Mobile platform for robotically welding inclined shaft pressure steel pipe girth joints

Abstract

The application discloses a mobile platform for robot welding of an inclined shaft pressure steel pipe girth joint and belongs to the technical field of metal welding. The mobile platform comprises a horizontally arranged platform, a lower support for supporting the horizontally arranged platform, a caster wheel installed on the lower support and capable of walking along the inner wall of the pressure steel pipe, and a traction locking device for connecting the pressure steel pipe and the horizontally arranged platform. The horizontally arranged platform is arranged in a staggered manner and comprises a top layer platform, a middle layer platform and a lower layer platform. The outer edges of the platforms are arranged in an elliptical shape matched with the beveling of the inner wall of the pressure steel pipe, and a ladder is arranged between the platforms. The mobile platform has a plurality of stepped platforms with different heights, and an operator is located at an optimal working position and observation angle, thereby avoiding the occurrence of adverse phenomena such as incomplete fusion of the weld or slag inclusion and improving the welding quality. The mobile platform can be moved in the pressure steel pipe and quickly moved to other girth joint working positions, thereby achieving efficient and convenient operation.

Description

Technical Field

[0001] This invention relates to the field of metal welding technology, and more particularly to a mobile platform for robotic welding of circumferential seams in inclined shaft pressure steel pipes. Background Technology

[0002] Pumped-storage power stations utilize significant head differences to store and generate electricity. The water intake systems of mid-section and tail-section pumped-storage power stations contain numerous large-diameter pressure steel pipes in inclined shaft sections. The circumferential welding of these pressure steel pipes is done manually, with a first-pass yield rate of approximately 80%, resulting in low construction efficiency. Even with four highly skilled welders (level 4 or above) working in three shifts around the clock, it takes two days to complete one circumferential weld. The inclined shaft sections are at an angle of 50-60°, and the circumferential weld positions are tilted upwards at 40-30°, constituting a horizontal welding position. Compared to standard horizontal welding positions, this significantly increases the difficulty of the welding operation. Therefore, the circumferential welding of the pressure steel pipes in inclined shaft sections heavily relies on a large number of highly skilled welders, suffers from poor working conditions, high construction costs, low first-pass yield rates, and low welding efficiency, directly prolonging the construction period.

[0003] Pipeline welding robots are divided into two types: track-based walking and magnetically driven (or tracked) crawling. During the welding process, operators need to observe the movement of the welding rod and the position of the weld pool in real time to ensure the overlap and formation of the weld when welding multiple layers and passes within the bevel. If the movement is incorrect, it needs to be adjusted at any time via remote control. The inclination height of the circumferential weld of pressure steel pipe is much greater than the height of a human body. When welding inside the pipe, a mobile lifting platform is required for support, including the position of the welder and the placement of accessories such as welding power source, wire feeder, and protective gas cylinders. After welding, the entire robot is moved to the next circumferential weld position for welding operations. Currently, there is no dedicated inclined shaft operating platform for welding robots. Generally, a flat-top construction platform with steps is used as a substitute. The welding robot slowly crawls and rises on the inner wall of the pipe, which requires the platform height to rise synchronously with the welding robot. This is obviously not possible with existing fixed-height flat-top construction platforms.

[0004] Therefore, designing and manufacturing a dedicated welding robot platform is obviously practical and urgent. In addition, the platform should include a rest area for operators, storage space for welding robot accessories and other materials, and ensure smooth passage for operators in front of and behind the platform. Furthermore, weld quality inspection is required; the design and manufacture of the welding platform must also accommodate weld inspection functionality.

[0005] In summary, the mobile platform used for welding circumferential seams of pressure steel pipes in inclined shaft sections should possess the following functions: allowing the welding robot to move circumferentially along the inclined circumferential seam inside the pipe wall without interference; facilitating the positioning of operators and inspectors, providing optimal working positions and observation angles; enabling the movement of the entire welding robot and its accessories, facilitating continuous work between multiple circumferential seams; preventing interference when high-strength steel requires preheating before welding and post-weld insulation; and allowing other workers to pass smoothly through the platform and move freely within the pipeline before and after the platform. Given the limited internal space of the pipeline, this mobile platform adopts a modular design, is easy to install and disassemble, convenient to move and operate, improves welding quality, reduces process changeover time, and offers high efficiency and safety. Summary of the Invention

[0006] The purpose of this invention is to provide a mobile platform for robotic welding of circumferential seams in inclined shaft pressure steel pipes to meet various construction requirements.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A mobile platform for robotic welding of circumferential seams in inclined shaft pressure steel pipes includes: a multi-layered horizontal platform, a lower support for the horizontal platform, casters mounted on the lower support 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.

[0009] The horizontal platform is arranged in staggered layers, consisting of a top platform, a middle platform, and a lower platform; the outer edge of each platform is set as an ellipse that matches the inner wall of the pressure steel pipe, and ladders are set between the layers.

[0010] In some embodiments, the middle platform consists of two symmetrically spaced left and right parts;

[0011] A rest area platform is provided on the inner side of the lower platform.

[0012] In some embodiments, a material platform is provided inside the lower support;

[0013] A ladder is provided between the material platform and the rest area platform.

[0014] In some embodiments, two first central columns are symmetrically arranged at the middle position of the horizontal platform, and are connected from top to bottom to the top platform, the middle platform, and the rest area platform; two second central columns are arranged at the middle position of the lower support; the second central columns are coaxially corresponding to the first central columns.

[0015] In some embodiments, the lower support consists of two sets of triangular support structures on the left and right sides; the two sets of triangular support structures are symmetrically arranged and inclined inward at the rear end; the triangular support structure includes: a bottom beam and a rear beam arranged in front and behind, and a second central column; the axis of the bottom beam is parallel to the side generatrix of the pressure steel pipe.

[0016] In some embodiments, the lengths of the second central column and the rear beam are designed according to the angle of the pressure steel pipe in the inclined shaft section, so that the second central column is in a vertical state when installed.

[0017] In some embodiments, the tread of the caster is tangent to the inner circle of the pressure steel pipe.

[0018] In some embodiments, the caster includes a fixed wheel located near the top and a swivel wheel located near the bottom.

[0019] In some embodiments, during installation: 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 circumferential seam is designed according to the height that is convenient for normal human operation.

[0020] In some embodiments, the top platform, middle platform, lower platform, and rest area platform are designed with structural shapes according to the confined space inside the inclined pipe; after overall installation, they form a whole, which is suitable for installation and dismantling procedures in the confined space inside the pipe.

[0021] 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 central column; after appropriate adjustment, it is suitable for operation of pressure steel pipes with different inclinations.

[0022] Compared with the prior art, the present invention has the following beneficial effects.

[0023] 1. This invention features a stepped, multi-level platform at different heights, placing operators in the optimal working position and observation angle to prevent defects such as incomplete weld fusion or slag inclusions, thereby improving welding quality. The platform can move within the pressure steel pipe, allowing for rapid relocation to other circumferential weld positions, making operations more efficient and convenient.

