Main beam welding device of flying swallow type arch bridge

Abstract

The invention discloses a main beam welding device of a flying swallow type arch bridge, and belongs to the technical field of welding equipments.A welding mechanism is arranged on a shell, an upper walking mechanism walking along the bottom surface of a main beam steel plate is arranged at the top of the shell, an upper shell is arranged at the top of the shell, and an upper steering mechanism is arranged on the upper shell; a lower walking mechanism walking along the top surface of the main beam steel plate is arranged at the bottom of the shell, a lower shell is arranged at the bottom of the shell, and a lower steering mechanism used for driving the shell to steer is arranged on the lower shell. The upper walking mechanism can walk along the bottom surface of the main beam steel plate, the upper steering mechanism can drive the shell to steer on the bottom surface of the main beam steel plate, the lower walking mechanism can walk along the top surface of the main beam steel plate, the lower steering mechanism can drive the shell to steer on the top surface of the main beam steel plate, and moving and steering are convenient; and the welding gun is used for welding gaps between the tops and the bottoms of the two adjacent main beam steel plates, so that the welding strength of the main beam is improved, the welding quality is improved, and the labor intensity of workers is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of welding equipment, and in particular relates to a main beam welding device for a flying swallow type arch bridge. Background Art

[0002] The main beam of the Feiyan arch bridge is welded to enhance its bearing capacity and rigidity. Welding can resist cracks and fatigue, reduce the risk of cracks caused by stress concentration at the joints of the steel plates, and improve the stability of the bridge under load. Therefore, it is necessary to ensure the quality of welding to ensure the long-term safety of the bridge.

[0003] At present, the gaps between the main beam steel plates of the welded flying swallow arch bridge are welded manually, which has the disadvantage of low work efficiency. At the same time, it is inconvenient to weld the gaps at the bottom between the main beam steel plates manually, thereby reducing the welding efficiency and increasing the labor intensity of the workers. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a main beam welding device for a flying swallow-type arch bridge which has high welding efficiency, is convenient for adjusting the angle of the welding gun, and is convenient for moving and turning.

[0005] The technical solution adopted to solve the above technical problems is: a welding mechanism for welding the gap between two adjacent main beam steel plates is arranged on the outer shell, an upper walking mechanism for walking along the bottom surface of the main beam steel plate is arranged on the top of the outer shell, an upper shell body is arranged on the top of the outer shell, an upper steering mechanism for driving the outer shell to turn is arranged on the upper shell body, a lower walking mechanism for walking along the top surface of the main beam steel plate is arranged on the bottom of the outer shell, a lower shell body is arranged on the bottom of the outer shell, and a lower steering mechanism for driving the outer shell to turn is arranged on the lower shell body; the welding mechanism is: a second fixed plate is arranged on one side of the outer shell, a fourth motor for driving the first screw rod to rotate is arranged on the second fixed plate, the first screw rod is rotatably connected to the second fixed plate, a first guide rod located on both sides of the first screw rod is arranged on the second fixed plate, a first slide plate is slidably connected to the first guide rod in a horizontal direction, the first slide plate is threadedly connected to the first screw rod, a third motor for driving the fourth rotating shaft to rotate is arranged on the first slide plate, and the fourth rotating shaft is connected to the The second fixed plate is rotatably connected, a third support plate is provided at one end of the fourth rotating shaft, two fixed blocks are provided on the third support plate, a second slide plate is slidably connected to the fixed block, a sixth motor driving the second screw rod to rotate is provided on the second slide plate, the second screw rod is threadedly connected to the third support plate, one end of the second screw rod is rotatably connected to the first support plate, second guide rods slidably connected to the third support plate are respectively provided on both sides of the first support plate, a fifth motor driving the fifth gear to rotate is provided on the first support plate, a fourth gear meshing with the fifth gear is transmitted on the first support plate, the fourth gear is fixedly connected to the connecting plate through the third connecting shaft, a camera for shooting is provided on the connecting plate, a seventh motor driving the third rotating shaft to rotate is provided on the connecting plate, the third rotating shaft is rotatably connected to the connecting plate, the third rotating shaft is fixedly connected to the welding gun, the welding gun is connected to the welding machine in the outer shell through the welding pipe, and a welding wire roller wound with welding wire is rotatably installed on the other side of the main beam steel plate, and the welding wire runs through the inside of the welding pipe.

[0006] Furthermore, a lower roller slidably connected to the arc support frame is provided at the bottom of the shell, second support plates are provided on both sides of the shell, a third vertical sliding hole is processed on each second support plate, a sliding plate is provided above the arc support frame, and seventh sliding blocks slidably connected to the third vertical sliding holes along the vertical direction are respectively provided on both sides of the sliding plate, an upper roller slidably connected to the arc support frame is provided at the bottom of the sliding plate, the arc support frame is located between the upper roller and the lower roller, and the welding machine is located inside the arc support frame and fixedly connected to the arc support frame.

[0007] Furthermore, the upper steering mechanism is as follows: a first support frame is arranged inside the upper shell body, a first motor for driving the first transmission wheel to rotate is arranged on the first support frame, the first transmission wheel is rotatably connected to the bottom of the first support frame, a second transmission wheel is fixedly installed on the bottom of the first support frame, the first transmission wheel is transmission-connected to the second transmission wheel through a first conveyor belt, the first support frame is rotatably connected to one end of the first connecting shaft, a first protrusion rotatably connected to the internal first groove of the first support frame is arranged in a circumferential direction at one end of the first connecting shaft, a first electromagnet magnetically connected to the bottom surface of the main beam steel plate is arranged at the other end of the first connecting shaft, a first electric cylinder is arranged inside the upper shell body, and an output end of the first electric cylinder is fixedly connected to the first support frame.

