanical properties of the box girder, and extending its service life and bearing capacity; compared with the way of renovation or reconstruction, the construction period is short, the cost is low, and it does not affect the beauty of the bridge.

Description

Technical Field

[0001] The present invention relates to the technical field of box girder reinforcement, and particularly to a minimally invasive reinforcement construction device for the transverse diaphragm in the inner cavity of a box girder and its construction method. Background Art

[0002] Under the premise of the country's vigorous development of infrastructure, through years of efforts, many highway and railway bridges have been built everywhere in the country. Due to long service life or accidental accidents of some bridges, there are potential safety hazards in the bridge structure; or due to the improvement of existing road and bridge construction standards and requirements, some bridges cannot meet the current needs or reach the existing corresponding standards and thus cannot be used continuously.

[0003] To solve the above problems, the current common method is to renovate and reconstruct the bridge, but the existing methods have the following problems:

[0004] 1. Long construction period and high cost;

[0005] 2. During the renovation and reconstruction process, the bridge cannot be used at all, which causes great traffic pressure for some bridges with high traffic capacity requirements;

[0006] 3. The existing renovation and reinforcement methods mainly add structural components and load-bearing components outside the bridge, which affects the aesthetics of the bridge after renovation and reinforcement.

[0007] However, when adopting the method of adding a reinforcement structure inside the box girder, due to the narrow space, the construction difficulty is large, and there is no relevant construction equipment and construction technology in the existing technology to meet the construction of adding a reinforcement structure inside the box girder. Summary of the Invention

[0008] The present invention aims to solve the technical problems existing in the prior art. For this purpose, the present invention provides a minimally invasive reinforcement construction device for the transverse diaphragm in the inner cavity of a box girder and its construction method. By providing a construction hole on the box girder and using special construction equipment to add a transverse diaphragm inside the box girder, the mechanical properties of the box girder can be improved, thereby extending its service life or load capacity.

[0009] The technical solution adopted by the present invention to solve its technical problems is:

[0010] Provide a minimally invasive reinforcement construction device for the transverse diaphragm in the inner cavity of a box girder, including a flexible multi-joint robot, a sliding seat and a machine head. Among them: one end of the flexible multi-joint robot is slidably arranged on the sliding seat along the length direction of the sliding seat; the machine head is detachably installed at the other end of the flexible multi-joint robot; the machine head includes a drilling machine head, a steel bar binding or welding machine head and a clamping machine head.

[0011] In a preferred embodiment of the minimally invasive reinforcement construction equipment for the transverse diaphragm in the inner cavity of the box girder provided by the present invention, the sliding seat includes a sliding table and a sliding table plate. A flange fixing plate is provided at the top of the sliding table. The sliding table plate is slidably mounted on the sliding table. The flexible multi-joint robot is fixedly mounted on the sliding table plate.

[0012] In a preferred embodiment of the minimally invasive reinforcement construction equipment for the transverse diaphragm in the inner cavity of the box girder provided by the present invention, the drilling head includes a drill, a telescopic mechanism, and a driving mechanism, where: the telescopic mechanism is fixedly mounted on the flexible multi-joint robot; the drill is fixedly mounted on the telescopic mechanism through a first support plate; the driving mechanism is fixedly mounted on the top of the drill through a second support plate.

[0013] In a preferred embodiment of the minimally invasive reinforcement construction equipment for the transverse diaphragm in the inner cavity of the box girder provided by the present invention, the telescopic mechanism includes a base, a linear guide rail, and a first push rod, where: the base is fixedly mounted on the flexible multi-joint robot; at least one linear guide rail is provided on the base; the first push rod is fixedly mounted at the end of the base, and its movable rod is connected to the slider of the linear guide rail, and the slider is connected to the drill.

[0014] In a preferred embodiment of the minimally invasive reinforcement construction equipment for the transverse diaphragm in the inner cavity of the box girder provided by the present invention, the driving mechanism is a multi-stage cylinder structure composed of a second push rod, a third push rod, and a fourth push rod. The second push rod and the third push rod are arranged in parallel. The fourth push rod is fixedly mounted on the tops of the second push rod and the third push rod through a third support plate.