[0024] 2. In this invention, the middle platform is designed as left and right parts, enabling two robots to work simultaneously; this not only reduces welding deformation through symmetrical welding but also improves work efficiency; a rest area is provided, making it more convenient for operators to rest and have meals when working for long periods in a confined space; a material platform is provided to separate humans and machines; the structure is reasonable and the layout is scientific.

[0025] 3. The present invention features a triangular design for the lower support, resulting in greater overall stability under stress. 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 central column and the rear beam, achieving multiple uses in one machine. The present invention also features a walking device with wheel treads arranged tangent to the inner circle of the pressure steel pipe, avoiding lateral shear force on the wheel rim and making the platform run more stably within the circular pipe.

[0026] Other advantages, objectives and features of the invention will be set forth in part in the description which follows; and in part will be apparent to those skilled in the art upon examination of the following description; or may be learned from practice of the invention. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the front structure of the present invention.

[0028] Figure 2 This is a top view of the structure of the present invention.

[0029] Figure 3 This is a schematic diagram of the rear structure of the present invention.

[0030] Figure 4 This is a side view of the present invention.

[0031] Figure 5 This is a schematic diagram of the lower structure of the present invention.

[0032] Figure 6 This is a schematic diagram of the explosion state of a horizontal platform.

[0033] Figure 7 This is a schematic diagram of the framework of a horizontal platform.

[0034] Figure 8 This is a schematic diagram of the rear structure of the horizontal platform frame.

[0035] Figure 9 This is a structural diagram of the top-level platform (the countertop is not shown).

[0036] Figure 10 This is a structural diagram of the middle platform (left side).

[0037] Figure 11 This is a schematic diagram of the rear structure of the middle platform (left side).

[0038] Figure 12 This is a partial structural diagram of the mid-level platform.

[0039] Figure 13 This is a structural diagram of the lower platform and rest area platform.

[0040] Figure 14This is a schematic diagram of the frame structure of the lower platform and rest area platform.

[0041] Figure 15 This is a schematic diagram of the lower support structure.

[0042] Figure 16 This is a schematic diagram illustrating the usage state of the present invention.

[0043] In the picture:

[0044] 1. Lower support; 11. Bottom beam; 12. Rear beam; 13. Lower crossbeam; 14. Upper crossbeam; 2. Casters; 3. Traction locking device; 4. Top platform; 41. Triangular support leg; 5. Middle platform; 6. Lower platform; 61. Rest area platform; 62. Long longitudinal beam; 7. Material platform; 8. First central column; 9. Second central column. Detailed Implementation

[0045] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0046] Reference Figure 1-16 A mobile platform for robotic welding of circumferential seams in inclined shaft pressure steel pipes is set 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 circumferential seams in sequence. It includes: a multi-layered horizontal platform, a lower support 1 supporting the horizontal platform, casters 2 installed on the lower support 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.

[0047] The horizontal platform is the upper structure of this mobile platform, serving as the work area for operators. The lower support 1, together with casters 2, supports the entire platform within the pressure steel pipe. Simultaneously, the casters 2, in conjunction with the traction locking device 3, enable the overall movement and positioning of the mobile platform. The traction locking device 3 utilizes a lifting chain or electric hoist, and the traction force is calculated according to relevant specifications.

[0048] Specifically, the horizontal platforms are arranged in staggered layers; they consist of a top platform 4, a middle platform 5, and a lower platform 6; the outer edge of the platform is set as an ellipse with a beveled inner wall to match the pressure steel pipe, and ladders are set between the layers.

[0049] It should be noted that the center of gravity of the horizontal platform is biased towards the lower platform 6 (that is, the center of gravity is biased towards the side closer to the caster 2); this is to make the platform more stable under load and operation while taking into account the stress conditions.

[0050] like Figure 1 , 2As shown in Figure 4, all three platforms are horizontal; the edge contours of the platform surfaces are ellipses of three different heights and shapes; ladders connect the platforms; and railings are installed on the ladders.

[0051] It should be noted 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; preferably, the gap is 100~200mm; in the optimal state, an equal and consistent gap is maintained between the outer edge of the horizontal platform and the inner wall of the pressure steel pipe.

[0052] Meanwhile, the height difference between the top platform 4 and the circumferential seam is designed according to the height that is convenient for normal human operation; the preferred height is 1.7 to 1.8 meters. Thus, except for the lowest point on the left end of the circumferential seam where bending over is required, the other parts are all within the optimal working height of the standing workwear; ensuring that fatigue is reduced when normal human beings work for a long time.

[0053] Furthermore, the middle platform 5 consists of two symmetrically spaced left and right parts; this allows two robots to work simultaneously, symmetrical welding reduces welding deformation, and improves work efficiency.

[0054] Correspondingly, two sets of ladders are symmetrically arranged, connecting the middle platform 5 to the top platform 4 and the lower platform 6 on both sides. Furthermore, the ladders and the middle platform 5 are an integral modular design, and are detachably connected to the top platform 4 and the lower platform 6 by bolts.

[0055] like Figure 1 , 2 As shown, a ladder is installed near the center, and a handrail is installed on the inside of the ladder (i.e., a single-sided handrail is installed); at the same time, a guardrail is installed at the inner end of the top platform 4 between the two ladders; the guardrail is connected to the handrail, forming a "door"-shaped protective structure to improve overall safety.

[0056] It should be noted that a single-sided handrail is sufficient to meet safety requirements. If you want to further enhance safety, you can also install handrails on the outer sides of both ladders to form a double-sided handrail. However, this is not very necessary (the height difference on the right side is not large, and it is convenient to pass things without a handrail).

[0057] Furthermore, a protective net is installed between the top platform 4 and the middle platform 5, and between the middle platform 5 and the lower platform 6; this further enhances the overall safety protection.

[0058] like Figure 1 As shown, a complete and reliable barrier is formed on the inside of each platform.

[0059] In some embodiments, a rest area platform 61 is provided on the inner rearward side of the lower platform 6; it not only does not affect normal welding operations, but also provides a safe and convenient rest area for operators (and can also temporarily place some things).

[0060] like Figure 2 , 4 As shown in Figure 5, the rest area platform 61 and the lower platform 6 are on the same plane and are supported by a platform frame. 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. It achieves complete coverage on the entire vertical plane without creating gaps.

[0061] It should be noted that; such as Figures 1-6 As shown, the top platform 4, the middle platform 5, the lower platform 6, and the rest area platform 61 are designed with structural shapes based on the confined space inside the inclined pipe; after overall installation, they form a whole, which is suitable for installation and dismantling procedures in the confined space inside the pipe.

[0062] Protective netting is installed between the sides of the rest area platform 61 and the inner side of the middle platform 5; protective netting or guardrails are installed on both sides and the outer edge of the part of the rest area platform 61 located below the top platform 4 (see...). Figure 3 This creates a fully covered protective structure, forming a more reliable safe area for construction and rest.

