Multifunctional operation equipment in split type arched girder combination section and using method of multifunctional operation equipment

Abstract

The invention relates to the technical field of automatic welding, in particular to split type arched girder combined section internal multifunctional operation equipment and a using method thereof, and the equipment is used for achieving welding, grinding, sweeping or spraying operation of an arch rib and a steel box girder in a narrow space. Relative position adjustment can be conducted in the vertical direction to achieve obstacle crossing, and relative position adjustment can also be conducted in the horizontal direction to achieve turning. The rotating disc is rotatably supported on the walking crawler belt; one end of the snakelike transfer mechanism is connected with the rotating disc and can be wound on the rotating disc, then the snakelike transfer mechanism extends out through rotation of the rotating disc, the other end of the snakelike transfer mechanism is connected with an operation head, and the snakelike transfer mechanism can be bent, rotated and adjusted to drive the operation head to the corresponding connecting position of the arch rib and the steel box girder so as to complete corresponding operation. The device can drive the operation head to automatically climb into a narrow space between an arch rib and a steel box girder for operation, so that the labor force is saved, and the working efficiency is also improved.

Description

Technical Field

[0001] The invention relates to the technical field of automatic welding, and in particular to a multifunctional operating device inside a split-type arch-beam combination section and a use method thereof. Background Art

[0002] The manufacturing technology of steel box arch bridge is an important technology for bridge engineering, especially the manufacturing quality of the joint between the arch rib and the steel box girder (referred to as the arch-beam joint section) is more critical. The processing process of the arch-beam joint section is to manufacture the arch beam and the steel box girder separately, then press the arch beam as a whole against the top surface of the steel box girder, and then weld the joint to achieve the connection. There are multiple partitions and webs inside the arch rib, and the working space formed inside is very narrow, and the operators cannot enter. The welding operation needs to be completed with the help of a small welding robot. An operation hole is formed on the partition of the arch rib. The small welding robot is manually placed from the operation hole into the corresponding narrow space for welding. It also needs to be manually moved and moved repeatedly to complete the operation. In addition, the narrow space on the arch rib farthest from the top opening is far away and small in space, so the small welding robot cannot be manually sent in, so the welding operation at this location cannot be completed. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects of the prior art and provide a multifunctional internal working equipment of a split arch-beam joint section and a method of using the same, so as to solve the problem that the welding robot of the existing arch-beam joint section needs to be repeatedly moved by manual labor to complete the operation and the welding cannot be completed in a remote and narrow space because it cannot be reached by manual labor.

[0004] The technical solution to achieve the above purpose is: The present invention provides a multifunctional operation device inside a split-type arch-beam combination section, which is used to realize welding, grinding, cleaning or spraying operations of arch ribs and steel box beams in a narrow space. The device comprises: A walking track, wherein a plurality of pairs of track wheels are provided on the walking track, and the relative positions of two adjacent pairs of track wheels can be adjusted in the vertical direction to achieve obstacle crossing, and the relative positions of two adjacent pairs of track wheels can also be adjusted in the horizontal direction to achieve turning; A rotating disk rotatably supported on the walking crawler; A serpentine transfer mechanism, one end of which is connected to the rotating disk, and the other end of which is connected to a working head. The serpentine transfer mechanism can be wound around the rotating disk and then extended out through the rotation of the rotating disk. The serpentine transfer mechanism can be bent and rotated to adjust and can carry the working head to the corresponding connection position between the arch rib and the steel box girder to complete the corresponding operation.

[0005] A further improvement of the multifunctional operation equipment inside the split-type arch-beam combination section of the present invention is that the serpentine transfer mechanism includes a plurality of adjustment units connected in sequence, and two adjacent adjustment units can be relatively swung horizontally and vertically; The outer circumference of each adjusting unit is provided with a plurality of running wheels.

[0006] A further improvement of the multifunctional operation equipment inside the split-type arch-beam combination section of the present invention is that a first adjustment unit of two adjacent adjustment units is provided with a horizontal driving gear and a first driving motor drivingly connected to the horizontal driving gear; The second one of the two adjacent adjusting units is provided with a horizontal transmission gear meshing with the horizontal driving gear. The horizontal transmission gear is fixedly connected to a vertical transmission shaft. The vertical transmission shaft is rotatably provided on the first adjusting unit.

[0007] A further improvement of the multifunctional operation equipment inside the split-type arch-beam combination section of the present invention is that a horizontal transmission shaft is connected to the vertical transmission shaft, and a vertical power gear is fixedly connected to the horizontal rotating shaft; The second adjusting unit is rotatably connected to the transverse transmission shaft, and is provided with a rotatable vertical driving gear and a second driving motor drivingly connected to the vertical driving gear, and the vertical driving gear is meshed with the vertical power gear.

