Moving platform for robot to weld inclined shaft pressure steel pipe circular seam

Abstract

The invention discloses a moving platform for a robot to weld a circular seam of an inclined shaft pressure steel pipe, and belongs to the technical field of metal welding. Comprising a horizontal platform arranged in multiple layers, a lower support for supporting the horizontal platform, trundles which are installed on the lower support and walk along the inner wall of a pressure steel pipe, and a traction locking device for connecting the pressure steel pipe and the horizontal platform. The horizontal platform is arranged in an up-and-down staggered mode and is composed of a top-layer platform, a middle-layer platform and a lower-layer platform. The outer edge of each layer of platform is in a beveled oval shape matched with the inner wall of the pressure steel pipe, and a ladder stand is arranged between the layers. According to the invention, the step-shaped multi-stage platforms with different heights are arranged, so that an operator is in the best working position and observation angle, undesirable phenomena such as non-fusion of a welding seam or slag inclusion are avoided, and the welding quality is improved; and the device moves in the pressure steel pipe and can quickly move to other circular seam working positions, so that the operation is more efficient and convenient.

Description

Technical Field

[0001] The invention relates to the technical field of metal welding, and in particular to a mobile platform for robot welding annular seams of inclined well pressure steel pipes. Background Art

[0002] Pumped-storage power stations use huge head height differences to store energy and generate electricity. Among them, the water diversion systems of the middle and tail pumped-storage power stations are equipped with a large number of large-diameter penstocks in inclined shaft sections. The penstock circumferential seam welding is a manual operation with a one-time pass rate of about 80%, and the construction efficiency is low. Four senior welders above level 4 work in three shifts 24 hours a day and complete a circumferential seam in 2 days. The inclined shaft section is inclined at 50~60°, and the circumferential seam position is inclined upward at 40~30°, which belongs to the horizontal welding position; compared with the standard horizontal horizontal welding position, the difficulty of welding operation is greatly increased. Therefore, the circumferential seam of the penstock in the inclined shaft section is highly dependent on a large number of senior welders, poor working environment, high construction cost, low one-time pass rate, and low welding efficiency, which will directly prolong the construction period.

[0003] There are two types of pipeline welding robots: track-type walking and magnetic adsorption wheel (or crawler) crawling. During the welding process, the operator needs to observe the position of the welding rod and the position of the welding arc molten pool in real time to ensure the overlap and formation of the welds during multi-layer and multi-pass welding in the groove. If the position is incorrect, it needs to be adjusted at any time through the remote control. The inclined height of the annular seam position of the pressure steel pipe is much greater than the height of the human body. When welding inside the pipe, a mobile lifting platform is required to support the position of the welder and the placement of supporting accessories such as the welding power supply, wire feeding device, and shielding gas bottle. After the welding is completed, the whole is moved to the next annular seam position for welding operations. There is no dedicated inclined shaft section operation platform for welding robots in the prior art. Generally, steps are set up on a flat-top construction platform instead. The welding robot slowly crawls up on the inner wall of the pipeline, which requires the platform height to rise synchronously with the welding robot, which is obviously not met by the existing fixed-height flat-top construction platform.

[0004] Therefore, designing and manufacturing a dedicated platform for welding robots is obviously practical and urgent. In addition, the platform should be equipped with a rest area for operators, a place to place materials such as welding robot accessories, and ensure smooth passage of operators in front and behind the platform. At the same time, the weld needs to be inspected for quality; the design and manufacture of the welding platform should take into account the function of weld inspection.

[0005] In summary, the mobile platform for the welding robot of the girth seam of the inclined shaft section pressure steel pipe should have the following functions: meet the requirements of the welding robot to run along the inner side of the pipe wall along the inclined girth seam without interference; facilitate the positioning of operators and inspectors, and provide the best working position and observation angle; load the welding robot complete machine with supporting accessories to move, and work continuously between multiple girth seams; when high-strength steel needs to be preheated before welding and heat-insulated after welding, no interference occurs; other operators can pass through the platform smoothly and freely pass through the pipelines before and after the platform. The internal space of the pipeline is limited. The mobile platform adopts modular design, simple installation and disassembly, convenient mobile operation, improves welding quality and reduces process conversion time, and has high efficiency and safety. Summary of the invention

[0006] The purpose of the present invention is to provide a mobile platform for robot welding of annular seams of inclined shaft pressure steel pipes to meet various requirements during construction.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions: A mobile platform for robot welding annular seams of inclined well pressure steel pipes, comprising: a multi-layered horizontal platform, a lower bracket supporting the horizontal platform, casters installed on the lower bracket and moving along the inner wall of the pressure steel pipe, and a traction locking device connecting the pressure steel pipe and the horizontal platform; The horizontal platform is arranged in staggered layers, and consists of a top platform, a middle platform, and a lower platform; the outer edge of each platform is set to an ellipse that matches the oblique cut of the inner wall of the pressure steel pipe, and ladders are set between the layers.

[0008] In some embodiments, the middle platform is composed of two symmetrical and spaced-apart left and right parts; A rest area platform is extendedly arranged on the inner side of the lower platform.

[0009] In some embodiments, a material platform is provided in the lower support; A ladder is arranged between the material platform and the rest area platform.

[0010] In some embodiments, two first central columns are symmetrically arranged in the middle position of the horizontal platform, and are connected to the top platform, the middle platform, and the rest area platform from top to bottom; two second central columns are arranged in the middle position of the lower bracket; the second central column is coaxially arranged corresponding to the first central column.

[0011] In some embodiments, the lower bracket is composed of two left and right groups of triangular support structures; the two groups of triangular support structures are symmetrically arranged, and the rear ends are inclined inward; the triangular support structure includes: a bottom beam, a rear beam, and a second center column arranged front and rear; the axis of the bottom beam is parallel to the side busbar of the pressure steel pipe.

[0012] In some embodiments, the lengths of the second center column and the rear beam are designed according to the angle of the pressure steel pipe in the inclined shaft section, so that: in the installed state, the second center column is in a vertical state.

[0013] In some embodiments, the tread of the caster is tangent to the inner circle of the pressure steel pipe.

[0014] In some embodiments, the casters include fixed wheels near the upper position and universal wheels near the lower position.

[0015] In some embodiments, in the installed state: a gap is maintained between the outer edge of the horizontal platform and the inner wall of the pressure steel pipe; the height difference between the top platform and the annular seam is designed according to the height that is convenient for normal human operation.

[0016] In some embodiments, the top platform, middle platform, lower platform, and rest area platform are designed in structural shape according to the confined space in the inclined pipeline; after overall installation, they are integrated into one body, which is suitable for the installation and removal process of the limited space in the pipeline; The top of the bottom beam of the lower support is hinged to the lower platform, and the rear side of the lower end of the bottom beam is hinged to the rear beam and the second middle column; after proper adjustment, it is suitable for pressure steel pipe operations with different slopes Compared with the prior art, the present invention has the following beneficial effects.