[0063] 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 front and rear are distributed symmetrically in a figure-eight shape; for example... Figures 5-8 As shown in Figures 1 and 14, the width of the two long longitudinal beams 62 on the side closest to the caster 2 is greater than the width on the other side (the width is set to shrink backward).

[0064] like Figure 7 , 8 As shown, the support system for the horizontal platform includes the platform frame of each level and the column support structure connecting each level. Among them, two first central columns 8 are symmetrically arranged in the middle of the horizontal platform; the first central columns 8 connect the top platform 4, the middle platform 5, and the rest area platform 61 from top to bottom, forming the main support column in the middle position.

[0065] Two sets of triangular support legs 41 are symmetrically arranged below the top platform 4 near the rear side, and the lower ends of the triangular support legs 41 are fixed to 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 two sides of the front end of the top platform 4 are symmetrically connected to the top of the diagonal brace of the middle platform 5.

[0066] It should be noted that: the two sets of triangular support legs 41 and the top platform 4 are an integral modular design; the two first central columns 8 and the middle platform 5 are an integral modular design.

[0067] Correspondingly, the lower ends of the diagonal braces connected to the top platform 4 are fixed to the rear sides of the middle platform 5, and the lower ends of the diagonal braces are arranged outward and inclined to accommodate the width difference between the top platform 4 and the middle platform 5.

[0068] The rear ends of the middle platform 5 on both sides of the left are connected to the first central column 8 in a plane; diagonal braces are provided 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; a front support leg is provided at the lower front end of the middle platform 5; the front support leg includes a vertical support leg located near the inner side and a diagonal support leg located near the outer side; the lower ends of the diagonal support leg are recessed inward and arranged at an angle.

[0069] It should be noted that the different inclination shapes of the aforementioned inclined bracing are due to the fact that the left and right sides of the middle platform 5 are wider (see [reference]). Figure 2 Therefore, the supports at the outer edge need to be tilted slightly.

[0070] Overall, the top platform 4 with guardrails, the middle platform 5 with ladders and safety nets, and the lower platform 6 and rest area platform 61 with guardrails are all modular designs; after overall installation, they form a whole, which is suitable for installation and dismantling procedures in the limited space inside the pipeline.

[0071] In some embodiments, a material platform 7 is provided inside the lower support 1; a ladder connects the material platform 7 and the rest area platform 61; for example... Figure 3 As shown, one goes up and down via a ladder, which is equipped with handrails.

[0072] It is understandable that the area of ​​material platform 7 is smaller than that of rest area platform 61; and rest area platform 61 extends further back; to accommodate the ladder connecting the two, a rectangular opening is provided near the rear of rest area platform 61 for ladder installation and personnel passage; Figure 3 , 4 As shown in Figure 5, following the ladder and passing through the rectangular opening, one arrives at the rest area platform 61.

[0073] Correspondingly, railings are installed on the outside of the rectangular opening, and passageways are provided.

[0074] It should be noted that: Figure 11 As shown; for 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 opening, so the handrail on the left side is set shorter and does not extend beyond the lower platform 6.

[0075] In some embodiments, to form a more reliable load-bearing structure, two second central columns 9 are provided at the middle position of the lower support 1; and the second central columns 9 are coaxially corresponding to the first central column 8 (see...). Figure 4 ).

[0076] The lower support 1 consists of two sets of triangular support structures on the left and right sides; the two sets of triangular support structures are arranged symmetrically and the rear end is inclined inward, including: the bottom beam 11 and the rear beam 12 arranged in front and behind, and the second central column 9.

[0077] The top of the bottom beam 11 is hinged to the lower platform 6, and the top of the rear beam 12 is connected to the rest area platform 61.

[0078] Meanwhile, the lower rear end of the bottom beam 11 is hinged to the rear beam 12 and the second central column 9; after appropriate adjustment, it is suitable for operation of pressure steel pipes with different inclinations.

[0079] A connecting ear plate is provided on the rear side of the bottom beam 11, and the second central column 9 and the rear beam 12 are connected by a connecting plate pin.

[0080] It should be noted that the axis of the bottom beam 11 is parallel to the side generatrix of the pressure steel pipe.

[0081] In addition, a lower crossbeam 13 is provided on the lower inner side of the two bottom beams 11.

[0082] Optionally, an upper crossbeam 14 is provided on the upper inner side of the two bottom beams 11.

[0083] The material platform 7 is installed inside the two sets of triangular support structures.

[0084] It should be noted that the axis of the bottom beam 11 and the axis of the long longitudinal beam 62 form a plane; and the axes of the second middle column 9 and the rear beam 12 are located in the plane formed by the axis of the bottom beam 11 and the long longitudinal beam 62 on the same side.

[0085] Furthermore, 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. This ensures that, in the installed state, the axis of the bottom beam 11 is parallel to the side generatrix of the pressure steel pipe, and the second central column 9 is in a vertical position; it can adapt to different inclination angle environments and achieve multiple uses with one machine.

[0086] Correspondingly, the upper end of the bottom beam 11 is connected to the lower platform 6 via an ear plate, pin, or bolt.

[0087] Meanwhile, a connecting ear plate is provided at the lower end of the bottom beam 11, and is connected to the lower end of the second middle column 9 and the rear beam 12 by means of pins or bolts.

[0088] In some embodiments, the tread of the caster 2 is tangent to the inner circle of the pressure steel pipe to avoid lateral shear force on the wheel rim, making the mobile platform run more stably within the circular pipe.

[0089] Furthermore, caster 2 includes a fixed wheel near the top and a swivel wheel near the bottom; ensuring flexible rotation and steering, which is more conducive to movement and positioning within the pressure steel pipe.

[0090] The above section describes the basic structure of each component; the following section describes the specific structure.

[0091] Top-level platform 4.

[0092] The top platform 4 is welded from unequal angle steel, square hollow steel, end plates, patterned steel plates, and standard steel pipe profiles; for example... Figure 9 As shown, the two triangular support legs 41 on the rear side are integrated with the modular design.

[0093] The tabletop is shaped like a crescent moon with an elliptical portion, the edges of which are formed by bending unequal angle steel. The supporting frame of the tabletop consists of three rectangular hollow steel sections of different lengths arranged horizontally along the chord length as crossbars. Rectangular hollow steel sections arranged on the symmetry line serve as longitudinal sections, perpendicular to and connected to the three crossbars. Symmetrical with the center line of the tabletop, inner longitudinal sections with appropriate inward inclinations are arranged on the left and right sides and connected to the three crossbars. Outer longitudinal sections with a certain inward inclination are arranged on the outside and connected to the first two crossbars, together forming a planar frame.