[0008] Furthermore, the lower walking mechanism is as follows: a third support frame is provided inside the shell, and a second motor is provided on the third support frame to drive the third gear to rotate. A plurality of second rotating shafts are respectively spaced apart on both sides of the bottom of the shell, and a third connecting disk is respectively provided at one end of each second rotating shaft, and each third connecting disk is respectively eccentrically provided with a third eccentric shaft, and each third eccentric shaft is respectively rotatably connected to one end of a fourth connecting rod, and fifth horizontal sliding holes are respectively provided on both sides of the bottom of the shell, and a plurality of sixth sliding blocks are respectively slidably connected to each fifth horizontal sliding hole in a horizontal direction, and each sixth sliding block is respectively slidably connected to the fourth connecting rod in a vertical direction, and a third electromagnet for walking is respectively provided at the other end of each fourth connecting rod, and a fourth connecting disk is respectively provided at the other end of each second rotating shaft, and the fourth connecting disk located on the outermost side is eccentrically fixedly connected to one end of the fourth eccentric shaft, and the The other end of the four eccentric shafts is eccentrically connected to the fifth connecting disk, the fifth connecting disk is fixedly connected to the second gear, the second gear is meshed with the third gear for transmission, the second connecting shaft is rotatably installed on the outer shell, and the first gears meshed with the second gear for transmission are respectively arranged at both ends of the second connecting shaft. Each fourth eccentric shaft is respectively connected to the upper walking mechanism, and sixth horizontal sliding holes are respectively processed on both sides of the bottom of the outer shell, and a fourth sliding block is slidably connected to each sixth horizontal sliding hole in the horizontal direction, and each fourth sliding block is respectively slidably connected to the upper walking mechanism in the vertical direction; every two adjacent fourth connecting disks are eccentrically rotatably connected by the fifth connecting rod, and each fifth connecting rod is respectively processed with a fourth horizontal sliding hole slidably connected to the fifth sliding block in the horizontal direction, and multiple second vertical sliding holes are respectively processed on both sides of the bottom of the outer shell, and each second vertical sliding hole is respectively slidably connected to the fifth sliding block in the vertical direction.

[0009] Furthermore, the positions at which one end of two adjacent fourth connecting rods is eccentrically rotatedly connected to the third connecting disk are different.

[0010] Furthermore, the upper walking mechanism is as follows: a first fixed plate is provided on the upper side of the shell, and second horizontal sliding holes are respectively processed on both sides of the bottom of the first fixed plate, each second horizontal sliding hole is slidably connected with a second sliding block in a horizontal direction, each second sliding block is slidably connected to the second connecting rod in a vertical direction, the second connecting rod is slidably connected to the fourth sliding block in a vertical direction, and one end of the second connecting rod is rotatably connected to the fourth eccentric shaft; a plurality of first rotating shafts are respectively spaced apart on both sides of the first fixed plate, a first connecting disk is respectively provided at one end of each first rotating shaft, each first connecting disk is eccentrically provided with a first eccentric shaft, each first eccentric shaft is respectively rotatably connected to one end of the first connecting rod, and the other end of each first connecting rod is respectively provided with a A second electromagnet walking on the bottom surface of the beam steel plate, a first horizontal sliding hole is respectively processed on both sides of the first fixed plate, a plurality of first sliding blocks are slidably connected to each first horizontal sliding hole in a horizontal direction, each first sliding block is respectively slidably connected to the first connecting rod in a vertical direction, a second eccentric shaft is eccentrically arranged at the other end of each first rotating shaft, each second eccentric shaft is respectively rotatably connected to one end of the third connecting rod, a plurality of first vertical sliding holes are respectively arranged on both sides of the first fixed plate, each first vertical sliding hole is slidably connected to the third sliding block in a vertical direction, each third connecting rod is respectively processed with a third horizontal sliding hole slidably connected to the third sliding block in a horizontal direction, and the other end of each third connecting rod is eccentrically rotatably connected to an adjacent second connecting disk.

[0011] Furthermore, the distance between the center points of the two first connection plates is greater than the distance between the center points of the two third connection plates.

[0012] Furthermore, the lower steering mechanism is as follows: a second support frame is arranged inside the lower shell body, an eighth motor for driving the fourth transmission wheel to rotate is arranged on the second support frame, the fourth transmission wheel is rotatably connected to the second support frame, a third transmission wheel is fixedly mounted on the second support frame, the fourth transmission wheel is transmission-connected to the third transmission wheel through a second conveyor belt, one end of the fourth connecting shaft is rotatably connected to the second support frame, a second protrusion rotatably connected to the second groove inside the second support frame is arranged in a circumferential direction at one end of the fourth connecting shaft, a fourth electromagnet magnetically connected to the bottom surface of the main beam steel plate is arranged at the other end of the fourth connecting shaft, a second electric cylinder is arranged inside the lower shell body, and an output end of the second electric cylinder is fixedly connected to the second support frame.

[0013] The beneficial effects of the present invention are as follows: (1) The present invention adopts an upper walking mechanism that can walk along the bottom surface of the main beam steel plate, an upper steering mechanism that can drive the shell to turn on the bottom surface of the main beam steel plate, a lower walking mechanism that can walk along the top surface of the main beam steel plate, and a lower steering mechanism that can drive the shell to turn on the top surface of the main beam steel plate, which is convenient for movement and turning. The welding gun welds the gaps between the tops and bottoms of two adjacent main beam steel plates respectively, thereby increasing the strength of the main beam welding, improving the welding quality, and reducing the labor intensity of the workers.

[0014] (2) The present invention adopts a method of adjusting the position of the welding gun in the horizontal direction. The fourth rotating shaft drives the welding gun on the third supporting plate to rotate and adjust the position of the welding gun in the circumferential direction. The first supporting plate drives the welding gun on the connecting plate to slide in the inclined direction and adjusts the gap between the welding gun and the top of the two main beam steel plates. The fourth gear drives the connecting plate to rotate through the third connecting shaft and adjusts the angle of the welding gun on the connecting plate. The angle of the welding gun can be adjusted in all directions.

[0015] (3) The present invention adopts that during the walking process, when one of the two adjacent third electromagnets of the lower walking mechanism contacts the top surface of the main beam steel plate, one of the third electromagnets is energized, one of the third electromagnets is magnetically connected to the top surface of the main beam steel plate, the other adjacent third electromagnet is separated from the top surface of the main beam steel plate, and the other third electromagnet is de-energized; during the walking process, when one of the two adjacent second electromagnets of the upper walking mechanism contacts the bottom surface of the main beam steel plate, one of the second electromagnets is energized, one of the second electromagnets is magnetically connected to the bottom surface of the main beam steel plate, the other adjacent second electromagnet is separated from the bottom surface of the main beam steel plate, and the other second electromagnet is de-energized, so that stable walking can be performed on the top surface and the bottom surface of the main beam steel plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of an embodiment of welding the gap between two adjacent main beam steel plates by a main beam welding device of a flying swallow type arch bridge of the present invention.