[0008] A further improvement of the split-type arch-beam combination section internal multifunctional operation equipment of the present invention is that a connecting seat is supported on a pair of track wheels of the walking track; The rotating disk is rotatably mounted on the connecting seat via an internal gear slewing bearing; A motor and a rotating gear are provided on the connecting seat corresponding to the internal gear slewing bearing. The motor drives the rotating gear to rotate, and the rotating gear is meshed with the inner gear ring of the internal gear slewing bearing.

[0009] A further improvement of the multifunctional working equipment inside the split-type arch-beam combination section of the present invention is that a wheel axle is connected between the pair of track wheels; A first connecting plate and a second connecting plate that are rotatably connected are provided between two adjacent wheel axles. The first connecting plate and the second connecting plate are arranged in an inclined state, and the axis of relative rotation adjustment of the first connecting plate and the second connecting plate is parallel to the axis of the wheel axle.

[0010] A further improvement of the multifunctional operation equipment inside the split-type arch-beam combination section of the present invention is that the first connecting plate and the second connecting plate both include a first plate body portion and a second plate body portion which are rotatably connected; The axis of relative rotation adjustment between the first plate body and the second plate body is perpendicular to the arrangement direction of the first plate body and the second plate body.

[0011] A further improvement of the multifunctional operating equipment inside the split-type arch-beam combination section of the present invention is that a plurality of electromagnets are provided on the walking crawler.

[0012] A further improvement of the multifunctional operation equipment inside the split-type arch-beam combination section of the present invention is that a mounting seat is provided at the other end of the serpentine transfer mechanism, and a camera and a detector are provided on the mounting seat; The working head is rotatably mounted on the mounting seat.

[0013] The present invention also provides a method for using the multifunctional operating equipment inside the split-type arch-beam combination section, comprising the following steps: After the arch ribs and steel box beams are placed, start the walking crawler to allow the equipment to crawl into the narrow space enclosed by the arch ribs and steel box beams; The rotating disk is rotated to extend the serpentine transfer mechanism, and the serpentine transfer mechanism is started to perform bending crawling, so that the operation head reaches the connection position corresponding to the arch rib and the steel box girder; The welding, grinding, cleaning or spraying of arch ribs and steel box girders are completed through the operation head; By utilizing the movement and rotation adjustment of the walking tracks, rotating disk and serpentine transfer mechanism, the operation head is adjusted to the next connection position for the corresponding operation. After the operation is completed, the equipment is returned via the walking tracks.

[0014] The beneficial effects of the multifunctional operation equipment inside the split-type arch-beam combination section of the present invention and the use method thereof are as follows: The equipment of the present invention can realize self-propelled movement through the walking tracks, and can carry the working head to crawl into the narrow space between the arch rib and the steel box girder to perform welding operations. The working head can also perform operations such as grinding, cleaning and spraying without the participation of personnel, thus saving labor and improving work efficiency.

[0015] The device of the present invention can realize the winding and storage of the serpentine transfer mechanism through the rotation of the rotating disk to facilitate the flexible movement of the device, and can also realize the rotation and extension of the serpentine transfer mechanism to allow the working head to move and adjust to the connection position for operation. This structural setting has the advantages of occupying a small space and not interfering with the partitions in the arch ribs.

[0016] The serpentine transfer mechanism in the device of the present invention is internally provided with gear sets of different layouts for transmission, and each adjustment unit is able to move, and it is flexible in crawling or rotating, and can enter into a narrow space to complete the corresponding work.

[0017] The driving mechanism, camera and sensor are arranged at the working head of the serpentine transfer mechanism in the device of the present invention, which can clearly reflect the working conditions in a narrow space. The driving mechanism can control the working distance to ensure the working quality.

[0018] The walking crawler of the equipment of the present invention is provided with an electromagnet to ensure that it is attracted to the surface of the steel box beam or the arch rib during the crawling or working process, thereby ensuring stability during the crawling or working process. The crawler wheels are hinged up and down and left and right through the first connecting plate and the second connecting plate, so that the walking crawler can turn and cross the partition inside the arch rib. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the multifunctional operating equipment inside the split arch-beam combination section of the present invention.

[0020] Figure 2 It is a schematic diagram of the three-dimensional structure of the walking crawler in the multifunctional working equipment inside the split arch-beam combination section of the present invention.

[0021] Figure 3 It is a side view of the walking crawler in the multifunctional working equipment inside the split arch-beam combination section of the present invention.

[0022] Figure 4 It is a three-dimensional structural schematic diagram of the serpentine transfer mechanism in the multifunctional operating equipment inside the split arch-beam combination section of the present invention.