[0094] Below the platform frame, symmetrical to the vertical center of the top platform 4, triangular support legs 41, composed of vertical rods and diagonal braces, are arranged on the left and right. The diagonal braces are obliquely connected to the outer side of the lower end of the vertical rods, and the upper end is connected to the horizontal bar in the middle of the platform frame. The lower end of the vertical rods is provided with a perforated end plate, which is bolted to the rest area platform 61 to provide support for the top platform 4.

[0095] Below the front crossbar of the planar frame, four perforated connecting plates are arranged symmetrically to the vertical center of the top platform 4, and bolted to the first central column 8, the diagonal bracing between the top platform 4 and the middle platform 5.

[0096] Above the horizontal bar of the planar frame, a protective railing made of steel pipe is installed in the middle, symmetrical to the vertical center of the top platform 4; it is enclosed by the handrails of the ladders on the two middle platforms 5 arranged on the left and right.

[0097] Above the planar frame, an elliptical edge formed by bending unequal angle steel connects to the ends of three crossbars, and the top of the short limb of the unequal angle steel is flush with the upper plane of the planar frame.

[0098] Patterned steel plates are laid on top of the planar frame to serve as the working surface of the top platform 4.

[0099] Mid-level platform 5.

[0100] The middle platform is divided into two symmetrical parts; it is constructed by welding square hollow steel sections, unequal angle steel, channel steel, steel pipes, patterned steel plates, protective netting components, and end plates. Figure 10 , 11 As shown in Figures 1 and 12, the middle platform 5 and the ladder are integrated into a modular design; the shape of the middle platform 5, combined with the shape of each component (ignoring the ladder and safety net), resembles a three-legged chair.

[0101] Backrest section:

[0102] The inner side of the backrest is connected to the first central column 8 (the first central column 8 is part of the middle platform 5), and a short vertical bar with an inward-sloping upper end is set on the outer side to support the front end of the top platform 4 in conjunction with the first central column 8; a rear crossbar (part of the support frame of the middle platform 5) is set at the lower end between the two to connect the first central column 8 and the short vertical bar as one unit; at the middle position near the upper end of the two, they are connected by an unequal angle steel (or square steel) (this is an optional structure and can be omitted); a diagonal brace is set below the rear crossbar and diagonally connected to the lower end of the first central column 8 to form the backrest.

[0103] Forward leg section:

[0104] The front outrigger is connected to the lower end of a front crossbar (part of the middle platform 5 platform frame); a vertical outrigger is set near the inner side of the lower end of the front crossbar, and a diagonal outrigger with an inward-sloping lower end is set near the outer side.

[0105] Chair seat (platform frame + tabletop);

[0106] The front crossbar of the front support leg and the crossbar of the backrest are connected to form a horizontal seat surface by 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 also provided between the front crossbar and the rear crossbar of the backrest; patterned steel plates are provided on the horizontal seat surface (platform frame) of the backrest chair.

[0107] A ladder consisting of channel steel and treads is installed on the inner side of the rear end of the middle platform 5 to allow passage between the middle platform 5 and the top platform 4; a ladder on the inner side of the front end of the middle platform 5 allows passage between the middle platform 5 and the lower platform 6; the handrails of the two ladders are located on the inner side, and the handrails on one side are connected to form a whole.

[0108] The first central column 8 and the short vertical rod of the backrest are equipped with perforated end plates at the upper end, which are bolted to the top platform 4; the lower end of the first central column 8 is equipped with perforated end plates, which are bolted to the rest area platform 61; the vertical support legs and diagonal support legs of the front support legs are equipped with perforated end plates at the lower end, which are bolted to the lower platform 6.

[0109] Protective nets are installed between the first central upright post 8 of the backrest chair and the short vertical bar of the backrest, and between the vertical and diagonal legs of the front support legs and the first central upright post 8; these nets serve a safety protection function.

[0110] The vertical support legs of the front outrigger section are equipped with double ear plates near the upper end or on the front crossbar; to mount the traction locking device 3 for traction and fixation of the mobile platform.

[0111] Lower platform 6 and rest area platform 61.

[0112] The lower platform 6 and the rest area platform 61 are integrated and are welded together from rectangular hollow steel, square hollow steel, unequal angle steel, patterned steel plates, connecting plates, and steel pipes. The lower platform 6 has a front-end drooping crescent structure, while the rest area platform 61 has a rear-end inward-sloping trapezoidal structure. Together, they form an integrated platform.

[0113] The platform frame of both consists of two inwardly inclined, symmetrically arranged rectangular hollow steel sections as longitudinal beams 62, and four rectangular hollow steel sections arranged at front-to-back intervals as transverse beams. Among them, such as... Figure 10 As shown; the first and second crossbeams are arranged along the chord length of the waning crescent, shorter at the front and longer at the back, while the third and fourth crossbeams are supported between the long longitudinal beams 62, together forming the platform frame structure. Between the two long longitudinal beams 62 on the left and right, extending from the fourth crossbeam to the edge of the waning crescent, two square hollow steel longitudinal supports are installed; simultaneously, in front of the fourth crossbeam, between the two square hollow steel longitudinal supports, a short horizontal brace is installed, forming a rectangular opening for connection with the structure below. Symmetrical diagonal braces are installed in the triangular area formed by the left and right long longitudinal beams 62 and the second crossbeam.

[0114] At the lower end of the table frame, four symmetrical quadrilateral perforated connecting plates are provided at the joint between the long longitudinal beam 62 and the third and fourth cross beams, and are bolted to the lower bracket 1. Near the front end of the long longitudinal beam 62, an ear plate is provided, which is pinned to the lower bracket 1 via a pin hole.

[0115] On the platform frame, four symmetrical quadrilateral perforated connecting plates are provided at the joints formed by the long longitudinal beam 62 and the third and fourth cross beams; two connecting plates on the fourth cross beam joint are bolted to the lower end of the triangular support leg 41; two connecting plates on the third cross beam joint are bolted to the first central column 8; on the outer side of the intersection of the second cross beam and the long longitudinal beam 62 at the left and right ends, four rectangular connecting plates are symmetrically provided and bolted to the front support leg parts of the left and right middle platform 5 respectively.

[0116] At the front end of the platform frame, a curved unequal angle steel is set along the lower crescent edge, with the short limb of the unequal angle steel flush with the top of the platform frame; three patterned steel plates are set in the lower crescent part at the front end, which are used as the working surface of the lower platform 6; a patterned steel plate is set in the rear part (excluding the rectangular opening), which is used as the working surface of the rest area platform 61.

[0117] On the platform frame, guardrails with notches are installed on the front, left, and right sides of the rectangular opening; a guardrail is installed in the middle of the fourth crossbeam and is connected to the guardrail on the right side of the rectangular opening; this serves as a safety protection function and forms an access point. On the inner side of the fourth crossbeam of the flat frame, corresponding to the rectangular opening, a vertical connecting plate is installed and connected to the ladder of the lower support 1.

[0118] Protective netting.

