A main beam welding device for a flying swallow type arch bridge

Abstract

The present invention discloses a main beam welding device for a flying swallow type arch bridge, belonging to the technical field of welding equipment. A welding mechanism is provided on the outer shell, an upper traveling mechanism for traveling along the bottom surface of the main beam steel plate is provided on the top of the outer shell, an upper shell body is provided on the top of the outer shell, an upper steering mechanism is provided on the upper shell body, a lower traveling mechanism for traveling along the top surface of the main beam steel plate is provided on the bottom of the outer shell, a lower shell body is provided at the bottom of the outer shell, and a lower steering mechanism for driving the outer shell to turn is provided on the lower shell body. Through the upper traveling mechanism, the device can travel along the bottom surface of the main beam steel plate, the upper steering mechanism can drive the outer shell to turn on the bottom surface of the main beam steel plate, the lower traveling mechanism can travel along the top surface of the main beam steel plate, and the lower steering mechanism can drive the outer shell to turn on the top surface of the main beam steel plate, which is convenient for movement and turning. The welding torch welds the gaps between the tops and bottoms of adjacent two main beam steel plates respectively, increasing the welding strength of the main beam, improving the welding quality, and reducing the labor intensity of workers.

Description

Technical Field

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

[0002] The main beam of a flying swallow type arch bridge is welded to enhance the bearing capacity and stiffness of the main beam. Welding can resist cracks and fatigue, reduce the risk of cracks caused by stress concentration at the joint of steel plates, and improve the stability of the bridge under load. Therefore, it is necessary to ensure the welding quality to guarantee the long-term use safety of the bridge.

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

[0004] The technical problem to be solved by the present invention is to overcome the above-mentioned disadvantages of the prior art and provide a main beam welding device for a flying swallow type arch bridge with high welding efficiency, convenient adjustment of the angle of the welding torch, and convenient movement and turning.

[0005] The technical solution adopted to solve the above technical problems is as follows: A welding mechanism for welding the gaps between adjacent main beam steel plates is provided on the outer shell. An upper traveling mechanism that travels along the bottom surface of the main beam steel plate is provided on the top of the outer shell. An upper housing is provided on the top of the outer shell, and an upper steering mechanism for driving the outer shell to turn is provided on the upper housing. A lower traveling mechanism that travels along the top surface of the main beam steel plate is provided on the bottom of the outer shell. A lower housing is provided on the bottom of the outer shell, and a lower steering mechanism for driving the outer shell to turn is provided on the lower housing; The welding mechanism is as follows: A second fixed plate is provided on one side of the outer shell. A fourth motor for driving the first lead screw to rotate is provided on the second fixed plate. The first lead screw is rotatably connected to the second fixed plate. First guide rods are provided on both sides of the first lead screw on the second fixed plate. A first sliding plate is slidably connected to the first guide rods in the horizontal direction. The first sliding plate is threadedly connected to the first lead screw. A third motor for driving the fourth rotating shaft to rotate is provided on the first sliding plate. The fourth rotating shaft is rotatably connected to the second fixed plate. 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 sliding plate is slidably connected to the fixed blocks. A sixth motor for driving the second lead screw to rotate is provided on the second sliding plate. The second lead screw is threadedly connected to the third support plate. One end of the second lead screw is rotatably connected to the first support plate. Second guide rods that are slidably connected to the third support plate are respectively provided on both sides of the first support plate. A fifth motor for driving the fifth gear to rotate is provided on the first support plate. A fourth gear that meshes and drives with the fifth gear is provided on the first support plate. The fourth gear is fixedly connected to the connecting plate through the third connecting shaft. A camera for photographing is provided on the connecting plate. A seventh motor for 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 torch. The welding torch is connected to the welding machine in the outer shell through a welding pipe. A wire roller for winding the welding wire is rotatably installed on the other side of the main beam steel plate. The welding wire passes through the inside of the welding pipe.