[0017] Figure 2 It is a structural schematic diagram of the main beam welding device of the Feiyan arch bridge.

[0018] Figure 3 yes Figure 1 Schematic diagram of the bottom structure.

[0019] Figure 4 It is a structural schematic diagram of the upper steering mechanism.

[0020] Figure 5 It is a structural diagram of the upper walking mechanism and the lower walking mechanism.

[0021] Figure 6 yes Figure 5 Schematic diagram of the structure without the outer shell.

[0022] Figure 7 It is a schematic diagram of the bottom shell structure of the housing.

[0023] Figure 8 It is a structural schematic diagram of the second connecting disk, the third connecting rod and the third sliding block.

[0024] Fig. 9It is a structural schematic diagram of a first connecting disk, a first connecting rod and a second electromagnet.

[0025] Fig.10 It is a schematic structural diagram of a first connecting disk, a second connecting disk and a first rotating shaft.

[0026] Fig.11 It is a schematic structural diagram of the fourth connecting disk, the fifth connecting rod and the fifth sliding block.

[0027] Fig.12 It is a structural schematic diagram of the third connecting disk, the fourth connecting rod and the third electromagnet.

[0028] Fig.13 It is a structural schematic diagram of the third connecting disk, the second rotating shaft, the fourth connecting disk, the fourth eccentric shaft and the fifth connecting disk.

[0029] Fig.14 It is a schematic diagram of the structure of the shell, welding machine, sliding plate and arc support frame.

[0030] Fig.15 It is a structural diagram of the welding mechanism.

[0031] Fig.16 It is a schematic diagram of the structure of parts on the sliding plate and the arc support frame.

[0032] Fig.17 yes Fig.15 Schematic diagram of the structure from another angle.

[0033] Fig.18 It is a schematic diagram of the parts structure on the third support plate and the first support plate.

[0034] Fig.19 It is a schematic diagram of the parts structure on the connecting plate.

[0035] Fig. 20 It is a structural schematic diagram of the lower steering mechanism.

[0036] Figure numerals: 1, main beam steel plate; 2, upper shell; 3, upper steering mechanism; 301, first connecting shaft; 302, first electromagnet; 303, first electric cylinder; 304, first motor; 305, first transmission wheel; 306, first conveyor belt; 307, second transmission wheel; 308, first support frame; 4, upper walking mechanism; 401, second electromagnet; 402, first connecting rod; 403, first connecting disk; 404, first horizontal sliding hole; 405, first slider; 406, second horizontal sliding hole; 407, second slider; 408, first fixed plate; 409, second connecting rod; 410, third connecting rod; 411, third slider; 412, first a vertical sliding hole; 413, a third horizontal sliding hole; 414, a second connecting plate; 415, a first eccentric shaft; 416, a second eccentric shaft; 417, a first rotating shaft; 5, a lower walking mechanism; 501, a third connecting plate; 502, a fourth connecting rod; 503, a third electromagnet; 504, a fourth sliding block; 505, a first gear; 506, a second gear; 507, a third supporting frame; 508, a second connecting shaft; 509, a second motor; 510, a fourth connecting plate; 511, a fifth connecting rod; 512, a second vertical sliding hole; 513, a fifth sliding block; 514, a fourth horizontal sliding hole; 515, a sixth sliding block; 516, a fifth horizontal sliding hole; 517, a first three eccentric shafts; 518, fourth eccentric shaft; 519, fifth connecting plate; 520, third gear; 521, sixth horizontal sliding hole; 522, second rotating shaft; 6, housing; 7, welding mechanism; 701, sliding plate; 702, upper roller; 703, arc support frame; 704, welding machine; 705, welding pipe; 706, welding wire roller; 707, welding gun; 708, first support plate; 709, third vertical sliding hole; 710, seventh slider; 711, second support plate; 712, third motor; 713, fourth motor; 714, second fixed plate; 715, first screw rod; 716, first guide rod; 717, third support plate; 718, camera ;719, fourth gear;720, fifth motor;721, fifth gear;722, sixth motor;723, second guide rod;724, second screw rod;725, fixing block;726, seventh motor;727, third rotating shaft;728, connecting plate;729, third connecting shaft;730, first slide plate;731, fourth rotating shaft;732, second slide plate;733, lower roller;8, lower shell;9, lower steering mechanism;901, third transmission wheel;902, second conveyor belt;903, fourth transmission wheel;904, eighth motor;905, second support frame;906, second electric cylinder;907, fourth electromagnet;908, fourth connecting shaft. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0038] like Figures 1 to 3 As shown, the main beam welding device of the flying swallow arch bridge of this embodiment is composed of a main beam steel plate 1, an upper shell 2, an upper steering mechanism 3, an upper walking mechanism 4, a lower walking mechanism 5, an outer shell 6, a welding mechanism 7, a lower shell 8, and a lower steering mechanism 9.

[0039] A welding mechanism 7 for welding the gap between two adjacent main beam steel plates 1 is arranged on the outer shell 6, an upper walking mechanism 4 for moving along the bottom surface of the main beam steel plate 1 is arranged on the top of the outer shell 6, an upper shell body 2 is arranged on the top of the outer shell 6, an upper steering mechanism 3 for driving the outer shell 6 to turn is arranged on the upper shell body 2, a lower walking mechanism 5 for moving along the top surface of the main beam steel plate 1 is arranged at the bottom of the outer shell 6, a lower shell body 8 is arranged at the bottom of the outer shell 6, and a lower steering mechanism 9 for driving the outer shell 6 to turn is arranged on the lower shell body 8.

[0040] like Figure 4 As shown, the upper steering mechanism 3 is composed of a first connecting shaft 301, a first electromagnet 302, a first electric cylinder 303, a first motor 304, a first transmission wheel 305, a first conveyor belt 306, a second transmission wheel 307, and a first support frame 308.

