Radian detection device for large-span fish-bellied steel structure truss

Abstract

The invention discloses a radian detection device for a large-span fish-bellied steel structure truss, belongs to the technical field of fish-bellied steel structure trusses, and solves the problems that the radian of the large-span fish-bellied steel structure truss is difficult to measure and the radian precision is inconvenient to guarantee. The device comprises two pipeline welding clamps, a steel cable inspection robot, a guide telescopic rod and a measuring instrument. Welding deformation of the two adjacent welding sections can be limited by adjusting the tensioning force of the steel cable, meanwhile, the steel cable serves as a guide rail of the steel cable inspection robot to guide the steel cable inspection robot to move along the welding sections, and therefore the measuring instrument obtains the cambered surface shape of each welding section under driving of the steel cable inspection robot; and the controller obtains the radian of each welding section through the cambered surface shape, so that constructors can conveniently monitor the positions of the welding sections, and the radian precision of the large-span fish-bellied steel structure truss is improved.

Description

Technical Field

[0001] The invention relates to the technical field of fish-belly steel structure trusses, and in particular to a radian detection device for a large-span fish-belly steel structure truss. Background Art

[0002] With the rapid development of high-speed railway stations, structural design forms are becoming more and more novel and varied, and large-span special-shaped curved steel structures are constantly being promoted and applied. Since the steel pipe section has excellent tensile, compressive and torsional resistance, and the connection between steel pipes is crucial in the overall structure, it is often connected in the form of connecting plates for ease of production and installation. The common production method is to groove the steel pipe section, insert the connecting plate into the pre-grooved groove and weld it. This connection is called a plug-in plate connection. There are many forms of plug-ins in actual projects, the most common ones are single plug-ins, U-shaped plug-ins, cross plug-ins and T-shaped plug-ins. Regardless of the form of the plug-in plate, since it is partially connected to the steel pipe, under the action of tension, the plug-in plate and the steel pipe section are prone to shear lag and local buckling, which can cause early failure of the node in severe cases.

[0003] Especially in the case of large-span trusses with special-shaped curved surfaces in the shape of fish belly, Figure 1 and Figure 2 The fish-belly steel structure truss includes an upper chord frame and a lower chord frame with cross-sections of an inverted regular triangle and a triangle respectively. The upper chord frame and the lower chord frame are connected by a plurality of vertical connecting webs. The bottom rod of the upper chord frame is a plurality of arc-shaped welding segments 1. Each welding segment 1 not only needs to be welded with two adjacent welding segments 1, but also the middle part of the welding segment 1 needs to be inserted into an upper plug plate 2 connected to the web and welded. Therefore, during the construction process, the upper chord frame is not only inconvenient to measure the curvature of its surface due to its complex structure, but also due to the large number of plug plates on the multiple welding segments 1, the welding deformation is large, which makes it inconvenient to ensure the curvature accuracy of the surface. Summary of the invention

[0004] In view of the above problems in the prior art, the present invention provides a curvature detection device for a large-span fish-belly steel structure truss, which solves the problem that the curvature of the large-span fish-belly steel structure truss is difficult to measure and inconvenient to ensure the curvature accuracy.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows: Provided is a camber detection device for a large-span fish-belly steel structure truss, comprising: two pipe welding clamps, the two pipe welding clamps are respectively fixed on two adjacent welding sections on the bottom rod of the fish-belly steel structure truss, a steel cable is arranged between the two pipe welding clamps, the axis of the steel cable coincides with the center connecting line of the tops of two upper plug-in plates in the two welding sections; a steel cable inspection robot, the steel cable inspection robot is movably arranged on the steel cable, a cable force sensor for measuring the tension of the steel cable is arranged on the steel cable inspection robot, and a limit rod is horizontally arranged at the bottom of the steel cable inspection robot; a guide telescopic rod, one end of which is vertically hinged to the middle of a welding section On the upper plug plate, the other end of the guide telescopic rod is sleeved on the limit rod, and a first position sensor for detecting the sliding distance relative to the limit rod is provided on the sleeve end of the guide telescopic rod, and the first position sensor is electrically connected to the controller of the wire rope inspection robot; a measuring instrument, the measuring instrument is fixed on the wire rope inspection robot and electrically connected to the controller, and the measuring instrument is used to measure the arc shape of each welding segment; wherein, the wire rope inspection robot moves horizontally along the wire rope under the restriction of the guide telescopic rod, and the measuring instrument obtains the arc shape of each welding segment driven by the wire rope inspection robot, and the controller obtains the curvature of each welding segment through the arc shape.