[0006] Further, lower rollers that are slidably connected to the arc support frame are provided on the inner bottom of the outer shell. Second support plates are provided on both sides of the outer shell. A third vertical sliding hole is machined on each second support plate. A sliding plate is provided above the arc support frame. Seventh sliders that are slidably connected to the third vertical sliding holes in the vertical direction are respectively provided on both sides of the sliding plate. Upper rollers that are slidably connected to the arc support frame are provided on the bottom of the sliding plate. The arc support frame is located between the upper rollers and the lower rollers. The welding machine is located inside the arc support frame and is fixedly connected to the arc support frame.

[0007] Further, the upper steering mechanism is as follows: A first support frame is arranged inside the upper housing. A first motor for driving a 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 at the bottom of the first support frame. The first transmission wheel is connected to the second transmission wheel through a first conveyor belt. One end of the first support frame is rotatably connected to one end of a first connecting shaft. A first convex block rotatably connected to a first inner groove of the first support frame is arranged in the 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 housing. The output end of the first electric cylinder is fixedly connected to the first support frame.

[0008] Further, the lower traveling mechanism is as follows: A third support frame is arranged inside the outer shell. A second motor for driving a third gear to rotate is arranged on the third support frame. A plurality of second rotating shafts are respectively arranged at intervals on both sides of the bottom of the outer shell. A third connecting disk is arranged at one end of each second rotating shaft. A third eccentric shaft is eccentrically arranged on each third connecting disk. One end of each third eccentric shaft is rotatably connected to one end of a fourth connecting rod. Fifth horizontal sliding holes are respectively arranged on both sides of the bottom of the outer shell. A plurality of sixth sliding blocks are respectively slidably connected along the horizontal direction on each fifth horizontal sliding hole. Each sixth sliding block is slidably connected to the fourth connecting rod along the vertical direction. A third electromagnet for traveling is arranged at the other end of each fourth connecting rod. A fourth connecting disk is arranged at the other end of each second rotating shaft. The fourth connecting disk located on the outermost side is eccentrically fixedly connected to one end of a fourth eccentric shaft. The other end of the fourth eccentric shaft is eccentrically connected to a fifth connecting disk. The fifth connecting disk is fixedly connected to a second gear. The second gear is in meshing transmission with the third gear. A second connecting shaft is rotatably installed on the outer shell. First gears in meshing transmission with the second gear are respectively arranged at both ends of the second connecting shaft. Each fourth eccentric shaft is respectively connected to the upper traveling mechanism. Sixth horizontal sliding holes are respectively machined on both sides of the bottom of the outer shell. A fourth sliding block is slidably connected along the horizontal direction on each sixth horizontal sliding hole. Each fourth sliding block is slidably connected to the upper traveling mechanism along the vertical direction; Every two adjacent fourth connecting disks are eccentrically rotatably connected through a fifth connecting rod. A fourth horizontal sliding hole for slidably connecting with the fifth sliding block along the horizontal direction is respectively machined on each fifth connecting rod. A plurality of second vertical sliding holes are respectively machined on both sides of the bottom of the outer shell. Each second vertical sliding hole is slidably connected to the fifth sliding block along the vertical direction.

[0009] Further, the positions where one ends of two adjacent fourth connecting rods are eccentrically rotatably connected to the third connecting disk are different.