[0041] The upper steering mechanism 3 is as follows: a first support frame 308 is arranged inside the upper shell 2, and a first motor 304 that drives the first transmission wheel 305 to rotate is arranged on the first support frame 308, the first transmission wheel 305 is rotatably connected to the bottom of the first support frame 308, a second transmission wheel 307 is fixedly installed on the bottom of the first support frame 308, the first transmission wheel 305 is transmission-connected to the second transmission wheel 307 through a first conveyor belt 306, the first support frame 308 is rotatably connected to one end of the first connecting shaft 301, a convex block that is rotatably connected to the internal groove of the first support frame 308 is arranged in the circumferential direction of one end of the first connecting shaft 301, a first electromagnet 302 that is magnetically connected to the bottom surface of the main beam steel plate 1 is arranged at the other end of the first connecting shaft 301, a first electric cylinder 303 is arranged inside the upper shell 2, and the output end of the first electric cylinder 303 is fixedly connected to the first support frame 308.

[0042] like Figure 5 to Figure 6 , Figures 8 to 10As shown, the upper walking mechanism 4 is composed of a second electromagnet 401, a first connecting rod 402, a first connecting disk 403, a first horizontal sliding hole 404, a first slider 405, a second horizontal sliding hole 406, a second slider 407, a first fixed plate 408, a second connecting rod 409, a third connecting rod 410, a third slider 411, a first vertical sliding hole 412, a third horizontal sliding hole 413, a second connecting disk 414, a first eccentric shaft 415, a second eccentric shaft 416, and a first rotating shaft 417.

[0043] The upper walking mechanism 4 is as follows: a first fixed plate 408 is arranged on the upper side of the outer shell 6, and second horizontal sliding holes 406 are respectively processed on both sides of the bottom of the first fixed plate 408, each second horizontal sliding hole 406 is connected with a second slider 407 in a horizontal sliding direction, and each second slider 407 is connected with a second connecting rod 409 in a vertical sliding direction, and the second connecting rod 409 is connected with a fourth slider 504 in a vertical sliding direction, and one end of the second connecting rod 409 is connected with the fourth eccentric shaft 518 for rotation.

[0044] Multiple first rotating shafts 417 are spaced apart on both sides of the first fixed plate 408, and a first connecting plate 403 is disposed at one end of each first rotating shaft 417, and the distance between the center points of the two first connecting plates 403 is greater than the distance between the center points of the two third connecting plates 501. Each first connecting plate 403 is eccentrically provided with a first eccentric shaft 415, and each first eccentric shaft 415 is rotatably connected to one end of the first connecting rod 402, and each first connecting rod 402 is provided with a second electromagnet 401 that moves along the bottom surface of the main beam steel plate 1 at the other end. First horizontal sliding holes 404 are processed on both sides of the first fixed plate 408, and multiple first sliders 405 are slidably connected to each first horizontal sliding hole 404 in the horizontal direction, and each first slider 405 is slidably connected to the first connecting rod 402 in the vertical direction, and each first slider 405 is slidably connected to the first connecting rod 402 in the vertical direction. A second eccentric shaft 416 is eccentrically arranged at the other end of a rotating shaft 417, and each second eccentric shaft 416 is rotatably connected to one end of a third connecting rod 410. A plurality of first vertical sliding holes 412 are respectively arranged on both sides of the first fixed plate 408, and each first vertical sliding hole 412 is slidably connected to a third sliding block 411 along a vertical direction. Each third connecting rod 410 is respectively machined with a third horizontal sliding hole 413 slidably connected to the third sliding block 411 along a horizontal direction, and the other end of each third connecting rod 410 is eccentrically rotatably connected to an adjacent second connecting disk 414.

[0045] like Figures 5 to 7 , Figures 11 to 13As shown, the lower walking mechanism 5 is composed of a third connecting plate 501, a fourth connecting rod 502, a third electromagnet 503, a fourth slider 504, a first gear 505, a second gear 506, a third support frame 507, a second connecting shaft 508, a second motor 509, a fourth connecting plate 510, a fifth connecting rod 511, a second vertical sliding hole 512, a fifth slider 513, a fourth horizontal sliding hole 514, a sixth slider 515, a fifth horizontal sliding hole 516, a third eccentric shaft 517, a fourth eccentric shaft 518, a fifth connecting plate 519, a third gear 520, a sixth horizontal sliding hole 521, and a second rotating shaft 522.

[0046] The lower walking mechanism 5 is as follows: a third support frame 507 is arranged inside the outer shell 6, and a second motor 509 that drives the third gear 520 to rotate is arranged on the third support frame 507, and a plurality of second rotating shafts 522 are arranged at intervals on both sides of the bottom of the outer shell 6, and a third connecting disk 501 is arranged at one end of each second rotating shaft 522, and a third eccentric shaft 517 is eccentrically arranged on each third connecting disk 501, and each third eccentric shaft 517 is rotatably connected to one end of the fourth connecting rod 502, and fifth horizontal sliding holes 516 are arranged on both sides of the bottom of the outer shell 6, and a plurality of sixth sliding blocks 515 are slidably connected to each fifth horizontal sliding hole 516 in a horizontal direction, and each sixth sliding block 515 is slidably connected to the fourth connecting rod 502 in a vertical direction, and the positions where one end of two adjacent fourth connecting rods 502 is eccentrically rotated with the third connecting disk 501 are different. The other end of each fourth connecting rod 502 is respectively provided with a third electromagnet 503 for walking, and the other end of each second rotating shaft 522 is respectively provided with a fourth connecting disk 510, the fourth connecting disk 510 located on the outermost side is eccentrically fixedly connected to one end of the fourth eccentric shaft 518, the other end of the fourth eccentric shaft 518 is eccentrically connected to the fifth connecting disk 519, the fifth connecting disk 519 is fixedly connected to the second gear 506, the second gear 506 is meshed with the third gear 520 for transmission, a second connecting shaft 508 is rotatably installed on the outer shell 6, and first gears 505 meshed with the second gear 506 are respectively provided at both ends of the second connecting shaft 508, each fourth eccentric shaft 518 is respectively connected to the upper walking mechanism 4, and sixth horizontal sliding holes 521 are respectively processed on both sides of the bottom of the outer shell 6, and a fourth slider 504 is slidably connected to each sixth horizontal sliding hole 521 in the horizontal direction, and each fourth slider 504 is respectively slidably connected to the upper walking mechanism 4 in the vertical direction.