[0119] The protective netting is made of steel plate mesh, square hollow steel sections, steel pipes, or angle steel welded together. Square hollow steel is used to make the frame, and steel plate mesh is used as the panel and welded onto the frame. N steel pipes are welded at appropriate intervals to both sides of the frame and fixed to the components to be installed. Alternatively, two short angle steel sections can be stacked back-to-back with their backs facing each other, and the backs are welded to the frame and the components to be installed. Bolt holes are provided for the stacked corner sections for connection.

[0120] Therefore, protective netting structures are classified into two types according to their connection methods: angle steel bolt connections and steel pipe welded connections. Angle steel bolt connections are used between disassembled components, such as the protective netting installation between the top platform 4 and the middle platform 5. After the components are assembled, the outer angle steel is welded to the mounting parts for fixation; during disassembly, the protective netting is removed first, followed by the disassembly of the components. Steel pipe welded connections are used on independently installed components.

[0121] Lower support 1.

[0122] The lower support 1 is assembled from the bottom beam 11, the second central column 9, the rear beam 12, the lower crossbeam 13, the upper crossbeam 14, the material platform 7, the ladder, the pins and bolts; it is the main load-bearing component of the entire mobile platform.

[0123] The bottom beam 11, the second central column 9, and the rear beam 12 on each side form a triangular support structure. 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 triangular support structures.

[0124] 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 about the longitudinal center of the platform and are connected as one piece by the lower crossbeam 13 and the upper crossbeam 14. The upper end is pinned to the ear plate of the lower platform 6 through the pin hole, and the lower end extends backward to be provided with a perforated trapezoidal connecting plate (connecting ear plate) and pinned to the second central column 9 and the rear beam 12. A quadrilateral connecting plate is provided on the inner side of the middle and bolted to the material platform 7.

[0125] It should be noted that the axis of the bottom beam 11 is parallel to the side 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 about the longitudinal center plane of the platform, and the axes of the second central column 9 and the rear beam 12 are located in the plane of the bottom beam 11 on the same side, making the structure more stable under stress.

[0126] The second central column 9 is made of rectangular hollow steel □120×80×5 with end plates; the upper end is provided with a quadrilateral end plate that is bolted to the connecting plate on the bottom of the lower platform 6; the lower end is provided with a pin hole that is pinned to the bottom beam 11.

[0127] The shape of the rear beam 12 is basically the same as that of the second central column 9, except that a quadrilateral connecting plate is added to the inner side of the middle section and bolted to the material platform 7.

[0128] Material Platform 7.

[0129] The material platform 7 has a rectangular structure and is made of square hollow steel sections □80×5 and □50×5, connecting plates, and patterned steel plates welded together.

[0130] The four-sided frame of the material platform 7 is made of square hollow steel □80×5. Inside the frame, there are two cross-shaped □50×5 steel bars forming horizontal and vertical braces to strengthen the structure. A patterned steel plate is installed on top to facilitate the placement of materials and the standing of personnel.

[0131] Meanwhile, four perforated quadrilateral connecting plates are installed 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.

[0132] A rectangular connecting plate is installed on the upper rear of the material platform 7 frame, which is bolted to the handrail ladder.

[0133] The ladder with double handrails is constructed from channel steel, thin steel plate treads, handrail steel pipes, and connecting plates welded together. The ladder beams are made by bending channel steel, the treads are welded between the beams, and the handrails on both sides are welded and fixed to the beams. The shape of the left handrail is designed to facilitate passage through the rectangular opening of the lower platform 6, so the left and right sides have different shapes, with the left handrail not extending beyond the lower platform 6. Connecting plates are installed at the top and bottom of the ladder beams, which are bolted to the material platform 7 and the lower platform 6 respectively, making the ladder a detachable, independent component.

[0134] Casters 2.

[0135] A seat plate for mounting casters 2 is provided on the bottom beam 11 facing the inner wall of the pressure steel pipe; the center section of the seat plate coincides with the circular section of the pressure steel pipe, and the lower plane of the seat plate is perpendicular to the radius of the pressure steel pipe.

[0136] The caster tread, after installation, is tangent to the inner circle of the pressure steel pipe.

[0137] Furthermore, a transverse stiffening plate is provided between the seat plate and the bottom beam 11.

[0138] It should be noted that the casters 2 on both sides are arranged at an outward angle; in the installed state, the casters 2 press against the inner wall of the pressure steel pipe, supporting and bearing the entire structure; 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, so that they do not contact, are not subjected to force, and do not affect movement.

[0139] Understandably, at least two casters are installed on each side to form reliable and stable support.

[0140] Preferably, the mobile platform is equipped with four casters for support. The specific model is selected based on the platform's own weight, the weight of the equipment and materials, and the weight of the operators, with the total weight being 1.5 times. The platform is moved by double chain traction, with directional casters and swivel casters selected at the front and rear ends, which is more conducive to movement and positioning within the pipeline.

[0141] Among them, fixed casters and swivel casters are finished parts and can be purchased directly; preferably, DS70 series heavy-duty casters are used; the iron core treads are covered with polyurethane, and the single wheel load capacity is 3000~6000kg.

[0142] Traction locking device 3.

[0143] Double lifting chain hoists or mini electric hoists are used, and the traction force is calculated and selected according to relevant specifications.

[0144] At a height greater than two circumferential seams on the inner wall of the pressure steel pipe, a traction ear plate is pre-installed; one end of the traction locking device is fixed to the traction ear plate, and the other end is hung on the double ear plate of the middle platform 5 of the mobile platform.

[0145] in:

[0146] Operate a single-sided chain hoist or electric hoist for leveling in flat surfaces;

[0147] Simultaneous operation of dual-chain hoists or electric hoists is used for overall platform movement.

[0148] In addition, it also includes: the power supply system.

[0149] The power supply is connected to the power cabinet located in the horizontal tunnel above the inclined shaft section via a power cable. A distribution box is set up on the platform to control the power consumption of welding robots, lighting, ventilation equipment, etc. on the platform, as well as the platform's position adjustment, overall movement, and workstation locking.

[0150] Preferably, the distribution box has functions such as voltage reduction, synchronous control, button operation, and remote control operation, so that the power consumption of the platform does not exceed the safe voltage and the electrical appliances can be remotely operated.

[0151] Platform assembly:

[0152] After the products are manufactured in a professional processing plant, casters, standard connecting parts, and guide chains are purchased. They are pre-assembled and inspected in the factory, disassembled into parts for reinforcement and anti-corrosion treatment, and then shipped to the construction site for installation.

[0153] Platform structure installation sequence.

[0154] ①The protective netting on the middle platform 5 is installed as an integrated unit.

[0155] ② The top platform 4, the middle platform 5, and the lower platform 6 are hoisted in sequence and placed on the pipeline transport trolley. They are then pulled to the installation position by the winch arranged in the horizontal section of the tunnel above the inclined shaft section and locked and fixed by the guide chain using the pre-installed lifting lugs in the pipeline.