[0010] Further, the upper traveling mechanism is as follows: on the upper side of the outer shell, there is a first fixing plate. On both sides of the bottom of the first fixing plate, second horizontal sliding holes are respectively machined. Each second horizontal sliding hole is slidably connected with a second slider in the horizontal direction. Each second slider is respectively slidably connected with a second connecting rod in the vertical direction. The second connecting rod is slidably connected with a fourth slider in the vertical direction. One end of the second connecting rod is rotatably connected with a fourth eccentric shaft. On both sides of the first fixing plate, a plurality of first rotating shafts are respectively arranged at intervals. One end of each first rotating shaft is respectively provided with a first connecting disk. Each first connecting disk is eccentrically provided with a first eccentric shaft. Each first eccentric shaft is respectively rotatably connected with one end of a first connecting rod. The other end of each first connecting rod is respectively provided with a second electromagnet that travels along the bottom surface of the main beam steel plate. On both sides of the first fixing plate, first horizontal sliding holes are respectively machined. On each first horizontal sliding hole, a plurality of first sliders are slidably connected in the horizontal direction. Each first slider is respectively slidably connected with a first connecting rod in the vertical direction. The other end of each first rotating shaft is respectively eccentrically provided with a second eccentric shaft. Each second eccentric shaft is respectively rotatably connected with one end of a third connecting rod. On both sides of the first fixing plate, a plurality of first vertical sliding holes are respectively provided. Each first vertical sliding hole is slidably connected with a third slider in the vertical direction. Each third connecting rod is respectively machined with a third horizontal sliding hole that is slidably connected with the third slider in the horizontal direction. The other end of each third connecting rod is respectively eccentrically and rotatably connected with an adjacent second connecting disk.

[0011] Further, the distance between the centers of the two first connecting disks is greater than the distance between the centers of the two third connecting disks.

[0012] Further, the lower steering mechanism is as follows: inside the lower housing, there is a second support frame. On the second support frame, there is an eighth motor that drives a fourth transmission wheel to rotate. The fourth transmission wheel is rotatably connected with the second support frame. On the second support frame, a third transmission wheel is fixedly installed. The fourth transmission wheel is in transmission connection with the third transmission wheel through a second conveyor belt. One end of a fourth connecting shaft is rotatably connected with the second support frame. On the circumferential direction of one end of the fourth connecting shaft, there is a second convex block that is rotatably connected with a second groove inside the second support frame. The other end of the fourth connecting shaft is provided with a fourth electromagnet that is magnetically connected with the bottom surface of the main beam steel plate. Inside the lower housing, there is a second electric cylinder. The output end of the second electric cylinder is fixedly connected with the second support frame.

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

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

[0015] (3) In the present invention, during the walking process of two adjacent third electromagnets of the lower walking mechanism, when one of the adjacent third electromagnets contacts the top surface of the main beam steel plate, one of the third electromagnets is energized, and 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 of two adjacent second electromagnets of the upper walking mechanism, when one of the adjacent second electromagnets contacts the bottom surface of the main beam steel plate, one of the second electromagnets is energized, and 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, and can walk stably on the top surface and the bottom surface of the main beam steel plate. Description of the Drawings

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

[0017] Figure 2 is a schematic structural diagram of the main beam welding device of the flying swallow type arch bridge.

[0018] Figure 3 is Figure 1 the schematic bottom structure diagram of

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

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

[0021] Figure 6 is Figure 5 the schematic structural diagram after removing the outer shell in

[0022] Figure 7 is a schematic structural diagram of the bottom shell of the outer shell.

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

[0024] Figure 9It is a schematic structural diagram of the first connecting plate, the first connecting rod, and the second electromagnet.

[0025] Figure 10 It is a schematic structural diagram of the first connecting plate, the second connecting plate, and the first rotating shaft.

[0026] Figure 11 It is a schematic structural diagram of the fourth connecting plate, the fifth connecting rod, and the fifth slider.

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

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

[0029] Figure 14 It is a schematic structural diagram of the housing, the welding machine, the sliding plate, and the arc support frame.

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

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

[0032] Figure 17 It is Figure 15 A schematic structural diagram from another angle.

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

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

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

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

[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 Figures 5 to 6 , Figures 8 to 10As shown in the figure, the upper traveling 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 fixing 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 traveling mechanism 4 is configured as follows: A first fixing plate 408 is provided on the upper side of the housing 6. Second horizontal sliding holes 406 are respectively machined on both sides of the bottom of the first fixing plate 408. Each second horizontal sliding hole 406 is slidably connected with a second slider 407 in the horizontal direction. Each second slider 407 is respectively slidably connected with a second connecting rod 409 in the vertical direction. The second connecting rod 409 is slidably connected with a fourth slider 504 in the vertical direction. One end of the second connecting rod 409 is rotatably connected with a fourth eccentric shaft 518.