[0047] Every two adjacent fourth connecting plates 510 are connected by an eccentric rotation through a fifth connecting rod 511, and each fifth connecting rod 511 is respectively processed with a fourth horizontal sliding hole 514 which is slidably connected to the fifth slider 513 along the horizontal direction, and a plurality of second vertical sliding holes 512 are respectively processed on both sides of the bottom of the outer shell 6, and each second vertical sliding hole 512 is respectively slidably connected to the fifth slider 513 along the vertical direction.

[0048] like Figures 14 to 19 As shown, the welding mechanism 7 is composed of a sliding plate 701, an upper roller 702, an arc support frame 703, a welding machine 704, a welding tube 705, a welding wire roller 706, a welding gun 707, a first support plate 708, a third vertical slide hole 709, a seventh slider 710, a second support plate 711, a third motor 712, a fourth motor 713, a second fixed plate 714, a first screw rod 715, a first guide rod 716, a third support plate 717, a camera 718, a fourth gear 719, a fifth motor 720, a fifth gear 721, a sixth motor 722, a second guide rod 723, a second screw rod 724, a fixed block 725, a seventh motor 726, a third rotating shaft 727, a connecting plate 728, a third connecting shaft 729, a first slide plate 730, a fourth rotating shaft 731, a second slide plate 732, and a lower roller 733.

[0049] The welding mechanism 7 comprises: a second fixing plate 714 is provided on one side of the housing 6, a fourth motor 713 for driving the first screw rod 715 to rotate is provided on the second fixing plate 714, the first screw rod 715 is rotatably connected to the second fixing plate 714, a first guide rod 716 is provided on the second fixing plate 714, and a first slide plate 730 is slidably connected to the first guide rod 716 along the horizontal direction, the first slide plate 730 is threadedly connected to the first screw rod 715, a third motor 712 for driving the fourth rotating shaft 731 to rotate is provided on the first slide plate 730, the fourth rotating shaft 731 is rotatably connected to the second fixing plate 714, a third supporting plate 717 is provided at one end of the fourth rotating shaft 731, two fixing blocks 725 are provided on the third supporting plate 717, a second slide plate 732 is slidably connected to the fixing block 725, a sixth motor 722 for driving the second screw rod 724 to rotate is provided on the second slide plate 732, the second screw rod 724 is rotatably connected to the third supporting plate 717, 17 is threadedly connected, one end of the second screw rod 724 is rotatably connected to the first support plate 708, and second guide rods 723 slidably connected to the third support plate 717 are respectively arranged on both sides of the first support plate 708, a fifth motor 720 for driving the fifth gear 721 to rotate is arranged on the first support plate 708, a fourth gear 719 meshing and transmitting with the fifth gear 721 is arranged on the first support plate 708, the fourth gear 719 is fixedly connected to the connecting plate 728 through a third connecting shaft 729, a camera 718 for shooting is arranged on the connecting plate 728, a seventh motor 726 for driving the third rotating shaft 727 to rotate is arranged on the connecting plate 728, the third rotating shaft 727 is rotatably connected to the connecting plate 728, the third rotating shaft 727 is fixedly connected to the welding gun 707, the welding gun 707 is connected to the welding machine 704 in the housing 6 through the welding pipe 705, and a welding wire roller 706 for winding welding wire is rotatably installed on the other side of the main beam steel plate 1, and the welding wire runs through the inside of the welding pipe 705.

[0050] A lower roller 733 slidably connected to the arc support frame 703 is provided at the bottom of the shell 6, and second support plates 711 are provided on both sides of the shell 6. A third vertical sliding hole 709 is processed on each second support plate 711. A sliding plate 701 is provided above the arc support frame 703. Seventh sliding blocks 710 slidably connected to the third vertical sliding hole 709 along the vertical direction are respectively provided on both sides of the sliding plate 701. An upper roller 702 slidably connected to the arc support frame 703 is provided at the bottom of the sliding plate 701. The arc support frame 703 is located between the upper roller 702 and the lower roller 733. The welding machine 704 is located inside the arc support frame 703 and is fixedly connected to the arc support frame 703.

[0051] like Fig. 20 As shown, the lower steering mechanism 9 is composed of a third transmission wheel 901, a second conveyor belt 902, a fourth transmission wheel 903, an eighth motor 904, a second support frame 905, a second electric cylinder 906, a fourth electromagnet 907, and a fourth connecting shaft 908.

[0052] The lower steering mechanism 9 is as follows: a second support frame 905 is arranged inside the lower shell 8, an eighth motor 904 for driving the fourth transmission wheel 903 to rotate is arranged on the second support frame 905, the fourth transmission wheel 903 is rotatably connected to the second support frame 905, a third transmission wheel 901 is fixedly mounted on the second support frame 905, the fourth transmission wheel 903 is transmission-connected to the third transmission wheel 901 through a second conveyor belt 902, one end of a fourth connecting shaft 908 is rotatably connected to the second support frame 905, a second protrusion rotatably connected to a second groove inside the second support frame 905 is arranged at one end of the fourth connecting shaft 908 in a circumferential direction, a fourth electromagnet 907 magnetically connected to the bottom surface of the main beam steel plate 1 is arranged at the other end of the fourth connecting shaft 908, a second electric cylinder 906 is arranged inside the lower shell 8, and an output end of the second electric cylinder 906 is fixedly connected to the second support frame 905.

[0053] The working principle of this embodiment is as follows: (1) when the welding gun 707 welds the gap between the tops of two adjacent main beam steel plates 1: the output shaft of the fourth motor 713 drives the first screw rod 715 to rotate, and the first slide plate 730 slides horizontally on the first screw rod 715 and the first guide rod 716. The first slide plate 730 drives the welding gun 707 on the third support plate 717 to slide horizontally through the fourth rotating shaft 731, thereby adjusting the horizontal position of the welding gun 707.

[0054] The output shaft of the third motor 712 drives the fourth rotating shaft 731 to rotate, and the fourth rotating shaft 731 drives the welding gun 707 on the third supporting plate 717 to rotate, so as to adjust the position of the welding gun 707 in the circumferential direction.