[0017] 1. The present invention sets a multi-level platform with stepped shapes and different heights, so that the operator is in the best working position and observation angle, avoiding the occurrence of undesirable phenomena such as unfused welds or slag inclusions, and improving the welding quality; the platform moves inside the pressure steel pipe and can be quickly moved to other circumferential seam working positions, making the operation more efficient and convenient.

[0018] 2. In the present invention, the middle platform is designed to be divided into left and right parts, so that two robots can work at the same time. Not only does symmetrical welding reduce welding deformation, but also the working efficiency is improved. A rest area is provided, so that operators can rest and have working meals more conveniently when working for a long time in a confined space. A material platform is provided to realize the separation of man and machine. The structure is reasonable and the layout is scientific.

[0019] 3. The triangular design of the lower support of the present invention makes the overall force more stable. When the angle of the pressure steel pipe in the inclined shaft section is different, the second center column and the length of the rear beam can be adjusted to adapt to achieve multi-purpose use of one machine. The tread of the walking device of the present invention is arranged tangent to the inner circle of the pressure steel pipe through the center of the circle, avoiding the lateral shear force of the wheel rim and making the platform run more stably in the circular pipe.

[0020] Other advantages, objectives and features of the present invention will be described in part in the following description; and in part, will be apparent to those skilled in the art based on an examination of the following; or, may be taught from the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the front structure of the present invention.

[0022] Figure 2 It is a schematic diagram of the top structure of the present invention.

[0023] Figure 3 It is a schematic diagram of the rear structure of the present invention.

[0024] Figure 4 It is a side structural schematic diagram of the present invention.

[0025] Figure 5 It is a schematic diagram of the lower structure of the present invention.

[0026] Figure 6 Schematic diagram of the explosion state of the horizontal platform.

[0027] Figure 7 Schematic diagram of the framework of the horizontal platform.

[0028] Figure 8 Schematic diagram of the rear structure of the frame of the horizontal platform.

[0029] Fig. 9 This is a schematic diagram of the structure of the top platform (the table top is not shown).

[0030] Fig.10 This is a schematic diagram of the structure of the middle platform (left part).

[0031] Fig.11 This is a schematic diagram of the rear structure of the middle platform (left part).

[0032] Fig.12 This is a partial structural diagram of the middle platform.

[0033] Fig.13 This is a schematic diagram of the structure of the lower platform and the rest area platform.

[0034] Fig.14 This is a schematic diagram of the frame structure of the lower platform and the rest area platform.

[0035] Fig.15 It is a schematic diagram of the structure of the lower bracket.

[0036] Fig.16 It is a schematic diagram of the use state of the present invention.

[0037] In the figure: 1. Lower bracket; 11. Bottom beam; 12. Rear beam; 13. Lower cross beam; 14. Upper cross beam; 2. Casters; 3. Traction locking device; 4. Top platform; 41. Triangular legs; 5. Middle platform; 6. Lower platform; 61. Rest area platform; 62. Long longitudinal beam; 7. Material platform; 8. First center column; 9. Second center column. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0039] Reference Figure 1-16 A mobile platform for robot welding of annular seams of inclined shaft pressure steel pipes is arranged inside the pressure steel pipe to provide a working surface for personnel; it can be moved to different positions to perform welding operations on the annular seams in turn; it includes: a multi-layered horizontal platform, a lower bracket 1 supporting the horizontal platform, a caster 2 installed on the lower bracket 1 and moving along the inner wall of the pressure steel pipe, and a traction locking device 3 connecting the pressure steel pipe and the horizontal platform.

[0040] The horizontal platform is the upper structure of the mobile platform, which serves as the activity area for the operators; the lower bracket 1 cooperates with the casters 2 to support the whole in the pressure steel pipe; at the same time, the casters 2 cooperate with the traction locking device 3 to realize the overall movement and position fixation of the mobile platform. Among them, the traction locking device 3 adopts a power mechanism such as a lifting guide chain or an electric hoist, and the traction force is calculated according to relevant specifications.

[0041] Specifically, the horizontal platform is arranged in staggered layers; it consists of a top platform 4, a middle platform 5, and a lower platform 6; the outer edge of the platform is set to an ellipse that matches the oblique cut of the inner wall of the pressure steel pipe, and ladders are set between the layers.

[0042] It should be noted that the center of gravity of the horizontal platform is biased toward the lower platform 6 (that is, the center of gravity is biased toward the side close to the caster 2); while taking the stress condition into consideration, the platform load-bearing operation is made more stable.

[0043] like Figure 1 , 2 , 4; the three-layer platform is in a horizontal state; the edge contour shapes of the platform surface are ellipses of three different heights and shapes; ladders are set to connect the platforms on each layer; and railings are set on the ladders.

[0044] It should be noted that: in the installed state, a gap is retained between the outer edge of the horizontal platform and the inner wall of the pressure steel pipe; preferably, the retained gap is 100~200mm; in the optimal state, an equal and consistent gap is retained between the outer edge of the horizontal platform and the inner wall of the pressure steel pipe.

[0045] At the same time, the height difference between the top platform 4 and the annular seam is designed according to the height that is convenient for normal human operation; preferably 1.7-1.8 meters. Therefore, except for the lowest point at the left end of the annular seam, which requires bending over to work, the other parts are within the optimal working height of the standing tool, ensuring that normal human body will reduce fatigue when working for a long time.

[0046] Furthermore, the middle platform 5 is composed of two left and right parts that are symmetrically and spaced apart; two robots can operate simultaneously, and symmetrical welding can reduce welding deformation and improve operating efficiency.

[0047] Accordingly, two groups of ladders are symmetrically arranged, respectively connecting the middle platform 5 on both sides with the top platform 4 and the lower platform 6. Moreover, the ladder and the middle platform 5 are an integral structure of modular design, respectively connected to the top platform 4 and the lower platform 6 by bolts in a detachable manner.

[0048] like Figure 1 , 2 As shown, a ladder is arranged near the center, and a handrail is arranged on the inner side of the ladder (i.e., a single-sided handrail is arranged); at the same time, a guardrail is arranged at the inner end of the top platform 4 between the ladders on both sides; the guardrail is connected to the handrail to form a "door"-shaped protective structure as a whole, thereby improving the overall safety protection.

[0049] It should be noted that a single-sided handrail is sufficient to meet safety protection requirements; if you want to further strengthen protection, you can also set handrails on the outside of the ladders on both sides to form double-sided handrails; but there is no need for this (the height difference on the right side is not large, and not setting a handrail can make it easier to pass things).

[0050] Furthermore, a protective net is provided between the top platform 4 and the middle platform 5, and a protective net is provided between the middle platform 5 and the lower platform 6, so as to further improve the overall safety protection.

[0051] like Figure 1 As shown, a complete and reliable barrier is formed on the inner side of each platform.

[0052] In some embodiments, a rest area platform 61 is provided on the inner side of the lower platform 6 and extends backwards; it not only does not affect normal welding operations, but also provides a safe and convenient rest area for operators (some things can also be temporarily placed there).