[0015] In a preferred embodiment of the minimally invasive reinforcement construction equipment for the transverse diaphragm in the inner cavity of the box girder provided by the present invention, the clamping head includes a clamping seat, clamping blocks, a fifth push rod, and a driving block, where: the two clamping blocks are hingedly mounted on one side of the clamping seat to form a clamp, and a ball head bolt is provided at the rear end of each clamping block; the driving block is vertically and slidably mounted on the clamping seat, and two inclined chutes are provided on the driving block, and the ball head bolt is arranged in the chute; the fifth push rod is fixedly mounted on the top of the clamping seat, and its movable rod is fixedly connected to the driving block.

[0016] In a preferred embodiment of the minimally invasive reinforcement construction equipment for the transverse diaphragm in the inner cavity of the box girder provided by the present invention, the flexible multi-joint robot, the drilling head, the steel bar binding or welding head, and the clamping head are fixedly mounted through a concave-convex positioning structure with locking screws, and the locking screws are threadedly connected to the concave-convex positioning structure from the bottom of the concave-convex positioning structure.

[0017] In a preferred embodiment of the minimally invasive reinforcement construction equipment for the transverse diaphragm in the inner cavity of the box girder provided by the present invention, it further includes a pouring mold, and the pouring mold is a rollable pouring mold.

[0018] In a preferred embodiment of the construction equipment for minimally invasive reinforcement of the transverse diaphragm in the inner cavity of the box girder provided by the present invention, the pouring mold is formed by connecting multiple sheet-like modules through flexible linear objects or hinging them together through hinges, and a plurality of positioning elastic pins are provided around the pouring mold.

[0019] The present invention also provides a method for minimally invasive reinforcement construction of the transverse diaphragm in the inner cavity of a box girder using the construction equipment for minimally invasive reinforcement of the transverse diaphragm in the inner cavity of the box girder in the above embodiment, including the following steps:

[0020] Step 1, opening construction holes: Using the area to be reinforced at the bottom of the box girder as the installation surface for the construction equipment, a plurality of small-diameter construction holes are opened on the installation surface, including at least a set of holes for the flexible multi-joint robot to pass through and a hole for the machine head to pass through. The opening of these construction holes does not affect or damage the performance of the box girder, and the diameter is controlled within 125 mm.

[0021] Step 2, installing visual equipment: The visual equipment is arranged through the construction holes, and the visual equipment realizes visual operation during the construction inside the box girder.

[0022] Step 3, installing construction equipment: The sliding seat is fixedly installed near the hole for the flexible multi-joint robot to pass through at the bottom of the box girder, and the flexible multi-joint robot is aligned with the hole for the flexible multi-joint robot to pass through and installed on the sliding seat.

[0023] Step 4, construction of rebar planting holes: Adjust the height of the flexible multi-joint robot to make it enter the box girder, and after adjusting the posture of the flexible multi-joint robot, fix the flexible multi-joint robot so that the installation end of the machine head of the flexible multi-joint robot is located at the hole for the machine head to pass through. Install the drilling machine head on the flexible multi-joint robot through the hole for the machine head to pass through, and lock and fix it with the locking screw. Control the multi-joint robot to adjust the drilling machine head to the designed drilling position, and through the posture adjustment of the flexible multi-joint robot, the drilling machine head completes the drilling operation of the rebar planting holes on each inner surface of the box girder.

[0024] Step 5, rebar planting: Adjust the posture of the flexible multi-joint robot to align the drilling machine head with the hole for the machine head to pass through, remove the drilling machine head, install the clamping machine head in the same way as in Step 4, clamp the rebar through the clamping machine head and enter the box girder, and through the posture adjustment of the flexible multi-joint robot, the clamping machine head clamps the rebar and implants it into the rebar planting holes on the inner wall of the box girder. The rebar can enter the box girder interior through the construction hole and be clamped by the clamping machine head; after the rebar planting is completed, similarly, the injection nozzle is clamped through the clamping machine head for injecting glue to fix the rebar in the rebar planting hole.