[0055] The output shaft of the sixth motor 722 on the second slide plate 732 drives the second screw rod 724 to rotate, the first support plate 708 drives the second guide rods 723 on both sides to slide on the third support plate 717, the second slide plate 732 slides on the two fixed blocks 725 of the third support plate 717, the first support plate 708 drives the welding gun 707 on the connecting plate 728 to slide in the inclined direction, and adjusts the welding gun 707 to be close to the gap between the tops of the two main beam steel plates 1, and the camera 718 is used to take pictures of the welded welds.

[0056] The output shaft of the fifth motor 720 drives the fifth gear 721 to rotate, and the fifth gear 721 drives the fourth gear 719 to rotate by meshing with the fourth gear 719. The fourth gear 719 drives the connecting plate 728 to rotate through the third connecting shaft 729, and adjusts the angle of the welding gun 707 on the connecting plate 728. The angle of the welding gun 707 can be adjusted in all directions.

[0057] When the housing 6 moves on the top of the main beam steel plate 1, the output shaft of the second motor 509 drives the third gear 520 to rotate, and the third gear 520 drives one of the second gears 506 to rotate by meshing with the second gear 506, and one of the second gears 506 drives the first gear 505 to rotate by meshing with the first gear 505 at one end, and the first gear 505 drives the second connecting shaft 508 to rotate, and the other first gear 505 on the second connecting shaft 508 drives the second gear 506 to rotate, and the second gear 506 drives the fifth connecting shaft The disk 519 rotates, the fifth connecting disk 519 drives the fourth connecting disk 510 to rotate eccentrically through the fourth eccentric shaft 518 in turn, the fourth connecting disk 510 drives the third connecting disk 501 to rotate through the second rotating shaft 522, the third connecting disk 501 drives the third eccentric shaft 517 to rotate eccentrically, the fourth connecting disk 510 drives the fourth connecting disk 510 adjacent to it to rotate through the fifth connecting rod 511, each fifth slider 513 slides in the horizontal direction in the fourth horizontal sliding hole 514 of the fifth connecting rod 511, and each fifth slider 513 slides in the fourth horizontal sliding hole 514 of the fifth connecting rod 511. The third eccentric shaft 517 on the fourth connecting plate 510 drives the fourth connecting rod 502 to slide in the sixth sliding block 515 in the vertical direction. The sixth sliding block 515 slides in the fifth horizontal sliding hole 516 at the bottom of the housing 6 in the horizontal direction. The fourth connecting rod 502 drives the third electromagnet 503 at the bottom to move in the vertical direction. When two adjacent third electromagnets 503 are in the process of walking, when one of the adjacent third electromagnets 503 contacts the top surface of the main beam steel plate 1, one of the third electromagnets 503 3 is powered on, one of the third electromagnets 503 is magnetically connected to the top surface of the main beam steel plate 1, another adjacent third electromagnet 503 is separated from the top surface of the main beam steel plate 1, and the other third electromagnet 503 is powered off. When another adjacent third electromagnet 503 is separated from the top surface of the main beam steel plate 1, the third electromagnet 503 is powered off. When another adjacent third electromagnet 503 contacts the top surface of the main beam steel plate 1, another third electromagnet 503 is powered on and is magnetically connected to the top surface of the main beam steel plate 1.

[0058] When the shell 6 turns on the top surface of the main beam steel plate 1, the output end of the second electric cylinder 906 drives the second support frame 905 to move downward in the first vertical groove inside the lower shell 8 along the vertical direction, and the second support frame 905 drives the fourth electromagnet 907 to move downward in the vertical direction through the fourth connecting shaft 908. The second groove in the second support frame 905 drives the fourth connecting shaft 908 to move in the vertical direction by engaging with the second protrusion of the fourth connecting shaft 908. The fourth electromagnet 907 extends out of the lower shell 8 and contacts with the top surface of the main beam steel plate 1. 07 is powered on, the fourth electromagnet 907 is magnetically connected to the top surface of the main beam steel plate 1, the output shaft of the eighth motor 904 drives the fourth transmission wheel 903 to rotate, the fourth transmission wheel 903 drives the third transmission wheel 901 to rotate through the second conveyor belt 902, the third transmission wheel 901 drives the lower shell 8 to rotate through the second support frame 905, the second groove in the second support frame 905 is rotatably connected with the second protrusion of the fourth connecting shaft 908, and since the second support frame 905 is engaged with the first vertical groove of the lower shell 8 during rotation, the lower shell 8 drives the outer shell 6 to rotate, thereby adjusting the direction of the outer shell 6.

[0059] (2) When the welding gun 707 is welding the gap between the bottoms of two adjacent main beam steel plates 1: the principle is the same as that of (1) above, and the angle of the welding gun 707 is adjusted in all directions.

[0060] When the shell 6 moves at the bottom of the main beam steel plate 1, the fourth eccentric shaft 518 drives the second connecting rod 409 to move in the fourth slider 504 and the second slider 407 in the vertical direction, the fourth slider 504 slides in the horizontal direction in the sixth horizontal sliding hole 521 of the shell 6, the second slider 407 slides in the horizontal direction in the second horizontal sliding hole 406 of the first fixed plate 408, one end of the second connecting rod 409 drives the second connecting disk 414 to rotate through the second eccentric shaft 416, the second connecting disk 414 drives the adjacent second connecting disk 414 to rotate through the third connecting rod 410, the third slider 411 slides in the horizontal direction in the third horizontal sliding hole 413 of the third connecting rod 410, the third slider 411 slides in the vertical direction in the first vertical sliding hole 412, the second connecting disk 414 drives the first connecting disk 403 to rotate through the first rotating shaft 417, the first connecting disk 403 drives the first connecting rod 402 to move through the first eccentric shaft 415, and the first connecting The rod 402 moves in the vertical direction in the first slider 405, the first slider 405 moves in the horizontal direction in the first horizontal sliding hole 404, and the first connecting rod 402 drives the second electromagnet 401 to move in the vertical direction. During the walking process of two adjacent second electromagnets 401, when one of the adjacent second electromagnets 401 contacts the bottom surface of the main beam steel plate 1, one of the second electromagnets 401 is energized, one of the second electromagnets 401 is magnetically connected to the bottom surface of the main beam steel plate 1, and another adjacent second electromagnet 401 is separated from the bottom surface of the main beam steel plate 1, and the other second electromagnet 401 is powered off. When another adjacent second electromagnet 401 is separated from the bottom surface of the main beam steel plate 1, the second electromagnet 401 is powered off. When another adjacent second electromagnet 401 contacts the bottom surface of the main beam steel plate 1, the other second electromagnet 401 is energized, and the other second electromagnet 401 is magnetically connected to the bottom surface of the main beam steel plate 1.