[0023] Figure 5 It is a schematic structural diagram of the serpentine transfer mechanism in the multifunctional operating equipment inside the split arch-beam combination section of the present invention without the protective cover.

[0024] Figure 6 for Figure 5 A partial enlarged schematic diagram of the working head in the structure shown.

[0025] Figure 7 for Figure 5 A locally enlarged schematic diagram of the last two adjustment units in the structure shown.

[0026] Figure 8 It is a structural schematic diagram from another perspective of the connection of the adjustment unit in the multifunctional operating equipment inside the split arch-beam combination section of the present invention.

[0027] Fig. 9 It is a schematic diagram of the structure of the rotating disk in the multifunctional operating equipment inside the split arch-beam combination section of the present invention.

[0028] Fig.10 It is a cross-sectional view of a rotating disk in the multifunctional operating equipment inside the split-type arch-beam combination section of the present invention.

[0029] Fig.11 for Fig.10 A local enlarged schematic diagram of point A in the figure.

[0030] Fig.12 It is a structural schematic diagram of the multifunctional operating equipment inside the split-type arch-beam combination section of the present invention when entering into a narrow space.

[0031] Fig.13 for Fig.12 A local enlarged schematic diagram of point C in the figure.

[0032] Fig.14 It is a structural schematic diagram of the multifunctional operating equipment in the split-type arch-beam combination section of the present invention in the entry state.

[0033] Fig.15 It is a structural schematic diagram of the working state of the multifunctional operating equipment inside the split arch-beam combination section of the present invention in a narrow space.

[0034] Fig.16 for Fig.15 A local enlarged schematic diagram of point B in FIG.

[0035] Fig.17 It is a structural schematic diagram of the multifunctional operating equipment inside the split arch-beam combination section of the present invention in a working state. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0037] See also Figure 1 The present invention provides a split-type arch-beam joint internal multifunctional operation device and a method of using the same, which is used to automatically weld, grind, clean and spray the arch-beam joint, without requiring personnel to enter the arch, thereby saving labor and improving work efficiency. The split-type arch-beam joint internal multifunctional operation device and a method of using the same are described below in conjunction with the accompanying drawings.

[0038] See also Figure 1 , showing a three-dimensional structural schematic diagram of the multifunctional operating equipment inside the split-type arch-beam combination section of the present invention. Fig.12 , showing a schematic diagram of the structure of the multifunctional working equipment in the split-type arch-beam combination section of the present invention entering into a narrow space. Figure 1 and Fig.12 , the multifunctional operating equipment inside the split arch-beam combination section of the present invention is explained.

[0039] like Figure 1 and Fig.12As shown, the multifunctional working equipment inside the split arch-beam combination section of the present invention is used to realize the welding, grinding, cleaning or spraying operations of the arch rib 10 and the steel box beam 30 in a narrow space. The arch rib 10 includes a top plate 11, a bottom plate 12, an upper web 13 and a lower web 14 connected on both sides of the top plate 11 and the bottom plate 12, a middle web 15 supported between the top plate 11 and the bottom plate 12 and located between the upper web 13 and the lower web 14, and a plurality of partitions 16 vertically connected to the middle web 15. The partitions 16 are arranged on the inner sides of the top plate 11, the bottom plate 12, the upper web 13 and the lower web 14. The sizes of the partitions 16 are different. An operating hole is arranged in the middle of the partition 16. The top plate 11, the bottom plate 12, the upper web 13, the lower web 14, the middle web 15 and the partitions 16 are fixed by welding. The size of 12 is smaller than that of the top plate 11, one side of the upper web 13 and the lower web 14 is aligned with one side of the bottom plate 12 and the top plate 11, and the other side is inclined so as to be in contact with the surface of the steel box girder 30 together with the corresponding side of each partition 16, so that a narrow space is formed between the two adjacent partitions 16 and the corresponding upper web 13 and lower web 14, middle web 15 and the surface of the steel box girder 30. The positions where the partition 16, the upper web 13, the lower web 14, the middle web 15, the bottom plate 12 and the top plate 11 are in contact with the steel box girder 30 all need to be welded, polished, cleaned and sprayed with the steel box girder 30. The multifunctional operating equipment inside the split arch beam joint section of the present invention is used to weld, polish, clean and spray the above-mentioned positions to achieve the connection between the arch rib 10 and the steel box girder 30.