[0025] Step 6, Steel bar fixing construction: Remove the clamping head in the manner of Step 5, install the steel bar binding or welding head, and through the attitude adjustment of the flexible multi-joint robot, bind or weld the steel bars with the steel bar binding or welding head to form a steel bar mesh;

[0026] Step 7, Place the casting mold, and use at least 1 flexible multi-joint robot to cooperate with the clamping head to unfold the casting mold on the side of the steel bar mesh to form a casting template;

[0027] Step 8, Casting: Pour concrete into the casting template through the construction hole to form the transverse diaphragm of the box girder inner cavity;

[0028] Step 9, After casting is completed, regular maintenance is carried out without removing the formwork.

[0029] Compared with the prior art, the beneficial effects of the transverse diaphragm micro-invasive reinforcement construction equipment and construction method for the box girder inner cavity provided by the present invention are as follows: The present invention adopts a micro-invasive construction process and uses special construction equipment to realize the reinforcement of the box girder by adding a transverse diaphragm in the box girder, improving and enhancing the mechanical properties of the box girder, and extending its service life and bearing capacity; compared with the method of renovation or reconstruction, the construction period is short, the cost is low, and it does not affect the beauty of the bridge. Description of the Drawings

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings, where:

[0031] Figure 1 is a schematic structural diagram of the flexible multi-joint robot provided by the present invention installed on the sliding seat;

[0032] Figure 2 is a schematic structural diagram of the drilling head provided by the present invention;

[0033] Figure 3 is a schematic structural diagram of the steel bar binding head provided by the present invention;

[0034] Figure 4 is a schematic structural diagram of the clamping head provided by the present invention;

[0035] Figure 5 is Figure 4 a side view of the driving block of the clamping head provided;

[0036] Figure 6 is Figure 4 an A-A cross-sectional view provided;

[0037] Figure 7 It is the structural diagram of the construction hole opened in the box girder provided by the present invention;

[0038] Figure 8 It is the structural diagram of the installation of the construction equipment provided by the present invention;

[0039] Figure 9 It is the construction state diagram of the construction equipment provided by the present invention when drilling the rebar planting holes;

[0040] Figure 10 It is another construction state diagram of the construction equipment provided by the present invention when drilling the rebar planting holes;

[0041] Figure 11 It is the cross-sectional view after rebar planting in the box girder provided by the present invention;

[0042] Figure 12 It is Figure 11 The provided T-T cross-sectional view;

[0043] Figure 13 It is the curling structural diagram of the casting mold provided by the present invention;

[0044] Figure 14 It is Figure 13 The provided unfolded structural diagram of the casting mold;

[0045] Figure 15 It is the structural diagram of the casting mold unfolded and installed in the box girder provided by the present invention;

[0046] Figure 16 It is Figure 15 The provided U-U cross-sectional view. Detailed implementation manners

[0047] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0048] Embodiment 1

[0049] This embodiment provides a minimally invasive reinforcement construction equipment for the transverse diaphragm in the inner cavity of a box girder, including a flexible multi-joint robot 11, a sliding seat 12, and a machine head 13.

[0050] As shown in the appendix Figure 1As shown, one end of the flexible multi-joint robot 11 is slidably arranged on the slide base 12 along the length direction of the slide base 12. After the slide base is fixed, the height of the flexible multi-joint robot can be adjusted relatively. At the same time, the flexible multi-joint robot can adjust its posture according to the construction prospect, which is extremely convenient for minimally invasive construction. The machine head 13 is detachably installed at the other end of the flexible multi-joint robot 11, and the machine head 13 can perform construction operations at the construction site through the posture adjustment of the flexible multi-joint robot 11.

[0051] This embodiment is for the clamping construction of the box girder. Therefore, construction processes such as drilling, rebar planting, and pouring are required. Therefore, the machine head 13 designed in this embodiment includes a drilling machine head 131 (as shown in the appendix Figure 2 ), a rebar binding or welding machine head 132 (as shown in the appendix Figure 3 ), and a clamping machine head 133 (as shown in the appendix Figure 4 ). The drilling machine head is used to realize drilling, the clamping machine head is used for rebar planting, the rebar binding machine head is used for rebar binding or the rebar welding machine head is used for rebar welding, so that the rebar mesh at the rebar planting connection forms a reinforcement structure of the box girder after pouring.