[0061] When the shell 6 turns on the bottom of the main beam steel plate 1, the output end of the first electric cylinder 303 drives the first support frame 308 to move upward in the vertical direction on the second vertical groove inside the upper shell 2, and the first groove in the first support frame 308 drives the first connecting shaft 301 to move upward in the vertical direction by engaging with the first protrusion in the circumferential direction of the first connecting shaft 301. The first electromagnet 302 extends out of the upper shell 2, and the first electromagnet 302 contacts the bottom surface of the main beam steel plate 1. The first electromagnet 302 is energized, and the first electromagnet 302 is connected to the main beam steel plate 1, the output shaft of the first motor 304 drives the first transmission wheel 305 to rotate, the first transmission wheel 305 drives the second transmission wheel 307 to rotate through the first conveyor belt 306, the second transmission wheel 307 drives the first support frame 308 and the upper shell 2 to rotate, the first groove in the first support frame 308 is rotatably connected with the first protrusion in the circumferential direction of the first connecting shaft 301, and since the first support frame 308 is engaged with the second vertical groove of the upper shell 2 during the rotation process, the upper shell 2 drives the outer shell 6 to rotate, thereby adjusting the direction of the outer shell 6.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention.

Claims

1. A main beam welding device for a flying swallow arch bridge, characterized in that: A welding mechanism (7) for welding the gap between two adjacent main beam steel plates (1) is provided on the outer shell (6); an upper walking mechanism (4) for walking along the bottom surface of the main beam steel plate (1) is provided on the top of the outer shell (6); an upper shell (2) is provided on the top of the outer shell (6); an upper steering mechanism (3) for driving the outer shell (6) to turn is provided on the upper shell (2); a lower walking mechanism (5) for walking along the top surface of the main beam steel plate (1) is provided on the bottom of the outer shell (6); a lower shell (8) is provided on the bottom of the outer shell (6); and a lower steering mechanism (9) for driving the outer shell (6) to turn is provided on the lower shell (8); The welding mechanism (7) comprises: a second fixing plate (714) is arranged on one side of the housing (6); a fourth motor (713) for driving a first screw rod (715) to rotate is arranged on the second fixing plate (714); the first screw rod (715) is rotatably connected to the second fixing plate (714); a first guide rod (716) is arranged on the second fixing plate (714) and is located on both sides of the first screw rod (715); a first slide plate (730) is slidably connected to the first guide rod (716) in a horizontal direction; and the first slide plate (730) is threadedly connected to the first screw rod (715). The first slide plate (730) is provided with a third motor (712) for driving a fourth rotating shaft (731) to rotate. The fourth rotating shaft (731) is rotatably connected to the second fixed plate (714). A third support plate (717) is provided at one end of the fourth rotating shaft (731). Two fixed blocks (725) are provided on the third support plate (717). The fixed blocks (725) are slidably connected to the second slide plate (732). The second slide plate (732) is provided with a sixth motor (722) for driving a second screw rod (724) to rotate. The second screw rod (724) is rotatably connected to the third support plate. (717) is threadedly connected, one end of the second screw rod (724) is rotatably connected to the first support plate (708), and second guide rods (723) slidably connected to the third support plate (717) are respectively arranged on both sides of the first support plate (708), a fifth motor (720) for driving the fifth gear (721) to rotate is arranged on the first support plate (708), a fourth gear (719) meshing with the fifth gear (721) is arranged on the first support plate (708), and the fourth gear (719) is fixed to the connecting plate (728) through a third connecting shaft (729). The connecting plate (728) is fixedly connected, a camera (718) for shooting is arranged on the connecting plate (728), a seventh motor (726) for driving the third rotating shaft (727) to rotate is arranged on the connecting plate (728), the third rotating shaft (727) is rotatably connected to the connecting plate (728), the third rotating shaft (727) is fixedly connected to the welding gun (707), the welding gun (707) is connected to the welding machine (704) in the housing (6) through the welding pipe (705), and a welding wire roller (706) wound with welding wire is rotatably installed on the other side of the main beam steel plate (1), and the welding wire runs through the inside of the welding pipe (705).

2. The main beam welding device of the flying swallow arch bridge according to claim 1 is characterized in that: The bottom of the shell (6) is provided with a lower roller (733) slidably connected to the circular arc support frame (703); second support plates (711) are provided on both sides of the shell (6); each second support plate (711) is processed with a third vertical sliding hole (709); a sliding plate (701) is provided above the circular arc support frame (703); seventh sliding blocks (710) slidably connected to the third vertical sliding holes (709) along a vertical direction are provided on both sides of the sliding plate (701); an upper roller (702) slidably connected to the circular arc support frame (703) is provided at the bottom of the sliding plate (701); the circular arc support frame (703) is located between the upper roller (702) and the lower roller (733); and the welding machine (704) is located inside the circular arc support frame (703) and is fixedly connected to the circular arc support frame (703).

3. The main beam welding device of the flying swallow arch bridge according to claim 1 is characterized in that: The upper steering mechanism (3) comprises: a first support frame (308) is arranged inside the upper shell (2); a first motor (304) is arranged on the first support frame (308) for driving the first transmission wheel (305) to rotate; the first transmission wheel (305) is rotatably connected to the bottom of the first support frame (308); a second transmission wheel (307) is fixedly installed on the bottom of the first support frame (308); the first transmission wheel (305) is transmission-connected to the second transmission wheel (307) via a first conveyor belt (306); The first support frame (308) is rotatably connected to one end of the first connecting shaft (301); a first protrusion rotatably connected to a first groove inside the first support frame (308) is provided at one end of the first connecting shaft (301) in a circumferential direction; a first electromagnet (302) magnetically connected to the bottom surface of the main beam steel plate (1) is provided at the other end of the first connecting shaft (301); a first electric cylinder (303) is provided inside the upper shell (2); and an output end of the first electric cylinder (303) is fixedly connected to the first support frame (308).