[0044] A plurality of first rotating shafts 417 are respectively arranged at intervals on both sides of the first fixing plate 408. A first connecting disk 403 is respectively arranged at one end of each first rotating shaft 417. The distance between the centers of the two first connecting disks 403 is greater than the distance between the centers of the two third connecting disks 501. A first eccentric shaft 415 is respectively arranged eccentrically on each first connecting disk 403. Each first eccentric shaft 415 is respectively rotatably connected with one end of a first connecting rod 402. A second electromagnet 401 that travels along the bottom surface of the main beam steel plate 1 is respectively arranged at the other end of each first connecting rod 402. First horizontal sliding holes 404 are respectively machined on both sides of the first fixing plate 408. A plurality of first sliders 405 are slidably connected in the horizontal direction on each first horizontal sliding hole 404. Each first slider 405 is respectively slidably connected with a first connecting rod 402 in the vertical direction. A second eccentric shaft 416 is respectively arranged eccentrically at the other end of each first rotating shaft 417. Each second eccentric shaft 416 is respectively rotatably connected with 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 fixing plate 408. Each first vertical sliding hole 412 is slidably connected with a third slider 411 in the vertical direction. Each third connecting rod 410 is respectively machined with a third horizontal sliding hole 413 that is slidably connected with the third slider 411 in the horizontal direction. The other end of each third connecting rod 410 is respectively eccentrically and rotatably connected with an adjacent second connecting disk 414.

[0045] As Figures 5 to 7 、 Figures 11 to 13As shown in the figure, the lower traveling mechanism 5 is composed of a third connecting disk 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 disk 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 disk 519, a third gear 520, a sixth horizontal sliding hole 521, and a second rotating shaft 522.

[0046] The lower traveling mechanism 5 is configured as follows: Inside the housing 6, a third support frame 507 is provided. On the third support frame 507, a second motor 509 for driving the third gear 520 to rotate is provided. On both sides of the bottom of the housing 6, a plurality of second rotating shafts 522 are respectively arranged at intervals. At one end of each second rotating shaft 522, a third connecting disk 501 is respectively provided. Each third connecting disk 501 is eccentrically provided with a third eccentric shaft 517. One end of each third eccentric shaft 517 is respectively rotationally connected to one end of a fourth connecting rod 502. On both sides of the bottom of the housing 6, fifth horizontal sliding holes 516 are respectively provided. On each fifth horizontal sliding hole 516, a plurality of sixth sliders 515 are respectively slidably connected in the horizontal direction. Each sixth slider 515 is respectively slidably connected to the fourth connecting rod 502 in the vertical direction. The positions where one end of two adjacent fourth connecting rods 502 is eccentrically rotationally connected to the third connecting disk 501 are different. At the other end of each fourth connecting rod 502, a third electromagnet 503 for traveling is respectively provided. At the other end of each second rotating shaft 522, a fourth connecting disk 510 is respectively provided. The fourth connecting disk 510 at the outermost side is eccentrically fixedly connected to one end of a fourth eccentric shaft 518. The other end of the fourth eccentric shaft 518 is eccentrically connected to a fifth connecting disk 519. The fifth connecting disk 519 is fixedly connected to the second gear 506. The second gear 506 is meshed and driven with the third gear 520. A second connecting shaft 508 is rotatably installed on the housing 6. At both ends of the second connecting shaft 508, first gears 505 meshed and driven with the second gear 506 are respectively provided. Each fourth eccentric shaft 518 is respectively connected to the upper traveling mechanism 4. On both sides of the bottom of the housing 6, sixth horizontal sliding holes 521 are respectively machined. On each sixth horizontal sliding hole 521, a fourth slider 504 is slidably connected in the horizontal direction. Each fourth slider 504 is respectively slidably connected to the upper traveling mechanism 4 in the vertical direction.