[0040] The multifunctional working equipment inside the split arch-beam combination section of the present invention comprises a walking crawler 21, a rotating disk 23 and a serpentine transfer mechanism 25. Figure 2 and Figure 3As shown, the walking track 21 is provided with multiple pairs of track wheels 211, and the relative positions of two adjacent pairs of track wheels 211 can be adjusted in the vertical direction to achieve obstacle crossing, and the relative positions of two adjacent pairs of track wheels 211 can also be adjusted in the horizontal direction to achieve turning. The walking track 21 realizes the walking function through the rotation of multiple pairs of track wheels 211. The relative positions of two adjacent pairs of track wheels 211 are adjusted in the vertical direction, and the height direction adjustment between the two adjacent pairs of track wheels 211 is realized, so that the walking track 21 can be bent upward or downward, and then crawl along the obstacle to achieve crossing the obstacle. The relative positions of two adjacent pairs of track wheels 211 are adjusted in the horizontal direction, and the left and right swings between the two adjacent pairs of track wheels 211 in the horizontal plane are realized, so that the walking track 211 can realize left and right turning adjustment, and the walking track 211 has a flexible bending adjustment function, so that it can smoothly crawl into a narrow space and can also smoothly walk in a narrow space. The rotating disk 23 is rotatably supported on the walking track 21, and the rotating disk 23 can be rotated and adjusted relative to the walking track 211. One end of the serpentine transfer mechanism 25 is connected to the rotating disk 23, and the other end of the serpentine transfer mechanism 25 is connected to the working head 27. The serpentine transfer mechanism 25 can be wound on the rotating disk 23 and then extended by the rotation of the rotating disk 23. The serpentine transfer mechanism 25 can be bent and rotated and adjusted to carry the working head 27 to the corresponding connection position of the arch rib 10 and the steel box girder 30 to complete welding, grinding, cleaning or spraying operations.

[0041] When the equipment of the present invention is moving, the serpentine transfer mechanism 25 can be rolled up by the rotation of the rotating disk 23, so that the serpentine transfer mechanism 25 is wound on the rotating disk 23. In this way, the equipment is small in size and can easily enter a narrow working space. When it moves close to the working position, the rotating disk 23 can release the serpentine transfer mechanism 25 by rotation, and then the serpentine transfer mechanism 25 can bring the working head 27 to the working position through its own bending and rotation adjustment, and then welding, grinding, cleaning or spraying operations can be carried out.

[0042] The equipment of the present invention can not only realize welding operations, but also realize grinding operations, cleaning operations and spraying operations. The operation head 27 can be replaced accordingly according to the actual operation functions required. The equipment of the present invention is equipped with an operation head for welding, an operation head for grinding, an operation head for cleaning and an operation head for spraying. When performing the corresponding welding operation, the welding operation head is connected to the serpentine transfer mechanism 25. When performing the corresponding grinding operation, the grinding operation head is connected to the serpentine transfer mechanism 25. When performing the corresponding cleaning operation, the cleaning operation head is connected to the serpentine transfer mechanism 25. When performing the corresponding spraying operation, the spraying operation head is connected to the serpentine transfer mechanism 25.

[0043] In a specific embodiment of the present invention, a wheel axle 212 is connected between a pair of track wheels 211 of the walking track 21, and a first connecting plate 213 and a second connecting plate 214 are rotatably connected between the two connected wheel axles 212, and the first connecting plate 213 and the second connecting plate 214 are arranged in an inclined shape, and the axis of the first connecting plate 213 and the second connecting plate 214 for relative rotation adjustment is parallel to the axis of the wheel axle 212. The first connecting plate 213 and the second connecting plate 214 are hingedly connected to the corresponding wheel axles 212.

[0044] Preferably, the first connecting plate 213 and the second connecting plate 214 are hingedly connected via a first rotating shaft 215 . The first rotating shaft 215 is arranged parallel to the wheel axle 212 . The setting height of the first rotating shaft 215 can be higher than the wheel axle 212 or lower than the wheel axle 212 .

[0045] The first connecting plate 213 and the second connecting plate 214 can be rotated and adjusted around the first rotating shaft 215, so that the part of the walking track 21 between two adjacent pairs of track wheels 211 can be bent upward or downward, so that the walking track 21 can climb over the corresponding obstacles and realize the obstacle crossing function.

[0046] Furthermore, the first connecting plate 213 and the second connecting plate 214 each include a first plate body and a second plate body that are rotatably connected, and the axis of relative rotation adjustment of the first plate body and the second plate body is perpendicular to the setting direction of the first plate body and the second plate body.

[0047] The first plate body and the second plate body are hingedly connected by the second rotating shaft 216. The first plate body, the second plate body and the second rotating shaft 216 are all arranged in the same vertical plane, and the arrangement direction of the second rotating shaft 216 is perpendicular to the arrangement direction of the first plate body and the second plate body. The first plate body and the second plate body are arranged in an inclined shape, and the second rotating shaft 216 is also arranged in an inclined shape. By rotating and adjusting the first plate body and the second plate body relative to the second rotating shaft 216, the turning adjustment function of the walking crawler 21 is realized.