[0053] like Figure 2 , 4 , 5; the rest area platform 61 is in the same plane as the lower platform 6 and is supported by a set of platform frames; the rest area platform 61 covers the space between the middle platforms 5 in the vertical space and extends backward to the bottom of the top platform 4; complete coverage is achieved on the entire vertical surface without creating gaps.

[0054] It should be noted that; Figures 1 to 6 As shown, the top platform 4, the middle platform 5, the lower platform 6, and the rest area platform 61 are designed in structural shape according to the confined space in the inclined pipeline; they are integrated after overall installation and are suitable for installation and removal processes in the limited space in the pipeline.

[0055] A protective net is provided between the two sides of the rest area platform 61 and the inner side of the middle platform 5; the rest area platform 61 is located on both sides and the outer edge of the lower part of the top platform 4, and a protective net or a protective railing is provided (see Figure 3 ); thereby forming a fully and completely covered protective structure and creating a more reliable safe area for construction and rest.

[0056] It should be noted that: in accordance with the overall center of gravity design, in the platform frame of the lower platform 6 and the rest area platform 61, the two long longitudinal beams 62 extending forward and backward are symmetrically distributed in an eight-shaped pattern; Figures 5 to 8 As shown in FIG. 14 , the width of the two long longitudinal beams 62 on one side close to the caster 2 is greater than the width on the other side (the width is set to shrink backwards).

[0057] like Figure 7 , 8 As shown, the support system of the horizontal platform includes the platform frame of each layer of the platform and the column support structure connecting the layers of the platform. Among them, two first middle columns 8 are symmetrically arranged in the middle position of the horizontal platform; the first middle column 8 connects the top platform 4, the middle platform 5, and the rest area platform 61 from top to bottom, forming a main support column located in the middle position.

[0058] Two groups of triangular legs 41 are symmetrically arranged near the rear side below the top platform 4, and the lower ends of the triangular legs 41 are fixed on the rest area platform 61; the inner side of the lower front end of the top platform 4 is connected to the top of the first central column 8; the front ends of the top platform 4 are symmetrically connected to the top of the diagonal braces of the middle platform 5 on both sides.

[0059] It should be noted that: the two sets of triangular legs 41 and the top platform 4 are an integrated modular design entity; the two first middle columns 8 and the middle platform 5 are an integrated modular design entity.

[0060] Correspondingly, the lower ends of the diagonal braces connected to the top platform 4 are fixed on both sides of the rear end of the middle platform 5, and the lower ends of the diagonal braces are arranged outwardly and tilted to adapt to the width difference between the top platform 4 and the middle platform 5.

[0061] The rear ends of the middle platforms 5 on both sides of the left side are coplanarly connected to the first central column 8; diagonal braces are arranged on both sides of the rear end of the middle platform 5, and the lower ends of the diagonal braces are fixed to the first central column 8; front legs are arranged at the front end below the middle platform 5; the front legs include a vertical leg arranged close to the inside, and an oblique leg arranged close to the outside; the lower ends of the oblique legs are retracted inward and arranged tilted.

[0062] It should be noted that the above-mentioned inclined braces have different inclination forms because the left and right sides of the middle platform 5 are wider (see Figure 2 ); therefore, the supports at the outer edge need to be tilted slightly.

[0063] In general, the top platform 4 and the guardrail, the middle platform 5 and the ladder and the guardrail, the lower platform 6, the rest area platform 61 and the guardrail are each modularly designed; after the overall installation, they are integrated into one, which is suitable for the installation and removal process in the limited space in the pipeline.

[0064] In some embodiments, a material platform 7 is provided in the lower bracket 1; a ladder is provided between the material platform 7 and the rest area platform 61 to connect the two; Figure 3 As shown, people go up and down by climbing a ladder, which is provided with handrails.

[0065] It can be understood that the area of ​​the material platform 7 is smaller than the rest area platform 61; and the rest area platform 61 extends further back; in order to set up a ladder connecting the two, a rectangular hole is set near the rear end of the rest area platform 61 for the ladder to be set up and for people to pass through; Figure 3 , 4 As shown in Figure 5, follow the ladder and pass through the rectangular hole to reach the rest area platform 61.

[0066] Correspondingly, a railing is arranged on the outside of the rectangular cavity, and a passage is left.

[0067] It should be noted that: Fig.11 As shown; to ensure safety, the ladder here has handrails on both sides; at the same time, it is necessary to consider the passage of people in the rectangular hole, and the left handrail is set shorter and does not exceed the lower platform 6.

[0068] In some embodiments, in order to form a more reliable force-bearing structure, two second center columns 9 are arranged in the middle of the lower bracket 1; and the second center column 9 is arranged coaxially with the first center column 8 (see Figure 4 ).

[0069] The lower support 1 is composed of two left and right triangular support structures; the two triangular support structures are symmetrically arranged with the rear ends tilted inwards, including: a bottom beam 11 and a rear beam 12 arranged front and rear, and a second center column 9.

[0070] The top end of the bottom beam 11 is hinged to the lower platform 6 , and the top end of the rear beam 12 is connected to the rest area platform 61 .

[0071] At the same time, the rear side of the lower end of the bottom beam 11 is hinged with the rear beam 12 and the second middle column 9; after proper adjustment, it is suitable for the operation of pressure steel pipes with different inclinations.

[0072] A connecting ear plate is provided on the rear side of the bottom beam 11, and the second center column 9 and the rear beam 12 are pin-connected through the connecting plate.

[0073] It should be noted that the axis of the bottom beam 11 is parallel to the lateral generatrix of the penstock.

[0074] In addition, a lower cross beam 13 is provided at the inner lower ends of the two bottom beams 11 .

[0075] Optionally, an upper cross beam 14 is provided at the inner upper ends of the two bottom beams 11 .

[0076] The material platform 7 is installed on the inner side of the two sets of triangular support structures.

[0077] It should be noted that the axes of the bottom beam 11 and the long longitudinal beam 62 form a plane; and the axes of the second center column 9 and the rear beam 12 are in the plane formed by the axes of the bottom beam 11 and the long longitudinal beam 62 on the same side.

[0078] In addition, the lengths of the second center column 9 and the rear beam 12 are designed according to the angle of the pressure steel pipe in the inclined shaft section, so that: in the installed state, the axis of the bottom beam 11 is parallel to the lateral generatrix of the pressure steel pipe, and the second center column 9 is in a vertical state; it can adapt to different inclined angle environments and realize multiple uses of one machine.

[0079] Correspondingly, the upper end of the bottom beam 11 is pin-connected to the lower platform 6 through ear plates, pins or bolts.

[0080] At the same time, a connecting ear plate is extended backward from the lower end of the bottom beam 11, and is pin-connected with the lower ends of the second center column 9 and the rear beam 12 through pins or bolts.

[0081] In some embodiments, the tread of the caster 2 is tangent to the inner circle of the pressure steel pipe to avoid the lateral shear force of the wheel rim, so that the mobile platform can run more stably in the circular pipe.

[0082] Furthermore, the casters 2 include fixed wheels near the upper position and universal wheels near the lower position, which ensure flexible rotation and steering, and are more conducive to movement and position alignment in the pressure steel pipe.