[0156] ③ Adjust the lower platform 6 to the installation position and support it. Slowly lower the middle platform 5 and place it in the installation position of the lower platform 6, without connecting the bolts yet. Then lower the top platform 4 and install it with the lower platform 6, connecting the bolts but not tightening them. Align the connecting holes of the middle platform 5 and the top platform 4, connecting the bolts but not tightening them. Install the support leg end plate of the middle platform 5 with the connecting plate of the lower platform 6, connecting the bolts but not tightening them.

[0157] 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 bolt tightening order is from back to front, so that the stress is released forward.

[0158] When the screw holes cannot be aligned, an over-hole punch can be used for alignment.

[0159] Assembly sequence of lower bracket 1.

[0160] ① Install directional casters 2 on the seat plate near the upper end of the bottom beam 11 and universal casters 2 on the seat plate near the lower end to ensure flexible rotation and steering; install connecting bolts for the upper and lower crossbeams to form an integral frame for the bottom beam 11; install pins for the bottom beam 11, the second middle column 9, and the rear beam 12, and weld tensioners between them for temporary support and fixation.

[0161] ② By adjusting the fixed guide chain of the upper pressure steel pipe, lift the rear end of the platform structure by 30-50mm, so that the bottom surface of the lower platform 6 is raised at a certain angle, which facilitates the installation of the lower support 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 and install the pin shaft; adjust the guide chain above the platform structure to gradually reduce the angle of the bottom surface of the lower platform 6, and stop when it drops to 3-5mm from the end plate of the second middle column 9; the operator adjusts the length of the tensioner to align the bolt holes of the end plate of the second middle 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 end plate of the rear beam 12 with the bolt holes of 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.

[0162] ③Use a guide chain to lift the ladder component of the lower support 1 into the rectangular cavity of the lower platform 6 and fix it with bolts.

[0163] ④ Use four guide chains for traction and tie ropes for guidance to lift the material platform 7 from bottom to top into the lower support 1 for installation; if the bolt holes of the connecting plate cannot be aligned, first loosen the connecting bolts between the bottom beam 11 and the upper and lower crossbeams, align the holes, and then tighten them again to fix them.

[0164] The following description, using a pumped storage power station and a pressure steel pipe with an inner diameter of φ6.4 meters as an example, further illustrates the specific implementation of the present invention in conjunction with the accompanying drawings.

[0165] The structural shape of the platform is planned based on the pipe's slope and inner diameter.

[0166] like Figure 12 As shown; 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 35° for the circumferential weld, and a height difference of 3671mm. The platform is set below the circumferential weld position, with the lower end of the circumferential weld inclined for 625mm from the workbench surface. A 100mm gap is reserved between the edge of the workbench surface and the pipe wall, divided into three steps: the first and second steps have a width (side view) of 1693mm and a step height of 1185.5mm; the third step extends 100mm to the pipe wall, and its width is appropriately widened due to the influence of the inclined pipe wall in the height direction.

[0167] The arrangement is as follows: the distance between the circumferential seam and the front end of the first and second workbenches is 763mm, and the rear end is 1948mm; the distance between the right end of the circumferential seam and the third workbench surface is 1715mm; based on the ergonomic height of a normal human (175cm tall), the convenient operating height for a standing workstation is 1950mm, and the minimum arm-down height is 750mm; except for the lowest point on the left end of the circumferential seam, which requires bending over to work, all other parts are within the optimal working height of the standing fixture. This ensures reduced fatigue for normal human workers during long periods of work.

[0168] 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 wider at the front and narrower at the back. The plane of the axis of the long longitudinal beam 62 and the bottom beam 11 (i.e. the plane where the bottom beam 11 of the lower support 1, the second middle column 9, and the rear beam 12 are located) is distributed in a figure-eight shape on both sides of the column plane. The center of gravity of the upper platform structure is biased towards the lower end (closer to the roller end). While considering the stress condition, it makes the platform more stable in bearing and running.

[0169] After the structural dimensions of the lifting platform are planned, stress analysis and strength calculation are performed to select suitable profiles. After 3D modeling, finite element analysis and structural component analysis software can be used to simulate the stress conditions, change materials in weak parts, enhance structural stability, and ensure the strength and stiffness of the entire structure.

[0170] Platform creation and installation.

[0171] The platform's main body consists of steel structural components, which can be processed by factories with ordinary professional capabilities.

[0172] Components are manufactured according to the description, drawings, and relevant specifications of this invention. Purchased parts and standard parts are ordered. After the components pass inspection, they are pre-assembled in the factory. After the pre-assembly passes acceptance, the components are reinforced, disassembled, and subjected to anti-corrosion treatment before being sent to the construction site for installation. The installation steps for the inclined shaft section inside the tunnel are as follows.

[0173] Platform structure assembly.

[0174] The installation sequence of the platform structure is as follows: the welding process is carried out after the installation and alignment of the pressure steel pipes; before the installation work, the lifting points set up during the installation process are examined and utilized, and new lifting points are added if there are insufficient points.

[0175] ①In the lower level section of the site, install the protective netting on the middle platform 5 as a whole.

[0176] ② The platform is hoisted into the bottom of the inclined shaft section in the order of top platform 4, middle platform 5, and lower platform 6 for installation. It is first placed and fixed on the pipeline transport trolley, and then pulled to the installation position by the winch arranged in the horizontal section of the tunnel above the inclined shaft section. It is then locked and fixed by the guide chain through the pre-set lifting points in the pipeline.

[0177] ③ Adjust the lower platform 6 to the installation position, fix the square hollow steel of the longitudinal support at the elliptical arc end, slowly lower the middle platform 5 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 end plate of the support leg of the middle platform 5 with the connecting plate of the lower platform 6, and connect the bolts but do not tighten them.

[0178] 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 bolt tightening order is from back to front, so that the stress is released forward.

[0179] When the screw holes cannot be aligned, an over-hole punch can be used for alignment.

[0180] Assembly sequence, installation, and debugging of lower bracket 1.

[0181] ① Install directional casters 2 on the seat plate near the upper end of the bottom beam 11 and universal casters 2 on the seat plate near the lower end to ensure flexible rotation and steering; install connecting bolts for the upper and lower crossbeams to form an integral frame for the bottom beam 11; install pins for the bottom beam 11, the second middle column 9, and the rear beam 12, and weld tensioners between them for temporary support and fixation.

[0182] ② The platform structure is pulled to the bottom by a winch arranged in the horizontal section of the tunnel above the inclined shaft; the fixed guide chain of the upper pressure steel pipe is adjusted to lift the rear end of the platform structure by 30-50mm, so that the bottom surface of the lower platform 6 is raised at a certain angle to facilitate the installation of the lower support 1; the front end of the bottom beam 11 frame is moved to the ear plate under the lower platform 6 by guide chain traction to install the pin shaft; the guide chain above the platform structure is adjusted to gradually reduce the angle of the bottom surface of the lower platform 6, stopping when it is lowered to 3-5mm from the end plate of the second middle column 9; the operator adjusts the length of the tensioner to align the bolt holes of the end plate of the second middle column 9 with the connecting plate of the lower platform 6; the length of the tensioner of the rear beam 12 is adjusted again to align the bolt holes of the end plate of the rear beam 12 with the connecting plate of the lower platform 6; the platform structure is lowered to the surface of the end plate to eliminate gaps and install the connecting bolts.