[0048] Furthermore, a plurality of electromagnets 217 are provided on the walking track 21, and the electromagnets 217 can allow the walking track 21 to be adsorbed on corresponding positions of the arch rib 10 and the steel box girder 30, thereby improving the walking safety of the walking track 21 and avoiding the phenomenon of falling.

[0049] Furthermore, power gears are provided at the front and rear ends of the traveling crawler 21, and the power gears mesh with the crawler of the traveling crawler 21. A power motor is provided at the front or rear end of the traveling crawler 21, and the power motor can drive the power gear to rotate through the gear, and then the rotation of the power gear will drive the crawler to rotate, and the multiple pairs of track wheels provided inside the crawler will also rotate, so that the traveling crawler 21 can travel. When the traveling crawler 21 turns, the turning motor drives the power gear to turn, so that the crawler and the link between the track wheels will cooperate to adjust the turn.

[0050] Furthermore, mounting brackets are provided on the power gears at the front and rear ends of the walking track 21, and detectors are provided on the mounting brackets corresponding to the front and rear of the walking track 21, which are used to detect obstacles in front and rear of the walking track 21 and form detection information. The walking track 21 can be controlled to avoid obstacles based on the detection information of the detector.

[0051] In a specific embodiment of the present invention, Figure 4 and Figure 5 As shown, the serpentine transfer mechanism 25 includes a plurality of adjustment units 251 connected in sequence. Two adjacent adjustment units 251 can be adjusted to swing horizontally and vertically relative to each other. A plurality of running wheels 2511 are provided on the periphery of each adjustment unit 251.

[0052] The serpentine transport mechanism 25 can achieve flexible bending between the adjustment units 251 through relative swing adjustment between the adjustment units 251, including horizontal swing and vertical swing, so as to bring the working head to the required working position. A plurality of running wheels 2511 are arranged at intervals on the periphery of the adjustment unit 251, and the rolling of the running wheels 2511 can facilitate the movement and adjustment of the serpentine transport mechanism 25.

[0053] Furthermore, combined with Figure 7 As shown, the first adjusting unit of the two adjacent adjusting units 251 is provided with a horizontal driving gear 252 and a first driving motor drivingly connected to the horizontal driving gear 252; the second adjusting unit of the two adjacent adjusting units 251 is provided with a horizontal transmission gear 253 meshing with the horizontal driving gear 252, and the horizontal transmission gear 253 is fixedly connected to a vertical transmission shaft 254, and the vertical transmission shaft 254 is rotatably provided on the first adjusting unit.

[0054] In this way, the first drive motor can drive the horizontal drive gear 252 to rotate, and the horizontal drive gear 252 drives the horizontal transmission gear 253 to rotate by rotating, and then the horizontal transmission gear 253 rotates together with the vertical transmission shaft 254. The vertical transmission shaft 254 and the horizontal transmission gear 253 carry the second adjustment unit to swing horizontally relative to the first adjustment unit, that is, to swing left and right in the horizontal plane, thereby adjusting the direction of the corresponding adjustment unit, and then being able to adjust the direction and position of the working head 27.

[0055] Preferably, an upper connecting plate 2512 and a lower connecting plate 2513 are arranged opposite to each other on the side of the first adjusting unit close to the second adjusting unit, and the vertical transmission shaft 254 is rotatably arranged between the upper connecting plate 2512 and the lower connecting plate 2513. Preferably, both ends of the vertical transmission shaft 254 are rotatably arranged on the corresponding upper connecting plate 2512 and the lower connecting plate 2513 through bearings.

[0056] Furthermore, combined with Figure 8 As shown, the vertical transmission shaft 254 is connected to a transverse transmission shaft 255, which is arranged perpendicular to the vertical transmission shaft 254 and is fixedly connected to the vertical transmission shaft 254. A vertical power gear 256 is fixedly connected to the transverse transmission shaft 255; the second adjustment unit is rotatably connected to the transverse transmission shaft 255, and the second adjustment unit is provided with a rotatable vertical driving gear 257 and a second driving motor drivingly connected to the vertical driving gear 257, and the vertical driving gear 257 is meshed with the vertical power gear 256.