[0083] The above section describes the basic structure of each component; the specific structure is described below.

[0084] Top platform 4.

[0085] The top platform 4 is welded and processed by unequal angle steel, square hollow steel, end plate, patterned steel plate, and standard steel pipe profiles; Fig. 9 As shown, the two rear triangular legs 41 are integrally designed as a modular whole.

[0086] The shape of the table top is a crescent-shaped partial ellipse, and the edge of the ellipse is formed by bending unequal-leg angle steels; the supporting frame of the table top is composed of three rectangular hollow steels of different lengths arranged horizontally along the chord length as cross bars; the rectangular hollow steels arranged on the symmetry line are used as longitudinal bars that are perpendicular to and connected to the three cross bars; symmetrically with the center line of the table top, inner longitudinal bars with appropriate inward angles are arranged on the left and right and are connected to the three cross bars, and outer longitudinal bars arranged on the outside with a certain inward angle are connected to the first two cross bars, together forming a plane frame.

[0087] Below the platform frame, triangular legs 41 consisting of vertical rods and diagonal braces are arranged on the left and right in a symmetrical manner with respect to the vertical center plane of the top platform 4; the diagonal braces are beveled to the outer side surfaces of the lower ends of the vertical rods, and the upper ends are connected to the crossbar in the middle of the platform frame; an end plate with holes is provided at the lower ends of the vertical rods, which is bolted to the rest area platform 61, thereby supporting the top platform 4.

[0088] Below the front crossbar of the plane frame, four connecting plates with holes are arranged on the left and right, symmetrically with the vertical center plane of the top platform 4, and are bolted to the first central column 8 and the diagonal braces between the top platform 4 and the middle platform 5.

[0089] Above the front crossbar of the plane frame, symmetrically with the vertical center plane of the top platform 4, a protective railing made of steel pipe is arranged in the middle; it is enclosed by the handrails of the ladders on the two middle platforms 5 arranged on the left and right.

[0090] On the upper side of the plane frame, an elliptical edge formed by bending unequal angle steel is connected to the ends of three cross bars, and the upper side of the short legs of the unequal angle steel is flush with the upper plane of the plane frame.

[0091] A patterned steel plate is laid on the plane frame as the working surface of the top platform 4.

[0092] Middle platform 5.

[0093] The middle platform 5 is divided into two parts, which are symmetrical on the left and right. It is welded and processed by square hollow steel, unequal angle steel, channel steel, steel pipe, patterned steel plate, protective net assembly and end plate. Fig.10 , 11 As shown in 12, the middle platform 5 and the ladder are of integrated modular design; the shape of the middle platform 5 combined with the various components (ignoring the ladder and the protective net) looks like a three-legged chair with backrests.

[0094] Backrest: The inner side of the backrest part is connected to the first central column 8 (the first central column 8 is part of the middle platform 5), and a short vertical rod with an inward-inclined upper end is arranged on the outer side, which cooperates with the first central column 8 to support the front end of the top platform 4; a rear cross bar (part of the support frame of the middle platform 5) is arranged at the lower end between the two, connecting the first central column 8 and the short vertical rod as a whole; in the middle position near the upper end of the two, they are connected by unequal angle steels (or square steels) (this is an optional structure and can also be omitted); a diagonal brace is arranged below the rear cross bar and is obliquely connected to the lower end of the first central column 8 to together form the backrest part.

[0095] Front outrigger part: The front legs are connected to the lower end of a front cross bar (a part of the platform frame of the middle platform 5); a vertical leg is arranged near the inner side of the lower end of the front cross bar, and an inclined leg with an inwardly inclined lower end is arranged near the outer side.

[0096] Seat surface part (platform frame + tabletop); The front crossbar of the front support leg and the crossbar of the backrest are connected to form a horizontal seat surface through the inner longitudinal bar and the outer elliptical unequal angle steel; at the same time, two longitudinal supports parallel to the inner longitudinal bar are arranged between the front crossbar and the rear crossbar of the backrest; a patterned steel plate is arranged on the horizontal seat surface (platform frame) of the backrest chair.

[0097] A ladder consisting of channel steel and pedals is arranged on the inner side of the rear end of the middle platform 5 to realize the passage between the middle platform 5 and the top platform 4; an inner ladder is arranged on the front end of the middle platform 5 to realize the passage between the middle platform 5 and the lower platform 6; the handrails of the two hanging ladders are arranged on the inner side, and the single-side handrails are connected into a whole.

[0098] The first central column 8 and the short vertical rod of the backrest part are provided with a perforated end plate at the upper end, which is bolted to the top platform 4; the lower end of the first central column 8 is provided with a perforated end plate, which is bolted to the rest area platform 61; the vertical legs and oblique legs of the front leg part are provided with a perforated end plate at the lower end, which is bolted to the lower platform 6.

[0099] Protective nets are provided between the first central column 8 of the backrest part and the short vertical rod of the backrest part, and between the vertical legs and the oblique legs of the front leg part and the first central column 8, respectively, to play a role in safety protection.

[0100] A double-ear plate is provided near the upper end of the vertical leg of the front leg part, or on the front cross bar, to mount a traction locking device 3 for traction and fixation of the mobile platform.

[0101] The lower platform 6 and the rest area platform 61.

[0102] The lower platform 6 and the rest area platform 61 are integrally arranged and are welded and processed by rectangular hollow steel, square hollow steel, unequal angle steel, patterned steel plate, connecting plate, and steel pipe. The lower platform 6 is a lower crescent structure at the front end, and the rest area platform 61 is an inward-inclined trapezoidal structure at the rear end, and the two cooperate to form an integral table top.

[0103] The tabletop frames of the two devices are composed of two inwardly inclined and symmetrically arranged rectangular hollow steel sections as long longitudinal beams 62, and four rectangular hollow steel sections arranged in a horizontal manner with a front-to-back spacing as cross beams. Fig.10 As shown in the figure, the first and second crossbeams are arranged along the chord length of the lower crescent moon, with the first short and the second long. The third and fourth crossbeams are supported between the long longitudinal beams 62, and together they form a tabletop frame structure. Between the left and right long longitudinal beams 62, two square hollow steel longitudinal supports are arranged, extending from the fourth crossbeam to the edge of the lower crescent moon. At the same time, a short cross brace is arranged in front of the fourth crossbeam and between the two square hollow steel longitudinal supports, forming a rectangular cavity for communication with the bottom. Symmetrical diagonal braces are arranged in the triangular area formed by the outer sides of the left and right long longitudinal beams 62 and the second crossbeam.

[0104] At the lower end of the table frame, four symmetrical quadrilateral connecting plates with holes are arranged at the joints between the long longitudinal beam 62 and the third and fourth cross beams, and are bolted to the lower bracket 1. Below the long longitudinal beam 62 near the front end, an ear plate is arranged, which is pinned to the lower bracket 1 through a pin hole and a pin shaft.