[0183] ③Use a guide chain to lift the ladder component of the lower support 1 into the rectangular cavity of the lower platform 6 and fix it with bolts.

[0184] ④ Use four guide chains for traction and tie ropes for guidance to lift the material platform 7 from bottom to top into the lower support 1 for installation; if the connecting plate screw holes cannot be aligned, first loosen the connecting bolts between the bottom beam 11 and the upper and lower horizontal beams, align the holes, and then tighten them again to fix them.

[0185] ⑤ After checking that all connections are secure, weld and fix the traction ear plate at a height greater than two circumferential seams on the inner wall of the pressure steel pipe, and fix it to the hook end of the traction locking device. The other end is hung on the double ear plate of the middle platform 5 of the mobile platform.

[0186] ⑥ Install the power supply system, lay the power cable, set the distribution box inside the second central column 9 above the material platform 7 of the lower support 1, install the lighting and ventilation system, connect the traction locking device, etc.; turn on the power and conduct an idle test first. After confirming that there are no problems, remove the supports and all fixing points used in the installation process.

[0187] ⑦ Start the electric hoist with the traction locking device, or adjust the guide chain to ensure that the length and tension of the traction wire rope are consistent and synchronously raised by 50mm on both sides. After the traction locking device is under force, remove the guide chain and fixed lifting points set during installation, operate a single-sided guide chain or electric hoist for leveling on the plane, and simultaneously operate a double guide chain or electric hoist for overall platform test run and movement.

[0188] ⑧ Install the welding power supply and protective gas cylinder of the welding robot on the material platform 7, place the wire feeding device in a convenient location on the lower platform 6, and pass the welding robot control line and protective gas pipe through the opening of the double handrail ladder and fix them in place; after the power-on test confirms that there are no problems, the platform can be put into use as a whole, and the installation and debugging are completed.

[0189] It should be noted that after the mobile platform is welded in the inclined shaft section, it can be directly dismantled in the upper horizontal section of the tunnel. The dismantling steps and sequence are basically the same as the installation process, proceeding from top to bottom.

[0190] Platform usage.

[0191] Operate the chain hoist or electric hoist on one side of the traction locking device to level the upper, middle, and lower planes of the platform structure in all directions. Then, simultaneously operate the double chain hoist or electric hoist to move both sides of the platform synchronously to the welding position below the circumferential seam. Stop the lower platform 6 approximately 625mm away from the lowest point of the circumferential seam. Make minor adjustments based on the height of the operator to ensure that the operator's position on the lower, middle, and upper platform working surfaces is at the optimal observation angle and convenient operating position up to the height of the circumferential seam, at which point welding can begin.

[0192] The usage process is as follows.

[0193] ① Place the welding robot sideways above the circumferential seam of the pressure steel pipe, with the walking wheels positioned at the opening of the upper section of the pressure steel pipe; align the robot with the welding bevel position and angle, and operate the robot remote control to magnetically attach to the inner pipe wall. Slowly run one circle along the circumferential bevel from bottom to top to check the overlap between the welding nozzle and the welding bevel, ensuring that it remains within the robot's effective correction range. Once the trial run is successful, formal welding can begin.

[0194] ② Welding starts from the lowest point and slowly climbs along the inclined circumferential seam. When the robot rises to a height where it is difficult to observe, the personnel climb the ladder on one side to the middle platform 5 and enter the second level to continue observing and operating the welding robot. As the welding robot continues to rise, the operator enters the top platform 4 again to the third working surface.

[0195] ③ When the robot climbs to the top height of the circumferential seam, it stops arcing. The operator turns off the magnetic power supply and transfers the welding robot to the starting position of the lower platform 6 via the handrail ladder or through a relay by multiple people, and restarts the second (or second layer) welding.

[0196] ④ When two robots are welding symmetrically, at least two workers need to operate at the same time. After completing half of the weld, the robot is turned off and magnetically moved to the bottom of the circumferential seam. The robots then move symmetrically on both sides to start the second (or second layer) weld again. This process is repeated until the entire circumferential bevel is filled.

[0197] ⑤ After the entire circumferential weld is completed, place the robot on the platform, and operate the platform to move up along the pipeline axis to the next joint position to continue the operation. Repeat this process until all circumferential welds in the inclined shaft section are completed.

[0198] also:

[0199] The platform can also be used for weld quality inspection of circumferential seams in pressure steel pipes.

[0200] The inspection personnel and instruments are positioned on the platform, and the personnel move to different heights to inspect the transverse seams, completing the appearance quality and internal non-destructive testing of the pressure steel pipe circumferential seams in the inclined well section.

[0201] In this invention, a combined application of conventional devices such as lifting guide chains or mini electric hoists, processing parts, and steel structural components provides an auxiliary working platform for crawling welding robots to perform circumferential welding of pressure steel pipes in the inclined shaft section of pumped storage power stations.

[0202] This invention has at least the following uses and effects:

[0203] 1) The horizontal worktable is set in a stepped shape, using three ellipses of different heights, and combined into a whole in three parts, with ladders connecting the different height differences; when the welding robot continuously climbs the inclined circumferential seam and its height changes during the welding process, the operator can move and adjust their own standing height at any time, and track the position of the welding robot in real time; this allows the operator to be in the best working position and observation angle, and make timely adjustments and corrections according to the operating conditions; thus avoiding the occurrence of defects such as incomplete weld fusion or slag inclusions, thereby improving welding quality;

[0204] 2) The platform is moved inside the pressure steel pipe by the traction locking device 3; after the whole thing is installed only once, it can be quickly moved to other circumferential joint working positions, making the operation more efficient and convenient;

[0205] 3) The middle platform 5 is designed with two symmetrical parts on the left and right sides, which can enable two robots to work at the same time; not only does symmetrical welding reduce welding deformation, but it also improves work efficiency.

[0206] 4) A rest area is set up in the middle and rear of the lower platform 6; making it more convenient for operators to rest and have meals when working for a long time in a confined space;

[0207] 5) A material platform 7 is installed on the lower support 1 to separate the personnel and the machine; the handrail ladder of the material platform 7 does not affect the passage of other workers in the pipeline to carry out other construction work while welding is being carried out; the structure is reasonable and the layout is scientific.