[0047] Every two adjacent fourth connecting disks 510 are eccentrically rotationally connected by a fifth connecting rod 511. On each fifth connecting rod 511, a fourth horizontal sliding hole 514 slidably connected to a fifth slider 513 in the horizontal direction is respectively machined. On both sides of the bottom of the housing 6, a plurality of second vertical sliding holes 512 are respectively machined. Each second vertical sliding hole 512 is respectively slidably connected to the fifth slider 513 in the vertical direction.

[0048] As shown Figures 14 to 19 in the figure, the welding mechanism 7 is composed of a sliding plate 701, upper rollers 702, an arc support frame 703, a welding machine 704, a welding pipe 705, a wire roller 706, a welding torch 707, a first support plate 708, a third vertical sliding hole 709, a seventh slider 710, a second support plate 711, a third motor 712, a fourth motor 713, a second fixing plate 714, a first lead screw 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 lead screw 724, a fixing block 725, a seventh motor 726, a third rotating shaft 727, a connecting plate 728, a third connecting shaft 729, a first sliding plate 730, a fourth rotating shaft 731, a second sliding plate 732, and lower rollers 733 connected together.

[0049] The welding mechanism 7 is as follows: on one side of the outer shell 6, there is a second fixing plate 714. On the second fixing plate 714, there is a fourth motor 713 that drives the first lead screw 715 to rotate. The first lead screw 715 is rotatably connected to the second fixing plate 714. On the second fixing plate 714, there are first guide rods 716 located on both sides of the first lead screw 715. A first sliding plate 730 is slidably connected to the first guide rods 716 in the horizontal direction. The first sliding plate 730 is threadedly connected to the first lead screw 715. On the first sliding plate 730, there is a third motor 712 that drives the fourth rotating shaft 731 to rotate. The fourth rotating shaft 731 is rotatably connected to the second fixing plate 714. One end of the fourth rotating shaft 731 is provided with a third support plate 717. On the third support plate 717, there are two fixing blocks 725. A second sliding plate 732 is slidably connected to the fixing blocks 725. On the second sliding plate 732, there is a sixth motor 722 that drives the second lead screw 724 to rotate. The second lead screw 724 is threadedly connected to the third support plate 717. One end of the second lead screw 724 is rotatably connected to the first support plate 708. On both sides of the first support plate 708, there are second guide rods 723 that are slidably connected to the third support plate 717. On the first support plate 708, there is a fifth motor 720 that drives the fifth gear 721 to rotate. On the first support plate 708, there is a fourth gear 719 that meshes with the fifth gear 721 for transmission. The fourth gear 719 is fixedly connected to the connecting plate 728 through a third connecting shaft 729. On the connecting plate 728, there is a camera 718 for taking pictures. On the connecting plate 728, there is a seventh motor 726 that drives the third rotating shaft 727 to rotate. The third rotating shaft 727 is rotatably connected to the connecting plate 728. The third rotating shaft 727 is fixedly connected to the welding torch 707. The welding torch 707 is connected to the welding machine 704 in the outer shell 6 through a welding pipe 705. On the other side of the main beam steel plate 1, a wire roller 706 for winding the welding wire is rotatably installed. The welding wire passes 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 Figure 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 lead screw 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 torch 707 on the connecting plate 728 to slide in an inclined direction, adjusting the welding torch 707 to be close to the gap between the tops of the two main beam steel plates 1. The camera 718 is used to take pictures of the welded weld seams.