[0105] On the platform frame, four symmetrical quadrilateral connecting plates with holes are arranged at the joints formed by the long longitudinal beam 62 and the third and fourth cross beams; the two connecting plates on the fourth cross beam joint are bolted to the lower ends of the triangular legs 41; the two connecting plates on the third cross beam joint are bolted to the first center column 8; four rectangular connecting plates are symmetrically arranged on the outside of the intersection of the left and right ends of the second cross beam and the long longitudinal beam 62, which are respectively bolted to the front leg parts of the left and right middle platforms 5.

[0106] At the front end of the platform frame, a bent unequal angle steel is arranged along the lower crescent edge line, and the upper surface of the short limb of the unequal angle steel is flush with the upper surface of the platform frame; three patterned steel plates are arranged in the lower crescent part of the front end, which are used as the working surface of the lower platform 6; a patterned steel plate is arranged in the rear area (excluding the rectangular hole), which is used as the working surface of the rest area platform 61.

[0107] On the platform frame, guardrails with gaps are set on the front, left and right sides of the rectangular hole; a guardrail is set in the middle of the fourth beam and connected with the guardrail on the right side of the rectangular hole; it plays a role of safety protection and forms a passage. On the inner side of the fourth beam of the flat frame, a vertical connecting plate is set corresponding to the rectangular hole, which is connected to the ladder of the lower bracket 1.

[0108] Protective net.

[0109] The protective net is welded and processed by steel plate mesh, square hollow steel, steel pipe or angle steel. The frame is made of square hollow steel, the steel plate mesh is made into a panel and welded on the frame, N steel pipes are welded on both sides of the frame at a suitable interval, and are welded and fixed to the parts to be installed; or two short angle steels are stacked front and back, with the backs of the limbs facing each other, and the backs of the limbs are welded to the frame and the parts to be installed, and the stacked angle limbs are set with bolt holes for connection.

[0110] Therefore, the protective net structure is divided into two types according to the connection method: angle steel bolt connection and steel pipe welding connection. Angle steel bolt connection is used between disassembled components, such as the installation of the protective net between the top platform 4 and the middle platform 5. After the components are assembled, the outer angle steel is welded and fixed to the mounting parts; when disassembling, the protective net is removed first and then the components are disassembled. The protective net connected by steel pipe welding is used on independently installed components.

[0111] Lower bracket 1.

[0112] The lower bracket 1 is assembled by the bottom beam 11, the second middle column 9, the rear beam 12, the lower beam 13, the upper beam 14, the material platform 7, the ladder, the pin shaft and the bolt standard parts; it is the bearing body of the whole mobile platform.

[0113] The bottom beam 11, the second middle column 9 and the rear beam 12 on each side form a set of triangular support structures, the rear end of the triangular support structure is inclined inward, and the top end is assembled with the long longitudinal beam 62; the material platform 7 is installed on the inner side of the two sets of triangular support structures.

[0114] The bottom beam 11 is made of rectangular hollow steel □120×80×5, connecting plates, etc.; the left and right bottom beams 11 are symmetrical with the longitudinal center plane of the platform, and are connected into one by the lower cross beam 13 and the upper cross beam 14; the upper end is pinned to the ear plate of the lower platform 6 through the pin shaft hole, and the lower end is extended backward to set a trapezoidal connecting plate with holes (connecting ear plate) and pinned to the second central column 9 and the rear beam 12; a quadrilateral connecting plate is set on the inner side of the middle part to be bolted to the material platform 7.

[0115] It should be noted that the axis of the bottom beam 11 is parallel to the lateral generatrix of the pressure steel pipe and forms a plane with the axis of the long longitudinal beam 62 of the lower platform 6; moreover, the planes of the left and right bottom beams 11 are symmetrical with the longitudinal center plane of the platform, and the axes of the second center column 9 and the rear beam 12 are in the plane of the bottom beam 11 on the same side, making the structure more stable under stress.

[0116] The second center column 9 is made of rectangular hollow steel □120×80×5 and an end plate; the upper end is provided with a quadrilateral end plate and is bolted to the connecting plate on the bottom surface of the lower platform 6; the lower end is provided with a pin shaft hole and is pinned to the bottom beam 11.

[0117] The shape of the rear beam 12 is substantially the same as that of the second center column 9 , except that a quadrilateral connecting plate is additionally provided on the inner side of the middle portion and is connected to the material platform 7 with bolts.

[0118] Material platform 7.

[0119] The structural shape of the material platform 7 is a rectangle; it is welded and processed by square hollow steel □80×5, □50×5, connecting plates, and patterned steel plates.

[0120] The four-side frame of the material platform 7 is made of square hollow steel □80×5, and two cross-shaped □50×5 are arranged inside the frame to form horizontal and vertical braces to play a reinforcing role; a patterned steel plate is arranged on it to facilitate material placement and personnel standing.

[0121] At the same time, four quadrilateral connecting plates with holes are arranged on the left and right sides of the material platform 7 frame, which are bolted to the bottom beam 11 and the rear beam 12.

[0122] A rectangular connecting plate is provided on the rear upper side of the material platform 7 frame, which is bolted to the handrail ladder.

[0123] The ladder with double-sided handrails is made of channel steel, pedals made of thin steel plates, handrail steel pipes, and connecting plates welded together. The channel steel is bent to form the ladder beam, the pedals are welded between the ladder beams, and the handrails on both sides are welded and fixed to the ladder beams. The shape of the left handrail should take into account the convenience of personnel passing through the rectangular hole of the upper lower platform 6, so the left and right sides are designed to be different in shape, and the left handrail does not exceed the lower platform 6. Connecting plates are set at the upper and lower ends of the ladder beam, which are bolted to the material platform 7 and the lower platform 6 respectively, so that the ladder is a detachable independent component.

[0124] Castors 2.

[0125] A seat plate for mounting the caster 2 is arranged on the bottom beam 11 toward the inner wall of the penstock; the central section of the seat plate coincides with the circular section of the penstock, and the lower plane of the seat plate is perpendicular to the radius of the penstock.

[0126] Among them, after the caster tread is installed, it is tangent to the inner circle of the pressure steel pipe.

[0127] Furthermore, a transverse stiffening plate is provided between the seat plate and the bottom beam 11 .

[0128] It should be noted that: the casters 2 on both sides are arranged to be tilted outward; in the installed state, the casters 2 press on the inner wall of the pressure steel pipe, supporting and bearing the whole; at the same time, under the support of the casters 2, a gap is maintained between the front end of the lower platform 6 and the inner wall of the pressure steel pipe, without contact, force, and movement.

[0129] It can be understood that at least two casters 2 are provided on each side to form a reliable and stable support.

[0130] Preferably, the mobile platform is equipped with four casters for bearing, and the specific model is selected based on 1.5 times the total weight, according to the weight of the platform, the weight of equipment and materials, and the weight of operators; the platform is moved by double-chain traction, and directional casters and universal casters are selected at the front and rear ends respectively, which is more conducive to movement and alignment in the pipeline.