[0057] The second drive motor can drive the vertical drive gear 257 to rotate and adjust. The vertical drive gear 257 can rotate upward or downward along the vertical power gear 256, and then drive the second adjustment unit to rotate upward or downward around the horizontal transmission shaft 255, thereby realizing the vertical swing of the second adjustment unit relative to the first adjustment unit, that is, swinging up and down in the vertical plane, thereby realizing the adjustment of the height of the corresponding adjustment unit, and then the position of the working head 27 can be adjusted.

[0058] A left connecting plate 2514 and a right connecting plate are provided on the side of the second adjusting unit close to the first adjusting unit. The left connecting plate 2514 and the right connecting plate are rotatably connected to the transverse transmission shaft 255. When the transverse transmission shaft 255 is fixedly connected to the vertical transmission shaft 254, the left connecting plate 2514 and the right connecting plate can be rotationally adjusted relative to the transverse transmission shaft 255, thereby realizing the vertical swing adjustment of the second adjusting unit.

[0059] Furthermore, the adjustment unit 251 includes a cylindrical body, the interior of which is hollow and can accommodate the corresponding first drive motor and second drive motor, and a plurality of walking wheels 2511 are arranged on the outer circumference of the cylindrical body.

[0060] Furthermore, if Figure 4 As shown, a flexible protective cover 258 is connected between two adjacent adjustment units 251, and the flexible protective cover 258 can be bent and adjusted to adapt to the horizontal swing and vertical swing adjustment between the adjustment units 251. The flexible protective cover 258 covers the gear transmission structure arranged between the adjustment units 251, and plays a protective role on the gear transmission structure. Preferably, the flexible protective cover 258 is a bellows or a rubber tube.

[0061] like Figure 1 , Figures 4 to 6 As shown, a mounting seat 261 is provided at one end of the serpentine transfer mechanism 25 away from the rotating disk 23, and the mounting seat 261 is fixedly connected to the first adjustment unit 251 at one end of the serpentine transfer mechanism 25 away from the rotating disk 23. A camera 262 and a detector 263 are provided on the mounting seat 261, and the working head 27 is rotatably mounted on the mounting seat 261.

[0062] A moving roller 265 and a motor driving the moving roller 265 to rotate are provided at the bottom of the mounting seat 261. The motor drives the moving roller 265 to rotate, thereby realizing the movement of the mounting seat 261. The movement of the mounting seat 261 can bring the working head 27 to the working position, so that the working head 27 can successfully complete the corresponding working task.

[0063] The camera 262 can be used to photograph the working conditions at the working head 27, so as to accurately adjust the working head 27 to the working position. The detector 263 is used to detect obstacles in front and the distance from the obstacles, so as to adjust the position of the working head 27 through the serpentine transfer mechanism 25. A rotating electric cylinder 264 is provided on the mounting seat 261, and the rotating electric cylinder 264 is connected to the working head 27. The rotating electric cylinder 264 can drive the working head 27 to rotate and adjust, so as to adjust the working angle of the working head. Preferably, two rotating electric cylinders 264 are provided, one for adjusting the horizontal angle of the working head 27, that is, left and right rotation adjustment, and the other for adjusting the vertical angle of the working head 27, that is, up and down rotation adjustment. The working head 27 is detachably connected to the rotating electric cylinder 264, so that the required working head 27 can be replaced according to applicable needs.

[0064] like Figure 1As shown, a fixed seat 266 is provided at one end of the serpentine transfer mechanism 25 close to the rotating disk 23, and the fixed seat 266 is fixedly connected to the rotating disk 23, so that the serpentine transfer mechanism 25 can be retracted or released by rotating the rotating disk 23. During the retracting or releasing process, each adjustment unit 251 of the serpentine transfer mechanism 25 can also be swung accordingly to facilitate rapid retracting or rapid release.

[0065] Furthermore, a control mechanism is provided on the fixed seat 266 , and the control mechanism is connected to the first drive motor and the second drive motor provided on the serpentine transfer mechanism 25 for controlling the operation of the corresponding first drive motor and the second drive motor, thereby realizing the control of the movement of the serpentine transfer mechanism 25 .

[0066] In a specific embodiment of the present invention, Figure 2 and Figure 3 As shown, a pair of track wheels 211 of the walking track 21 are supported with a connecting seat 221, which is combined with Figure 1 , Figures 9 to 11 As shown, the rotating disk 23 is rotatably arranged on the connecting seat 221, and the bottom of the rotating disk 23 is provided with an internal gear slewing bearing 241, and the internal gear slewing bearing 241 is connected to a positioning seat. The rotating disk 23 can be relatively rotated and adjusted with the positioning seat through the internal gear slewing bearing 241. A motor 242 and a rotating gear 243 are provided on the positioning seat corresponding to the internal gear slewing bearing 241. The motor 242 drives the rotating gear 243 to rotate, and the rotating gear 243 is meshed with the inner gear ring of the internal gear slewing bearing 241. In this way, the motor 242 can drive the rotating disk 23 to rotate and adjust through the rotating gear 243 and the internal gear slewing bearing 241.