[0052] Preferably, as shown in the appendix Figure 1 , the slide base 12 of this embodiment includes a slide table 121 and a slide table plate 122. A flange fixing plate 1211 is provided at the top of the slide table 121, and the flange fixing plate is installed on the box girder through expansion bolts. The slide table plate 122 is slidably installed on the slide table 122, and the flexible multi-joint robot 11 is fixedly installed on the slide table plate 122. The height of the flexible multi-joint robot can be adjusted by adjusting the position of the flexible multi-joint robot on the slide table.

[0053] Embodiment Two

[0054] Based on Embodiment One, this embodiment further designs the drilling machine head. As shown in the appendix Figure 2 , the drilling machine head 131 of this embodiment includes a drilling rig 1311, a telescopic mechanism, and a driving mechanism. Among them: the telescopic mechanism is fixedly installed on the flexible multi-joint robot 11 and is used to adjust the overall length of the drilling machine head 131. Before drilling, the telescopic mechanism is in a retracted state and the overall length is small, which is convenient for entering and exiting narrow areas. The drilling rig 1311 is fixedly installed on the telescopic mechanism through a first support plate. The driving mechanism is fixedly installed on the top of the drilling rig 1311 through a second support plate. The driving mechanism designed in this embodiment cooperates with the telescopic mechanism to jointly serve as the stroke drive when the drilling rig drills.

[0055] Preferably, the telescopic mechanism of this embodiment includes a base 1312, a linear guide rail 1313, and a first push rod 1314, where: the base 1312 is fixedly installed on the flexible multi-joint robot 11; at least one linear guide rail 1313 is provided on the base 1312, and in this embodiment, it is preferably designed as two linear guide rails; the first push rod 1314 is fixedly installed at the end of the base 1312, and its movable rod is connected to the slider of the linear guide rail 1313, and the slider is connected to the drill 1311. In this embodiment, the drill can be adjusted to extend during drilling and retract after drilling. In the retracted state, the overall length is small, which is convenient for entering and exiting narrow areas.

[0056] Preferably, the driving mechanism of this embodiment is a multi-stage cylinder structure composed of a second push rod 1315, a third push rod 1316, and a fourth push rod 1317. The second push rod 1315 and the third push rod 1316 are arranged in parallel, and the fourth push rod 1317 is fixedly installed on the tops of the second push rod 1315 and the third push rod 1316 through a third support plate.

[0057] The drilling principle of the drilling head in this embodiment is as follows:

[0058] As shown in the attached Figure 9 and attached Figure 10 As shown, during drilling, adjust the posture of the flexible multi-joint robot to align the drilling head with the drilling position. Control the fourth push rod of the driving mechanism to push out so that it touches the inner wall of the box girder (if it cannot touch, control the second and third push rods to push out). Then control the first push rod, second push rod, third push rod, and fourth push rod of the telescopic mechanism to push out to realize the drilling of the drill. The driving mechanism cooperates with the telescopic mechanism to drive the drilling stroke of the drill, and the drilling stability is good.

[0059] Embodiment Three

[0060] Based on Embodiment One, as shown in the attached Figure 4 、attached Figure 5 and attached Figure 6 As shown, the clamping head 133 of this embodiment includes a clamp seat 1331, a clamp block 1332, a fifth push rod 1333, and a driving block 1334, where: the two clamp blocks 1332 are hinged and installed on one side of the clamp seat 1331 to form a clamp for clamping construction materials, and a ball head bolt 13320 is provided at the rear end of each clamp block 1332; the driving block 1334 is vertically and slidably installed on the clamp seat 1331, and two inclined sliding grooves 13340 are provided on the driving block 1334, and the ball head bolt 13320 is arranged in the sliding groove 13340; the fifth push rod 1333 is fixedly installed on the top of the clamp seat 1331, and its movable rod is fixedly connected to the driving block 1334.