[0131] Among them, fixed casters and swivel casters are finished products and can be purchased directly; preferably, DS70 series extra-heavy casters are used; the iron core tread surface is wrapped with polyurethane, and the single wheel load capacity is: 3000~6000kg.

[0132] Traction locking device 3.

[0133] Use double lifting guide chains or micro electric hoists, and the traction force is calculated and selected according to relevant specifications.

[0134] A traction lug is pre-set at a height position of the inner wall of the pressure steel pipe greater than the two annular seams; one end of the traction locking device is fixed on the traction lug, and the other end is mounted on the double lugs of the middle platform 5 of the mobile platform.

[0135] in: Operate single-side guide chain or electric hoist for leveling flat work; Simultaneously operate double guide chains or electric hoists for overall platform movement.

[0136] Also includes: power supply system.

[0137] The platform is connected to the power cabinet arranged in the horizontal tunnel above the inclined shaft section through a power cable, and a distribution box is set up on the platform to control the electricity consumption of the welding robot, lighting, ventilation equipment, etc. on the platform, as well as the platform's position adjustment, overall movement, and work station locking.

[0138] Preferably, the distribution box has functions such as voltage reduction, synchronous control, button operation, and remote control operation, so that the platform power consumption does not exceed the safe voltage and the electrical appliances can be operated remotely.

[0139] Platform assembly: It is manufactured in a professional processing plant, and casters, connection standard parts, guide chains, etc. are purchased. After pre-assembly and acceptance in the factory, it is disassembled into components, reinforced and anti-corrosion treated, and then sent to the construction site for installation.

[0140] Platform structure installation order.

[0141] ① The protective net is installed integrally on the middle platform 5.

[0142] ② The top platform 4, the middle platform 5 and the lower platform 6 are hoisted in sequence, first fixed on the pipeline transport trolley, and then pulled to the top of the installation position by the winch arranged in the horizontal tunnel above the inclined shaft section, and locked and fixed with the lifting lug plate pre-installed in the pipeline through the guide chain.

[0143] ③ Adjust the lower platform 6 to the installation position and support it, slowly lower the middle platform 5 and place it to the installation position of the lower platform 6, and do not connect the bolts yet; then lower the top platform 4 and install it with the lower platform 6, connect the bolts but do not tighten them; align the connecting holes of the middle platform 5 and the top platform 4, connect the bolts but do not tighten them; install the leg end plate of the middle platform 5 and the connecting plate of the lower platform 6, and connect the bolts but do not tighten them.

[0144] ④ After all the bolts are installed, first tighten the bolts between the top platform 4 and the lower platform 6, then tighten the connecting bolts between the middle platform 5 and the top platform 4, and finally tighten the connecting bolts between the middle platform 5 and the lower platform 6; the tightening order of the bolts is from back to front to release the stress forward.

[0145] Among them, when the screw hole cannot be aligned, the through-eye punch can be used for alignment.

[0146] Assembly order of lower bracket 1.

[0147] ① Install fixed casters 2 on the seat plate near the upper end of the bottom beam 11, and install universal casters 2 on the seat plate near the lower end to ensure flexible rotation and steering; install the connecting bolts of the upper and lower cross beams to form an integral frame of the bottom beam 11; install the pins of the bottom beam 11 and the second center column 9 and the rear beam 12, and weld a tensioner between the bottom beam 11 for temporary support and fixation.

[0148] ② By adjusting the fixed guide chain of the upper pressure steel pipe, the rear end of the platform structure is lifted by 30-50mm, so that the bottom surface of the lower platform 6 is tilted at a certain angle to facilitate the installation of the lower bracket 1; the guide chain is used for traction to move the front end of the bottom beam 11 frame to the installation pin in the ear plate under the lower platform 6; the guide chain above the platform structure is adjusted to gradually reduce the tilting angle of the bottom surface of the lower platform 6, and stop when it is lowered to 3-5mm from the end plate of the second center column 9; the operator adjusts the length of the tensioner to align the bolt holes of the end plate of the second center column 9 with the connecting plate of the lower platform 6; adjust the length of the tensioner of the rear beam 12 again to align the bolt holes of the end plate of the rear beam 12 with the connecting plate of the lower platform 6; lower the platform structure to the surface of the end plate, eliminate the gap and install the connecting bolts.

[0149] ③ Use the guide chain to lift the ladder component of the lower bracket 1 to the rectangular hole of the lower platform 6 and fix it with bolts.

[0150] ④ Use four guide chains to pull and tie ropes to guide, lift the material platform 7 from bottom to top to the lower bracket 1 for installation; when the screw holes of the connecting plate cannot be aligned, first loosen the connecting bolts between the bottom beam 11 and the upper and lower beams, and tighten them again after aligning the hole positions.

[0151] The following takes a pumped storage power station with an inner diameter of φ6.4m pressure steel pipe as an example, and further describes the specific implementation of the present invention in conjunction with the accompanying drawings.

[0152] Plan the structural shape of the platform according to the slope and inner diameter of the pipeline.

[0153] like Fig.12 As shown in the figure, the inclined section of the pressure steel pipe has an inclination angle of 55°, an inner diameter of φ6.4 meters, an inclination angle of the annular seam of 35°, and a height difference of 3671mm. The platform is set below the annular seam welding position, and the lower end of the annular seam is 625mm away from the workbench position. A gap of 100mm is reserved between the edge of the workbench and the pipe wall, and it is divided into three steps: the width of the first and second layers (side view) is 1693mm, and the step height is 1185.5mm. The third layer extends to 100mm from the pipe wall. The height direction is affected by the inclined pipe wall, and the width is appropriately widened.

[0154] The arrangement is as follows: the height of the annular seam from the front end of the first and second layers of worktables is 763mm, and the rear end is 1948mm; the height of the right end of the annular seam from the third layer of worktable is 1715mm; according to the ergonomics of a normal human body (175cm tall), the height of the standing workstation for convenient operation is 1950mm, and the minimum height of the hand hanging is 750mm; except for the lowest point on the left end of the annular seam, which requires bending over for operation, the other parts are within the optimal working height of the standing workwear, ensuring that the normal human body will reduce fatigue when working for a long time.

[0155] The bottom beam 11 of the lower support is arranged parallel to the side busbar of the pressure steel pipe. The long longitudinal beam 62 of the lower platform 6 is set to be wide in the front and narrow in the rear. The plane of the columns on both sides of the axial plane of the long longitudinal beam 62 and the bottom beam 11 (that is, the plane where the bottom beam 11 of the lower support 1, the second middle column 9, and the rear beam 12 are located) are distributed in an "eight" shape; the center of gravity of the upper platform structure is biased towards the lower end (close to the roller end), which makes the platform load-bearing operation more stable while considering the stress condition.

[0156] After the structural dimension planning of the lifting platform is completed, force analysis and strength calculation are carried out to select the appropriate profile; after three-dimensional modeling, finite element analysis and structural component analysis software can be used to simulate the force conditions, change materials in weak parts, enhance structural stability, and ensure the strength and rigidity of the entire structure.

[0157] Production and installation of the platform.