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

[0057] When the outer shell 6 walks 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. The third gear 520 drives one of the second gears 506 to rotate through meshing transmission with the second gear 506. One of the second gears 506 drives the first gear 505 to rotate through meshing transmission with the first gear 505 at one end. The first gear 505 drives the second connecting shaft 508 to rotate. Another first gear 505 on the second connecting shaft 508 drives the second gear 506 to rotate. The second gear 506 drives the fifth connecting disk 519 to rotate. The fifth connecting disk 519 drives the fourth connecting disk 510 to rotate eccentrically through the fourth eccentric shaft 518 in sequence. 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 adjacent fourth connecting disk 510 to rotate respectively through the fifth connecting rod 511. Each fifth slider 513 slides horizontally in the fourth horizontal sliding hole 514 of the fifth connecting rod 511 respectively. Each fifth slider 513 slides vertically in the second vertical sliding hole 512 respectively. The third eccentric shaft 517 on the fourth connecting disk 510 drives the fourth connecting rod 502 to slide vertically in the sixth slider 515. The sixth slider 515 slides horizontally in the fifth horizontal sliding hole 516 at the upper bottom of the outer shell 6. The fourth connecting rod 502 drives the third electromagnet 503 at the bottom to move vertically. During the walking of two adjacent third electromagnets 503, 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 is energized, and one of the third electromagnets 503 is magnetically connected to the top surface of the main beam steel plate 1. The adjacent other third electromagnet 503 is separated from the top surface of the main beam steel plate 1, and the other third electromagnet 503 is de-energized. When the adjacent other third electromagnet 503 is separated from the top surface of the main beam steel plate 1, the third electromagnet 503 is de-energized. When the adjacent other third electromagnet 503 contacts the top surface of the main beam steel plate 1, the other third electromagnet 503 is energized, and the other third electromagnet 503 is magnetically connected to the top surface of the main beam steel plate 1.

[0058] When the outer 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 in the vertical direction. 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 convex block of the fourth connecting shaft 908. The fourth electromagnet 907 extends out of the lower shell 8, and the fourth electromagnet 907 contacts the top surface of the main beam steel plate 1. The fourth electromagnet 907 is energized, and 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 to the second convex block of the fourth connecting shaft 908. 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 turning direction of the outer shell 6.

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

[0060] When the housing 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 vertically in the fourth slider 504 and the second slider 407. The fourth slider 504 slides horizontally in the sixth horizontal sliding hole 521 of the housing 6, and the second slider 407 slides horizontally in the second horizontal sliding hole 406 of the first fixing 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 horizontally in the third horizontal sliding hole 413 of the third connecting rod 410 and slides vertically 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. The first connecting rod 402 moves vertically in the first slider 405, and the first slider 405 moves horizontally in the first horizontal sliding hole 404. The first connecting rod 402 drives the second electromagnet 401 to move vertically. 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, and one of the second electromagnets 401 is magnetically connected to the bottom surface of the main beam steel plate 1. The other adjacent second electromagnet 401 is separated from the bottom surface of the main beam steel plate 1, and the other second electromagnet 401 is de-energized. When the other adjacent second electromagnet 401 is separated from the bottom surface of the main beam steel plate 1, the second electromagnet 401 is de-energized. When the other 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 housing 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 vertically upward along the second vertical groove inside the upper housing 2. The first groove in the first support frame 308 drives the first connecting shaft 301 to move vertically upward by engaging with the first convex block on the circumferential direction of the first connecting shaft 301. The first electromagnet 302 extends out of the upper housing 2 and contacts the bottom surface of the main beam steel plate 1. The first electromagnet 302 is energized, and the first electromagnet 302 is magnetically connected to the bottom surface of 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 housing 2 to rotate. The first groove in the first support frame 308 is rotatably connected to the first convex block on the circumferential direction of the first connecting shaft 301. Since the first support frame 308 is engaged with the second vertical groove of the upper housing 2 during the rotation process, the upper housing 2 drives the housing 6 to rotate, thereby adjusting the turning direction of the housing 6.

[0062] The above 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 passes through the inside of the welding pipe (705); 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 rotatably connected via a fifth connection rod (511), each fifth connection rod (511) is respectively processed 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 processed 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; 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; 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.

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 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).

5. 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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