[0061] The working principle of the clamping head designed in this embodiment is as follows:

[0062] When clamping is required, place the material on the clamp jaws, control the fifth push rod to push out, and the drive block drives the ball head bolt to act, thereby closing the clamp jaws to achieve the purpose of clamping.

[0063] The first push rod, the second push rod, the third push rod, the fourth push rod, and the fifth push rod in the above embodiments are one of a cylinder, a hydraulic cylinder, or an electric push rod.

[0064] Embodiment Four

[0065] Based on any one of the above embodiments, in this embodiment, the flexible multi-joint robot 11, the drilling head 131, the steel bar binding or welding head 132, and the clamping head 133 are fixedly installed through a concave-convex positioning structure with locking screws. Specifically, as shown in the attached Figure 1 and the attached Figure 2 As shown, the installation surface of the flexible multi-joint robot 11 is provided with a positioning groove 110, and the installation part of the drilling head 131 is provided with a positioning boss 1310, so that the flexible multi-joint robot and the drilling head are installed with a solid concave-convex positioning structure. To facilitate the fixation of the drilling head 131, a screw hole 1100 is provided at the bottom of the positioning groove 110, and the locking screw threadedly penetrates through the screw hole 1100 and is threadedly connected to the positioning boss 1310. The installation structures of the remaining steel bar binding or welding head 132 and the clamping head 133 are the same.

[0066] As shown in the attached Figure 9 As shown, the installation structure of the head designed in this embodiment and the flexible multi-joint robot can be installed and fixed in the box girder through the construction hole. During the installation process, it is not necessary to withdraw the flexible multi-joint robot, which reduces the installation and debugging difficulty of the equipment and improves the construction efficiency.

[0067] Embodiment Five

[0068] Based on any one of the above embodiments, as shown in the attached Figure 13 and the attached Figure 14 As shown, the minimally invasive reinforcement construction equipment for the transverse diaphragm in the inner cavity of the box girder in this embodiment further includes a pouring mold 14, which serves as a template for pouring construction. The pouring mold 14 in this embodiment is a rollable pouring mold, and the rollable structure facilitates the pouring mold to enter a narrow space.

[0069] Preferably, the pouring mold 14 in this embodiment is composed of multiple sheet-like modules 141 connected by flexible linear objects 142 or hinged together by hinges. As shown in the attached Figure 14 As shown, in this embodiment, multiple sheet-like modules are connected by flexible linear objects, and a plurality of positioning elastic pins 143 are provided around the pouring mold for positioning and fixing the mold.

[0070] Example 6

[0071] Based on Example 5, this example provides a minimally invasive reinforcement construction method for the transverse diaphragm in the inner cavity of a box girder. The construction equipment in the above example is used for construction, which specifically includes the following steps:

[0072] Step 1, opening construction holes: Take the bottom of the box girder 10 where reinforcement is required as the installation surface of the construction equipment, and open multiple small-diameter construction holes 20 on the equipment installation surface, including at least a set of flexible multi-joint robot through holes 201 and head through holes 202. As shown in the appendix Figure 7 shown, the opening of this construction hole does not affect or damage the performance of the box girder, and the diameter is controlled within 125 mm;

[0073] Step 2, installing visual equipment: Arrange visual equipment (not shown in the figure) through the construction hole, and the visual equipment realizes the visual operation of the construction inside the box girder;

[0074] Step 3, installing construction equipment: As shown in the appendix Figure 8 shown, fix the sliding seat 12 near the flexible multi-joint robot through hole 201 at the bottom of the box girder 10, and align the flexible multi-joint robot 11 with the flexible multi-joint robot through hole 201 and install it on the sliding seat 12;

[0075] Step 4, construction of rebar planting holes: As shown in the appendix Figure 9 and the appendix Figure 10 shown, adjust the height of the flexible multi-joint robot 11 to make it enter the box girder, and after adjusting the posture of the flexible multi-joint robot, fix the flexible multi-joint robot so that the head installation end of the flexible multi-joint robot is located at the head through hole 202. Install the drilling head 131 through the head through hole 201 on the flexible multi-joint robot 11 and lock and fix it with the locking screw. Control the multi-joint robot to adjust the drilling head 131 to the designed drilling position, and through the posture adjustment of the flexible multi-joint robot, the drilling head completes the drilling operation of the rebar planting holes on each inner surface of the box girder;