[0158] The main body of the platform is a steel structure, which can be processed by any factory with ordinary professional capabilities.

[0159] According to the description, drawings and relevant specifications of the present invention, parts are processed and manufactured, and purchased parts and standard parts are ordered. After the parts are inspected and qualified, they are pre-assembled in the factory; after the pre-assembly is qualified, the parts are reinforced and then disassembled, anti-corrosion treatment is carried out, and they are sent to the construction site for installation. The installation steps of the inclined shaft section in the tunnel are as follows.

[0160] Platform structure assembly.

[0161] Installation sequence of platform structure: welding process is carried out after the pressure steel pipe is installed and aligned; before the installation work, inspect and measure the lifting points set up during the installation process and make use of them, and add new lifting points if they are insufficient.

[0162] ①In the lower flat section, install the protective net on the middle platform 5 as a whole.

[0163] ② Lift them into the bottom of the inclined shaft section in the order of the top platform 4, the middle platform 5 and the lower platform 6 for installation; first place and fix them on the pipeline transport trolley, and then pull them to the top of the installation position through the winch arranged in the horizontal tunnel above the inclined shaft section, and then lock and fix them with the guide chain using the lifting points pre-set in the pipeline.

[0164] ③ Adjust the lower platform 6 to the installation position, fix the longitudinal supporting square hollow steel at the end of the elliptical arc, slowly lower the middle platform 5 and place it at the installation position of the lower platform 6, and do not connect the bolts for the time being; then lower the top platform 4 and install it with the lower platform 6, connect the bolts but do not tighten; align the connecting holes of the middle platform 5 and the top platform 4, connect the bolts but do not tighten; install the leg end plate of the middle platform 5 and the connecting plate of the lower platform 6, and connect the bolts but do not tighten.

[0165] ④ After all the bolts are installed, first tighten the bolts between the top platform 4 and the lower platform 6, then tighten the connecting bolts between the middle platform 5 and the top platform 4, and finally tighten the connecting bolts between the middle platform 5 and the lower platform 6. The tightening order of the bolts is from back to front to release the stress forward.

[0166] Among them, when the screw hole cannot be aligned, the through-eye punch can be used for alignment.

[0167] Assembly order, installation and debugging of lower bracket 1.

[0168] ① Install fixed casters 2 on the seat plate near the upper end of the bottom beam 11, and install universal casters 2 on the seat plate near the lower end to ensure flexible rotation and steering; install the connecting bolts of the upper and lower cross beams to form an integral frame of the bottom beam 11; install the pins of the bottom beam 11 and the second center column 9 and the rear beam 12, and weld a tensioner between the bottom beam 11 for temporary support and fixation.

[0169] ② Use the winch arranged in the horizontal tunnel above the inclined shaft section to pull it to the bottom of the platform structure; adjust the fixed guide chain of the upper pressure steel pipe to lift the rear end of the platform structure by 30-50mm, so that the bottom surface of the lower platform 6 is tilted at a certain angle to facilitate the installation of the lower bracket 1; use the guide chain to move the front end of the bottom beam 11 frame to the ear plate under the lower platform 6 to install the pin shaft; adjust the guide chain above the platform structure to gradually reduce the tilting angle of the bottom surface of the lower platform 6, and stop when it is lowered to 3-5mm from the end plate of the second center column 9; the operator adjusts the length of the tensioner to align the bolt holes of the end plate of the second center column 9 with the lower platform 6 connecting plate; adjust the length of the rear beam 12 tensioner again to align the bolt holes of the end plate of the rear beam 12 with the lower platform 6 connecting plate; lower the platform structure to the surface of the end plate to eliminate the gap and install the connecting bolts.

[0170] ③ Use the guide chain to lift the ladder component of the lower bracket 1 to the rectangular hole of the lower platform 6 and fix it with bolts.

[0171] ④ Use four guide chains to pull and tie ropes to guide, lift the material platform 7 from bottom to top to the lower bracket 1 for installation; when the screw holes of the connecting plate cannot be aligned, first loosen the connecting bolts between the bottom beam 11 and the upper and lower cross beams, and tighten them again after aligning the hole positions.

[0172] ⑤ After checking that all connections are properly tightened, weld and fix the traction ear plate at a height position greater than the two annular seams on the inner wall of the pressure steel pipe, fix it to the hook end of the traction locking device, and mount the other end on the double ear plate of the middle platform 5 of the mobile platform.

[0173] ⑥Install the power system, lay the power cables, set the distribution box on the inner side of the second middle column 9 above the material platform 7 of the lower bracket 1, install the lighting and ventilation systems, connect the traction locking device, etc.; turn on the power and conduct an idling test first. After confirming that there are no errors, remove the supports and all fixing points during the installation process.

[0174] ⑦ Start the electric hoist of the traction locking device, or adjust the guide chain to make the length and tightness of the traction wire rope to ensure that both sides rise 50mm in unison. After the traction locking device is stressed, remove the guide chain and fixed lifting point set during installation, operate the single-side guide chain or electric hoist for leveling the plane work, and operate the double guide chain or electric hoist at the same time, and the platform moves for overall trial operation.

[0175] ⑧ Install the welding power supply, shielding gas bottle, etc. of the welding robot on the material platform 7, place the wire feeding device at a convenient place on the lower platform 6, pass the welding robot control line and shielding gas pipe through the empty opening of the double handrail ladder and fix the position; after the power-on test is confirmed to be correct, the entire platform can be put into use, and the installation and commissioning is completed.

[0176] It should be noted that after the welding of the inclined shaft section is completed, the mobile platform can be directly dismantled in the upper flat section tunnel. The steps and sequence of dismantling are basically the same as the installation process, and are carried out from top to bottom.

[0177] Use of the Platform.

[0178] Operate the guide chain or electric hoist on one side of the traction locking device to level the upper, middle and lower planes of the platform structure from front to back and left to right; then, operate the double guide chains or electric hoists at the same time to move both sides of the platform synchronously to the bottom of the welding position ring seam, and the lower platform 6 stops about 625mm away from the lowest point of the ring seam. According to the height of the operator, make slight adjustments, stand on the working surface of the lower, middle and upper platforms, and the height of the ring seam is at the best observation angle and convenient operation position, and then you can start welding construction.

[0179] The usage process is as follows.

[0180] ① Place the side of the welding robot above the annular seam of the pressure steel pipe, and place the walking wheel at the mouth of the upper section of the pressure steel pipe; align the robot with the welding groove position and angle, operate the robot remote control to magnetically absorb it on the inner pipe wall, and slowly test run one circle along the annular groove from bottom to top, check the overlap of the welding nozzle and the welding groove, and keep it within the effective correction range of the robot at all times. After the test run is correct, formal welding can be carried out.

[0181] ② Welding starts from the lowest point and slowly climbs along the inclined annular seam. When the robot rises to a height that is inconvenient to observe, the personnel climb up the middle platform 5 through the single-sided handrail ladder to enter the second floor and continue to observe and operate the welding robot; as the welding robot continues to rise, the operator enters the third-level working surface of the top platform 4 again.