4. The main beam welding device of the flying swallow arch bridge according to claim 1 is characterized in that: The lower walking mechanism (5) comprises: a third support frame (507) is arranged inside the housing (6); a second motor (509) for driving the third gear (520) to rotate is arranged on the third support frame (507); a plurality of second rotating shafts (522) are arranged at intervals on both sides of the bottom of the housing (6); a third connecting disk (501) is arranged at one end of each second rotating shaft (522); a third eccentric shaft (517) is eccentrically arranged on each third connecting disk (501); each third eccentric shaft (517) is rotatably connected to one end of a fourth connecting rod (502); fifth horizontal sliding holes (516) are arranged at both sides of the bottom of the housing (6); a plurality of sixth sliding blocks (515) are slidably connected to each fifth horizontal sliding hole (516) in a horizontal direction; each sixth sliding block (515) is slidably connected to the fourth connecting rod (502) in a vertical direction; a third electromagnet (503) for walking is arranged at the other end of each fourth connecting rod (502); and a plurality of sixth sliding blocks (515) are slidably connected to the fourth connecting rod (502) in a vertical direction. A fourth connecting disk (510) is respectively arranged at the other end of each second rotating shaft (522); the fourth connecting disk (510) located on the outermost side is eccentrically fixedly connected to one end of the fourth eccentric shaft (518); the other end of the fourth eccentric shaft (518) is eccentrically connected to the fifth connecting disk (519); the fifth connecting disk (519) is fixedly connected to the second gear (506); the second gear (506) and the third gear (520) are meshed for transmission; a second connecting shaft (508) is rotatably mounted on the housing (6); first gears (505) meshed for transmission with the second gear (506) are respectively arranged at both ends of the second connecting shaft (508); each fourth eccentric shaft (518) is respectively connected to the upper walking mechanism (4); sixth horizontal sliding holes (521) are respectively machined on both sides of the bottom of the housing (6); a fourth sliding block (504) is slidably connected to each sixth horizontal sliding hole (521) in a horizontal direction; each fourth sliding block (504) is respectively slidably connected to the upper walking mechanism (4) in a vertical direction; Every two adjacent fourth connection plates (510) are eccentrically rotationally connected via a fifth connection rod (511), each fifth connection rod (511) is respectively machined with a fourth horizontal sliding hole (514) connected to a fifth sliding block (513) in a horizontal sliding direction, and a plurality of second vertical sliding holes (512) are respectively machined on both sides of the bottom of the housing (6), and each second vertical sliding hole (512) is respectively connected to a fifth sliding block (513) in a vertical sliding direction.

5. The main beam welding device of the flying swallow arch bridge according to claim 4 is characterized in that: The positions at which one end of two adjacent fourth connecting rods (502) is eccentrically rotatedly connected to the third connecting disk (501) are different.

6. The main beam welding device of the flying swallow arch bridge according to claim 4 is characterized in that: The upper walking mechanism (4) comprises: a first fixing plate (408) is arranged on the upper side of the housing (6); second horizontal sliding holes (406) are respectively processed on both sides of the bottom of the first fixing plate (408); each second horizontal sliding hole (406) is connected to a second sliding block (407) in a sliding manner in the horizontal direction; each second sliding block (407) is connected to a second connecting rod (409) in a sliding manner in the vertical direction; the second connecting rod (409) is connected to a fourth sliding block (504) in a sliding manner in the vertical direction; and one end of the second connecting rod (409) is connected to a fourth eccentric shaft (518) in a rotational manner; A plurality of first rotating shafts (417) are arranged at intervals on both sides of the first fixed plate (408), a first connecting plate (403) is arranged at one end of each first rotating shaft (417), a first eccentric shaft (415) is eccentrically arranged on each first connecting plate (403), each first eccentric shaft (415) is rotatably connected to one end of a first connecting rod (402), and a second electromagnet (401) that moves along the bottom surface of the main beam steel plate (1) is arranged at the other end of each first connecting rod (402), first horizontal sliding holes (404) are processed on both sides of the first fixed plate (408), and a plurality of first sliding blocks (405) are slidably connected to each first horizontal sliding hole (404) in a horizontal direction, and each first sliding block (405) The first connecting rod (405) is respectively connected to the first connecting rod (402) in a sliding manner in a vertical direction, the other end of each first rotating shaft (417) is eccentrically provided with a second eccentric shaft (416), each second eccentric shaft (416) is respectively connected to one end of the third connecting rod (410) in a rotational manner, a plurality of first vertical sliding holes (412) are respectively provided on both sides of the first fixing plate (408), each first vertical sliding hole (412) is connected to a third sliding block (411) in a sliding manner in a vertical direction, each third connecting rod (410) is respectively processed with a third horizontal sliding hole (413) connected to the third sliding block (411) in a sliding manner in a horizontal direction, and the other end of each third connecting rod (410) is respectively connected to an adjacent second connecting disk (414) in an eccentric rotational manner.

7. The main beam welding device of the flying swallow arch bridge according to claim 6 is characterized in that: The distance between the center points of the two first connection plates (403) is greater than the distance between the center points of the two third connection plates (501).

8. The main beam welding device of the flying swallow arch bridge according to claim 1 is characterized in that: The lower steering mechanism (9) comprises: a second support frame (905) is arranged inside the lower shell (8); an eighth motor (904) is arranged on the second support frame (905) for driving a fourth transmission wheel (903) to rotate; the fourth transmission wheel (903) is rotationally connected to the second support frame (905); a third transmission wheel (901) is fixedly mounted on the second support frame (905); the fourth transmission wheel (903) is transmission-connected to the third transmission wheel (901) via a second conveyor belt (902); One end of the connecting shaft (908) is rotatably connected to the second support frame (905), a second protrusion rotatably connected to a second groove inside the second support frame (905) is provided at one end of the fourth connecting shaft (908) in a circumferential direction, and a fourth electromagnet (907) magnetically connected to the bottom surface of the main beam steel plate (1) is provided at the other end of the fourth connecting shaft (908), a second electric cylinder (906) is provided inside the lower shell (8), and an output end of the second electric cylinder (906) is fixedly connected to the second support frame (905).

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