[0076] Step 5, rebar planting: Adjust the posture of the flexible multi-joint robot 11 to align the drilling head 131 with the head through hole 201, remove the drilling head 131, install the clamping head 133 in the same way as in Step 4, clamp the steel bar 30 through the clamping head 133 and enter the box girder 10. Through the posture adjustment of the flexible multi-joint robot, the clamping head clamps the steel bar and implants it into the rebar planting hole on the inner wall of the box girder. The steel bar can enter the box girder interior through the construction hole and be clamped by the clamping head. After rebar planting, as shown in Figure 11 and Figure 12As shown; after the implantation of the reinforcing bars, similarly, the glue injection nozzle is clamped by the clamping head to inject glue to fix the reinforcing bars in the glue injection holes.

[0077] Step Six, construction of fixing the reinforcing bars: Remove the clamping head 131 in the manner of Step Five, install the reinforcing bar binding or welding head 132, and through the posture adjustment of the flexible multi-joint robot, the reinforcing bar binding or welding head binds or welds the reinforcing bars to form a reinforcing bar mesh.

[0078] Step Seven, place the pouring mold, and use at least 1 flexible multi-joint robot 11 to cooperate with the clamping head 133 to unfold the pouring mold 14 on the side of the reinforcing bar mesh to form a pouring formwork, as shown in the attached Figure 15 and the attached Figure 16 figure;

[0079] Step Eight, pouring: Pour concrete into the pouring formwork through the construction hole to form the cross partition of the inner cavity of the box girder.

[0080] Step Nine, after the pouring is completed, regular maintenance is carried out without removing the formwork.

[0081] The present invention adopts a minimally invasive construction process and uses special construction equipment to realize the reinforcement of the box girder by adding a cross partition in the box girder, improving and enhancing the mechanical properties of the box girder, and prolonging its service life and bearing capacity; compared with the way of renovation or reconstruction, the construction period is short, the cost is low, and it does not affect the beauty of the bridge.

[0082] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural or equivalent process transformation made by using the content of the specification of the present invention, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present invention.

Claims

1. A minimally invasive reinforcement construction device for the transverse diaphragm of a box girder inner cavity, characterized in that: Comprising a flexible multi-joint robot, a sliding seat and a machine head, wherein: One end of the flexible multi-joint robot is slidably arranged on the sliding seat along the length direction of the sliding seat; The machine head is detachably installed at the other end of the flexible multi-joint robot; The machine head includes a drilling machine head, a steel bar binding or welding machine head and a clamping machine head; The drilling machine head includes a drilling rig, a telescopic mechanism and a driving mechanism. The telescopic mechanism is fixedly installed on the flexible multi-joint robot. The drilling rig is fixedly installed on the telescopic mechanism through a first support plate. The driving mechanism is fixedly installed on the top of the drilling rig through a second support plate; The telescopic mechanism includes a base, a linear guide rail and a first push rod. The base is fixedly installed on the flexible multi-joint robot. At least one linear guide rail is arranged on the base. The first push rod is fixedly installed at the end of the base, and its movable rod is connected to the slider of the linear guide rail. The slider is connected to the drilling rig; The driving mechanism is a multi-stage cylinder structure composed of a second push rod, a third push rod and a fourth push rod. The second push rod and the third push rod are arranged in parallel. The fourth push rod is fixedly installed on the tops of the second push rod and the third push rod through a third support plate; The clamping machine head includes a clamping seat, clamping blocks, a fifth push rod and a driving block. The two clamping blocks are hingedly installed on one side of the clamping seat to form a clamp, and a ball head bolt is arranged at the rear end of each clamping block; the driving block is vertically and slidably installed on the clamping seat. Two inclined chutes are arranged on the driving block. The ball head bolt is arranged in the chute; the fifth push rod is fixedly installed on the top of the clamping seat, and its movable rod is fixedly connected to the driving block.