[0208] 6) The triangular design of the lower support 1 structure makes the overall stress more stable; the combination of pin connection and connecting plate bolt connection means that when the angle of the pressure steel pipe in the inclined shaft section is different, the length of the second middle column 9 and the rear beam 12 can be adjusted to adapt, so as to achieve multiple uses of one machine;

[0209] 7) The wheel treads of the walking device are arranged tangent to the inner circle of the pressure steel pipe through the center, which avoids the lateral shear force of the wheel rim and makes the platform run more stably in the circular pipe.

[0210] 8) The entire platform is modularly designed and can be installed and disassembled in separate parts, which is suitable for the narrow and restricted space environment of pipeline construction.

[0211] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A mobile platform for robotic welding of circumferential seams in inclined shaft pressure steel pipes, characterized in that, include: A multi-layered horizontal platform, a lower support (1) supporting the horizontal platform, casters (2) installed on the lower support (1) and traveling 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 a staggered manner, consisting of a top platform (4), a middle platform (5), and a lower platform (6); the outer edge of each platform is set as an ellipse with a beveled inner wall to match the pressure steel pipe, and ladders are set between the layers; the ladders and the middle platform (5) are an integral modular design, and are detachably connected to the top platform (4) and the lower platform (6) respectively by bolts; The middle platform (5) consists of two symmetrically spaced left and right parts, enabling two robots to work simultaneously and reducing welding deformation through symmetrical welding. The lower platform (6) extends rearward to provide a rest area platform (61) for operators, offering a safe and convenient rest area. A material platform (7) is installed inside the lower support (1), with a ladder between the material platform (7) and the rest area platform (61). Two sets of triangular legs (41) are symmetrically arranged near the rear of the top platform (4), with the lower ends of the triangular legs (41)... Fixed on the rest area platform (61); the two sets of triangular support legs (41) and the top platform (4) are an integral modular design; the two first central columns (8) and the middle platform (5) are an integral modular design; the two first central columns (8) are symmetrically arranged in the middle position of the horizontal platform, and are connected from top to bottom to the top platform (4), the middle platform (5), and the rest area platform (61); the two second central columns (9) are arranged in the middle position of the lower support (1); the second central columns (9) and the first central columns (8) are coaxially corresponding; The tread of the caster (2) is tangent to the inner circle of the pressure steel pipe; The top platform (4), middle platform (5), lower platform (6), and rest area platform (61) are designed according to the confined space within the inclined pipe. The top platform (4) and guardrail, the middle platform (5) and ladder and safety net, and the lower platform (6) and rest area platform (61) and guardrail are all modularly designed. After installation, they are integrated into one unit, suitable for installation and dismantling in the confined space within the pipe. The center of gravity of the horizontal platform is biased towards the lower platform (6). The top 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 central column (9). After appropriate adjustment, it is suitable for operation of steel pipes with different inclinations. The lower support (1) consists of two sets of triangular support structures on the left and right sides; the two sets of triangular support structures are arranged symmetrically and the rear end is inclined inward; the triangular support structure includes: a bottom beam (11) and a rear beam (12) arranged in front and behind, and a second central column (9); the axis of the bottom beam (11) is parallel to the side generatrix of the pressure steel pipe; the length of the second central column (9) and the rear beam (12) is designed according to the angle of the pressure steel pipe in the inclined shaft section; so that: in the installation state, the second central column (9) is in a vertical state.

2. The mobile platform for robotic welding of circumferential seams in inclined shaft pressure steel pipes according to claim 1, characterized in that, The caster (2) includes a fixed wheel near the top and a swivel wheel near the bottom.

3. The mobile platform for robotic welding of circumferential seams in inclined shaft pressure steel pipes according to claim 1, 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 circumferential seam is designed according to the height that is convenient for normal human operation.

4. The mobile platform for robotic welding of circumferential seams in inclined shaft pressure steel pipes according to claim 1, characterized in that, All three platforms are horizontal; the edge contours of the platform surfaces are elliptical in shape and height; ladders connect the platforms; and railings are installed on the ladders.

5. The mobile platform for robotic welding of circumferential seams in inclined shaft pressure steel pipes according to claim 1, characterized in that, The rest area platform (61) is on the same plane as the lower platform (6) and is supported by a platform frame. The rest area platform (61) covers the space between the middle platform (5) in the vertical space and extends backward to the bottom of the top platform (4). It achieves complete coverage on the entire vertical plane without creating gaps.

6. The mobile platform for robotic welding of circumferential seams in inclined shaft pressure steel pipes according to claim 1, characterized in that, In line with the overall center of gravity design, in the platform frame of the lower platform (6) and the rest area platform (61), two long longitudinal beams (62) extending front and rear are distributed symmetrically in a figure-eight shape.

7. The mobile platform for robotic welding of circumferential seams in inclined shaft pressure steel pipes according to claim 1, characterized in that, The top platform (4) is welded and processed from unequal angle steel, square hollow steel, end plate, patterned steel plate, and standard steel pipe profiles; the platform shape is an upper crescent-shaped part ellipse, and the edge of the ellipse is formed by bending unequal angle steel.

8. The mobile platform for robotic welding of circumferential seams in inclined shaft pressure steel pipes according to claim 1, characterized in that, The casters (2) on both sides are arranged at an outward angle. 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 formed between the front end of the lower platform (6) and the inner wall of the pressure steel pipe, so that they do not contact, are not subjected to force, and do not affect movement.

9. The mobile platform for robotic welding of circumferential seams in inclined shaft pressure steel pipes according to claim 1, characterized in that, The usage process is as follows: ① Place the welding robot sideways above the circumferential seam of the pressure steel pipe, with the walking wheels positioned at the opening of the upper section of the pressure steel pipe; align the robot with the welding bevel position and angle, and operate the robot remote control to magnetically attach to the inner pipe wall. Slowly run one circle along the circumferential bevel from bottom to top to check the overlap between the welding nozzle and the welding bevel, ensuring that it remains within the robot's effective correction range. Once the trial run is successful, formal welding can begin. ② Welding starts from the lowest point and slowly climbs along the inclined circumferential seam. When the robot rises to a height that is difficult to observe, the personnel climb the ladder on one side to the middle platform (5) to enter the second layer and continue to observe and operate the welding robot. As the welding robot continues to rise, the operator enters the top platform (4) again to the third working surface. ③ When the robot crawls to the top of the circumferential seam, the arc stops and the operator turns off the magnetic power supply and transfers the welding robot to the starting position of the lower platform (6) through the handrail ladder or through multiple people in relay, and restarts the second pass or the second layer of welding; ④ When two robots are welding symmetrically, at least two workers need to operate at the same time. After completing half of the weld, the robot is turned off and magnetically moved to the bottom of the circumferential weld. The robots then move symmetrically on both sides to start the second or second layer of welding. This process is repeated until the entire circumferential bevel is filled. ⑤ After the entire circumferential weld is completed, place the robot on the platform, and operate the platform to move up along the pipeline axis to the next joint position to continue the operation. Repeat this process until all circumferential welds in the inclined shaft section are completed.

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