[0067] Preferably, the rotating disk 23 includes an upper disk, a lower disk and a connecting column connected between the upper disk and the lower disk, wherein the fixing seat 266 on the serpentine transfer mechanism 25 is fixedly connected to the lower disk, and the serpentine transfer mechanism 25 can be wound around the connecting column on the rotating disk 23.

[0068] like Figure 12 to Figure 14 As shown, the working process of the multifunctional operating equipment inside the split arch-beam combination section of the present invention is explained below.

[0069] After the arch rib 10 is placed on the steel box girder 30 and aligned, the welding operation between the periphery of the arch rib 10 and the steel box girder 30 is relatively convenient to operate. The periphery of the arch rib 10 and the steel box girder 30 can be welded and fixed first to fix the position of the arch rib 10, and then the connection between the inside of the arch rib 10 and the steel box girder 30 can be welded using the equipment of the present invention. A welding operation head, such as a welding gun, is mounted on the mounting seat 261, and the equipment is placed on the corresponding partition 16 inside the arch rib 10. At this time, the serpentine transfer mechanism 25 is wound around the rotating disk 23, and the walking track 21 is adsorbed on the partition 16 through the provided electromagnet 217. The walking track 21 is started, and the walking track 21 is allowed to carry the equipment through the operation hole on the partition 16 into the narrow space. The walking track 21 passes over the partition 16 and then contacts the surface of the steel box girder 30, combined with Figures 15 to 17 As shown, the walking track 21 can move on the surface of the steel box girder 30 in a narrow space, and can bring the working head to the corresponding connection position. After the equipment enters the narrow space, the serpentine transfer mechanism 25 gradually unfolds, and the rotating disk 23 rotates synchronously. After the serpentine transfer mechanism 25 is stretched out, it can crawl on the surface of the steel box girder 30, and cooperate with the walking of the walking track 21 to bring the working head, which is now the welding gun, to the welding position. The welding gun welds the welding position, and then the serpentine transfer mechanism 25 continues to move and carries the welding gun to weld the next welding position until all the welding positions in the narrow space are welded. After completing the welding operation, the serpentine transfer mechanism 25 is retracted on the rotating disk 23, and the walking track 21 returns with the equipment, and then enters the next narrow space to perform welding operations until the positions where the arch rib 10 contacts the steel box girder 30 are welded.

[0070] Then replace the welding gun on the equipment with a grinding head, such as a grinding disc or a laser grinding mechanism. The equipment enters the narrow space in the above manner, and then grinds the weld with the grinding head. After the grinding is completed, the equipment returns. Then replace the grinding head with a cleaning head to clean the powder and residue from grinding. The cleaning head, such as a rotatable brush, is also equipped with a dust suction mechanism that can absorb and collect the powder and residue. After the cleaning is completed, the equipment returns. Replace the cleaning head with a spraying head, such as a nozzle, a protective paint providing mechanism (protective paint storage barrel, a delivery pipeline and a pump). The spraying head sprays protective paint on the surface of the weld. In this way, the equipment of the present invention can enter the interior of the arch rib to complete operations such as welding, grinding, cleaning and spraying without the participation of personnel, which can save labor and improve work efficiency.

[0071] The present invention also provides a method for using the multifunctional operating equipment inside the split-type arch-beam combination section, and the method for using is described below.

[0072] The method of using the present invention comprises the following steps: After the arch ribs and steel box beams are placed, start the walking crawler to allow the equipment to crawl into the narrow space enclosed by the arch ribs and steel box beams; The rotating disk is rotated to extend the serpentine transfer mechanism, and the serpentine transfer mechanism is started to perform bending crawling, so that the operation head reaches the connection position corresponding to the arch rib and the steel box girder; The welding, grinding, cleaning or spraying of arch ribs and steel box girders are completed through the operation head; By utilizing the movement and rotation adjustment of the walking tracks, rotating disk and serpentine transfer mechanism, the working head is adjusted to the next connection position for the corresponding operation. After the operation is completed, the equipment is returned via the walking tracks.

[0073] Furthermore, the operation head can perform welding, grinding, cleaning and spraying operations on the connection position between the arch rib and the steel box girder, and the corresponding operation can be completed by replacing the corresponding operation head.

[0074] The present invention is described in detail above in conjunction with the embodiments of the drawings, and those skilled in the art can make various variations of the present invention according to the above description. Therefore, certain details in the embodiments should not constitute limitations of the present invention, and the scope of protection of the present invention shall be defined by the scope of the attached claims.