2. The minimally invasive reinforcement construction equipment for the internal cavity diaphragm of the box girder according to claim 1, wherein: The sliding seat includes a sliding table and a sliding table plate. A flange fixing plate is arranged on the top of the sliding table. The sliding table plate is slidably installed on the sliding table. The flexible multi-joint robot is fixedly installed on the sliding table plate.

3. The minimally invasive reinforcement construction equipment for the internal transverse diaphragm of the box girder according to claim 1 or 2, characterized in that: The flexible multi-joint robot is fixedly installed with the drilling machine head, the steel bar binding or welding machine head and the clamping machine head through a concave-convex positioning structure with locking screws, and the locking screws are threadedly connected to the concave-convex positioning structure from the bottom of the concave-convex positioning structure.

4. The minimally invasive reinforcement construction equipment for the internal cavity transverse diaphragm of the box girder according to claim 3, wherein: It also includes a pouring mold, and the pouring mold is a rollable pouring mold.

5. The minimally invasive reinforcement construction equipment for the internal diaphragm of the box girder according to claim 4, characterized in that: The pouring mold is formed by connecting multiple sheet-shaped modules through flexible linear objects or hinged together through hinges. A plurality of positioning elastic pins are arranged around the pouring mold.

6. A construction method for minimally invasive reinforcement of the transverse diaphragm in the inner cavity of a box girder using the construction equipment for minimally invasive reinforcement of the transverse diaphragm in the inner cavity of a box girder as described in claim 4, characterized in that: Including the following steps: Step 1, opening construction holes: Taking the place to be reinforced at the bottom of the box girder as the installation surface of the construction equipment, opening a plurality of small-diameter construction holes on the equipment installation surface, at least including a set of flexible multi-joint robot through holes and machine head through holes. The opening of these construction holes does not affect or damage the performance of the box girder, and the diameter is controlled within 125 mm; Step 2, installing visual equipment: Arranging visual equipment through the construction holes, and the visual equipment realizes the visual operation of the construction inside the box girder; Step 3, installing construction equipment: Fixing the sliding seat near the flexible multi-joint robot through hole at the bottom of the box girder, and aligning the flexible multi-joint robot and installing it on the sliding seat aiming at the flexible multi-joint robot through hole; Step 4, construction of rebar planting holes: Adjust the height of the flexible multi-joint robot to make it enter the box girder, fix the flexible multi-joint robot after adjusting its posture, so that the head mounting end of the flexible multi-joint robot is located at the head through hole, install the drilling head through the head through hole on the flexible multi-joint robot, and lock and fix it with the locking screw. Control the multi-joint robot to adjust the drilling head to the designed drilling position, and complete the drilling operation of the rebar planting holes on each inner surface of the box girder through the posture adjustment of the flexible multi-joint robot; Step 5, rebar planting: Adjust the posture of the flexible multi-joint robot to align the drilling head with the head through hole, remove the drilling head, install the clamping head in the same way as in Step 4, clamp the rebar through the clamping head and enter the box girder, and make the clamping head clamp the rebar and implant it into the rebar planting hole on the inner wall of the box girder through the posture adjustment of the flexible multi-joint robot. The rebar can enter the box girder from the construction hole and be clamped by the clamping head; after the rebar planting is completed, similarly, clamp the glue injection nozzle through the clamping head to inject glue to fix the rebar in the rebar planting hole; Step 6, construction of rebar fixing: Remove the clamping head in the same way as in Step 5, install the rebar binding or welding head, and make the rebar binding or welding head bind or weld the rebar to form a rebar mesh through the posture adjustment of the flexible multi-joint robot; Step 7, place the casting mold, and use at least 1 flexible multi-joint robot to cooperate with the clamping head to unfold the casting mold on the side of the rebar mesh to form a casting formwork; Step 8, casting: Pour concrete into the casting formwork through the construction hole to form the cross diaphragm of the box girder inner cavity; Step 9, after casting is completed, there is no need to remove the formwork and regular maintenance is carried out.

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