[0182] ③ When the robot crawls to the top height of the annular seam, the arc stops, the operator turns off the magnetic power supply, and transfers the welding robot to the starting position of the lower platform 6 through a handrail ladder or a multi-person relay, and restarts the second pass (or second layer) welding.

[0183] ④ When two robots are welding symmetrically, at least two workers are required to operate simultaneously. After completing the welding of half a circle of welds, the robot will turn off the magnetic suction and move to the bottom of the ring seam. The two sides will move symmetrically and start the second pass (or second layer) welding again, and the cycle will continue until the entire ring groove is filled; ⑤ When the entire circumferential seam welding is completed, the robot is placed on the platform, and the operating platform moves along the pipeline axis and rises to the next joint position to continue the operation, and the cycle is repeated until all circumferential seam welding is completed in the inclined well section.

[0184] also: The platform can also be used to inspect the weld quality of the circumferential seam of pressure steel pipes.

[0185] The inspection personnel and inspection instruments are placed on the platform, and the personnel move to different heights to inspect the transverse joints and complete the appearance quality and internal non-destructive testing of the annular joints of the pressure steel pipe in the inclined shaft section.

[0186] In the present invention, through the combined application of conventional devices such as lifting guide chains or micro electric hoists, processing parts, steel structural parts, etc., an auxiliary working platform is provided for the crawling welding robot to weld the inner annular seam of the pressure steel pipe in the inclined shaft section of the pumped storage power station.

[0187] The present invention has at least the following uses and effects: 1) Set the horizontal work surface into a step shape, using three ellipses of different heights, and combine them into a whole in three parts. The different height differences are connected by ladders. When the welding robot tunnel tilts and the ring seam continues to climb, and the height position changes during the welding process, the operator can move the position at any time, adjust his own standing height, and track the position of the welding robot in real time; so that the operator is in the best working position and observation angle, and make timely adjustments and corrections according to the operation situation; avoid the occurrence of undesirable phenomena such as unfused welds or slag inclusions, thereby improving the welding quality; 2) The traction locking device 3 drives the platform to move inside the pressure steel pipe; the whole can be quickly moved to other annular seam working positions after only one installation, making the operation more efficient and convenient; 3) The middle platform 5 is designed to be symmetrically distributed in the left and right parts, so that two robots can work at the same time; not only symmetrical welding can reduce welding deformation, but also improve working efficiency; 4) A rest area is set in the middle and rear of the lower platform 6, which makes it more convenient for operators to rest and have working meals when they work for a long time in a restricted space; 5) A material platform 7 is set on the lower bracket 1 to realize the separation of man and machine; the handrail ladder of the material platform 7 does not affect the passage of other workers in the pipeline to engage in other construction while welding; the structure is reasonable and the layout is scientific; 6) The triangular design of the lower bracket 1 makes the overall force more stable; it adopts a combination of pin connection and connecting plate bolt connection. When the angle of the pressure steel pipe in the inclined shaft section is different, it can be adapted by adjusting the length of the second middle column 9 and the rear beam 12, so that one machine can be used for multiple purposes; 7) The wheel tread of the walking device is arranged tangentially to the inner circle of the pressure steel pipe through the center of the circle, which avoids the lateral shear force of the wheel rim and makes the platform run more stably in the circular pipe; 8) The entire platform is modularly designed and can be installed and disassembled in separate parts, which adapts to the narrow and restricted space environment inside the pipeline.

[0188] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A mobile platform for robot welding of annular seams of inclined well pressure steel pipes, characterized in that: include: A multi-layered horizontal platform, a lower bracket (1) supporting the horizontal platform, casters (2) mounted on the lower bracket (1) and moving along the inner wall of the pressure steel pipe, and a traction locking device (3) connecting the pressure steel pipe and the horizontal platform; The horizontal platform is arranged in staggered layers, and is composed of a top platform (4), a middle platform (5), and a bottom platform (6); the outer edge of each platform is arranged to be an ellipse that matches the beveled inner wall of the pressure steel pipe, and ladders are arranged between the layers.

2. The mobile platform for robot welding annular seams of inclined well pressure steel pipes according to claim 1 is characterized in that: The middle platform (5) is composed of two left and right parts that are symmetrically arranged at intervals; A rest area platform (61) is provided on the inner side of the lower platform (6) extending backwards.

3. The mobile platform for robot welding annular seams of inclined well pressure steel pipes according to claim 2 is characterized in that: A material platform (7) is provided in the lower bracket (1); A ladder is provided between the material platform (7) and the rest area platform (61).

4. The mobile platform for robot welding annular seams of inclined well pressure steel pipes according to claim 2 is characterized in that: Two first middle columns (8) are symmetrically arranged in the middle of the horizontal platform, and are connected to the top platform (4), the middle platform (5), and the rest area platform (61) in sequence from top to bottom; Two second middle columns (9) are arranged at the middle position of the lower bracket (1); The second center column (9) is coaxially arranged corresponding to the first center column (8).

5. The mobile platform for robot welding annular seams of inclined well pressure steel pipes according to claim 1 or 4, characterized in that: The lower bracket (1) is composed of two left and right sets of triangular support structures; the two sets of triangular support structures are symmetrically arranged, and the rear ends are inclined inwards; The triangular support structure comprises: a bottom beam (11) and a rear beam (12) arranged front and rear, and a second middle column (9); The axis of the bottom beam (11) is parallel to the lateral generatrix of the pressure steel pipe.

6. The mobile platform for robot welding annular seams of inclined well pressure steel pipes according to claim 5 is characterized in that: The lengths of the second central column (9) and the rear beam (12) are designed according to the angle of the pressure steel pipe in the inclined shaft section, so that: in the installed state, the second central column (9) is in a vertical state.

7. The mobile platform for robot welding annular seams of inclined well pressure steel pipes according to claim 1 is characterized in that: The tread of the caster (2) is tangent to the inner circle of the penstock.

8. The mobile platform for robot welding annular seams of inclined well pressure steel pipes according to claim 7 is characterized in that: The casters (2) include fixed wheels near the upper position and universal wheels near the lower position.

9. The mobile platform for robot welding annular seams of inclined well pressure steel pipes according to claim 1 is characterized in that: In the installed state: a gap is maintained between the outer edge of the horizontal platform and the inner wall of the pressure steel pipe; The height difference between the top platform (4) and the annular seam is designed according to a height that is convenient for a normal human body to operate.

10. The mobile platform for robot welding annular seams of inclined well pressure steel pipes according to any one of claims 1 to 9, characterized in that: The top platform (4), the middle platform (5), the lower platform (6), and the rest area platform (61) are designed in structural shape according to the confined space in the inclined pipeline; they are integrated after overall installation and are suitable for installation and removal processes in the confined space in the pipeline; The top end of the bottom beam (11) of the lower support (1) is hinged to the lower platform (6), and the rear side of the lower end of the bottom beam (11) is hinged to the rear beam (12) and the second middle column (9); after appropriate adjustment, it is suitable for the operation of pressure steel pipes with different inclinations.

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