Claims

1. A multifunctional working device inside a split arch-beam joint section, used to realize welding, grinding, cleaning or spraying of arch ribs and steel box girders in a narrow space, characterized in that: The device comprises: A walking track, wherein a plurality of pairs of track wheels are provided on the walking track, and the relative positions of two adjacent pairs of track wheels can be adjusted in the vertical direction to achieve obstacle crossing, and the relative positions of two adjacent pairs of track wheels can also be adjusted in the horizontal direction to achieve turning; A rotating disk rotatably supported on the walking crawler; A serpentine transfer mechanism, one end of which is connected to the rotating disk, and the other end of which is connected to a working head. The serpentine transfer mechanism can be wound around the rotating disk and then extended out through the rotation of the rotating disk. The serpentine transfer mechanism can be bent and rotated to adjust and can carry the working head to the corresponding connection position of the arch rib and the steel box girder to complete the corresponding operation.

2. The multifunctional operation equipment inside the split arch-beam joint section according to claim 1, characterized in that: The serpentine transport mechanism comprises a plurality of adjustment units connected in sequence, and two adjacent adjustment units can be relatively swung horizontally and vertically; The outer circumference of each adjusting unit is provided with a plurality of running wheels.

3. The multifunctional operation equipment inside the split arch-beam joint section according to claim 2, characterized in that: A first adjusting unit of two adjacent adjusting units is provided with a horizontal driving gear and a first driving motor drivingly connected to the horizontal driving gear; The second one of the two adjacent adjusting units is provided with a horizontal transmission gear meshing with the horizontal driving gear. The horizontal transmission gear is fixedly connected to a vertical transmission shaft. The vertical transmission shaft is rotatably provided on the first adjusting unit.

4. The multifunctional operation equipment inside the split arch-beam joint section according to claim 3, characterized in that: The vertical transmission shaft is connected to a horizontal transmission shaft, and the horizontal rotating shaft is fixedly connected to a vertical power gear; The second adjusting unit is rotatably connected to the transverse transmission shaft, and is provided with a rotatable vertical driving gear and a second driving motor drivingly connected to the vertical driving gear, and the vertical driving gear is meshed with the vertical power gear.

5. The multifunctional operation equipment inside the split arch-beam joint section according to claim 1, characterized in that: A connecting seat is supported on a pair of track wheels of the walking track; The rotating disk is rotatably mounted on the connecting seat via an internal gear slewing bearing; A motor and a rotating gear are provided on the connecting seat corresponding to the internal gear slewing bearing. The motor drives the rotating gear to rotate, and the rotating gear is meshed with the inner gear ring of the internal gear slewing bearing.

6. The multifunctional operation equipment inside the split arch-beam joint section according to claim 1, characterized in that: A wheel axle is connected between a pair of track wheels; A first connecting plate and a second connecting plate that are rotatably connected are provided between two adjacent wheel axles. The first connecting plate and the second connecting plate are arranged in an inclined state, and the axis of relative rotation adjustment of the first connecting plate and the second connecting plate is parallel to the axis of the wheel axle.

7. The multifunctional operation equipment inside the split arch-beam joint section according to claim 6, characterized in that: The first connecting plate and the second connecting plate each include a first plate body portion and a second plate body portion that are rotatably connected; The axis of relative rotation adjustment between the first plate body and the second plate body is perpendicular to the arrangement direction of the first plate body and the second plate body.

8. The multifunctional operation equipment inside the split arch-beam combination section according to claim 6, characterized in that: A plurality of electromagnets are arranged on the walking crawler belt.

9. The multifunctional operation equipment inside the split arch-beam combination section according to claim 1, characterized in that: The other end of the serpentine transfer mechanism is provided with a mounting seat, on which a camera and a detector are provided; The working head is rotatably mounted on the mounting seat.

10. A method for using the multifunctional operating equipment inside the split arch-beam combination section according to any one of claims 1 to 9, characterized in that: The steps include: After the arch ribs and steel box beams are placed, start the walking crawler to allow the equipment to crawl into the narrow space enclosed by the arch ribs and steel box beams; The rotating disk is rotated to extend the serpentine transfer mechanism, and the serpentine transfer mechanism is started to perform bending crawling, so that the operation head reaches the connection position corresponding to the arch rib and the steel box girder; The welding, grinding, cleaning or spraying of arch ribs and steel box girders are completed through the operation head; By utilizing the movement and rotation adjustment of the walking tracks, rotating disk and serpentine transfer mechanism, the operation head is adjusted to the next connection position for the corresponding operation. After the operation is completed, the equipment is returned via the walking tracks.

Images