[0006] The beneficial effects of this solution are as follows: the setting of the two pipe welding clamps makes it convenient for the crane to insert the two welding sections into the upper plug plates on the two connecting webs respectively and perform welding, and the steel cable between the two pipe welding clamps connects the two welding sections, and the welding deformation of the two adjacent welding sections is limited by adjusting the tension of the steel cable. At the same time, the steel cable serves as a guide rail for the steel cable inspection robot to guide the steel cable inspection robot to move along the welding section, so that the measuring instrument can obtain the arc shape of each welding section under the drive of the steel cable inspection robot, and the controller can obtain the curvature of each welding section through the arc shape, thereby facilitating the construction personnel to monitor the position of the welding section and improving the curvature accuracy of the large-span fish-belly steel structure truss.

[0007] Among them, the beneficial effect of aligning the axis of the steel cable with the center line of the top of the two upper plugs in the two welding sections is: considering that there is a certain torsion angle or deviation between the two adjacent welding sections due to installation error or welding deformation, and the two upper plugs are welding positioning parts located on the center line of the two welding sections, the deviation degree of the center line of the top of the two upper plugs is not only the smallest, but also can best reflect the torsion degree of welding deformation of the two welding sections. Therefore, setting the axis direction of the steel cable in this way can not only limit the welding deformation of the two welding sections, but also obtain the torsion angle between the two welding sections by obtaining the deviation distance between the two ends of the steel cable in the top projection direction, thereby obtaining a more accurate arc.

[0008] The beneficial effect of the guide telescopic rod is as follows: since the wire rope inspection robot may twist while traveling along the wire rope, which may affect the measuring effect of the measuring instrument, one end of the guide telescopic rod is vertically hinged on one of the upper plug plates, so that the guide telescopic rod can only rotate and telescope in the vertical plane, and thus the guide telescopic rod is sleeved on the limit rod of the wire rope inspection robot, so that the wire rope inspection robot can always maintain horizontal travel on the wire rope, ensuring the measuring effect of the measuring instrument. At the same time, the sliding distance of the guide telescopic rod on the limit rod is the deviation distance of the wire rope, so that the sliding distance of the guide telescopic rod on the limit rod through the first position sensor can reflect the degree of twisting of the welding deformation of the two welding sections.

[0009] The beneficial effects of the wire rope inspection robot are as follows: the wire rope inspection robot can not only inspect the tension and damage of the wire rope to ensure the construction quality, but also drive the measuring instrument to move and scan the arc shape of the welding section. The wire rope inspection robot can calculate the installation arc of the welding section in three-dimensional space based on the design parameters of the welding section, the moving distance of the first position sensor and the arc shape of the welding section to ensure the construction quality.

[0010] Furthermore, a distance sensor for measuring the length of the guide telescopic rod is provided in the guide telescopic rod, and a tilt sensor is provided at the hinged end of the guide telescopic rod and the upper plug plate, and both the distance sensor and the tilt sensor are connected to the controller for communication. A three-dimensional coordinate axis is established at the hinge of the above plug plate and the guide telescopic rod, and the vertical upward direction is used as the Z axis, and the horizontal line in the length direction of the welding section is used as the X axis. Considering that due to the deformation of the welding section, the top view projection of the steel cable is not a horizontal line, so the moving distance of the steel cable inspection robot on the steel cable cannot be used as the X-axis position coordinate. Therefore, the length and inclination of the guide telescopic rod are obtained by the distance sensor and the inclination sensor, and the X-axis position coordinate of the steel cable inspection robot is obtained by multiplying the length by the cosine of the inclination. Combined with the Z-axis coordinate change of the elastic telescopic distance measuring rod, the curvature of the welding section can be obtained more accurately. At the same time, the sliding distance of the guide telescopic rod on the limit rod is used as the coordinate of the Y axis, so that the three-axis coordinates of the arc surface at the top of the welding section can be obtained.

[0011] Furthermore, the measuring instrument is a three-dimensional laser radar, laser distance sensor or contact distance meter for scanning and obtaining the arc shape of each welding section. The laser distance sensor or contact distance meter obtains the arc shape of each welding section by measuring the shortest vertical distance between the wire rope inspection robot and each welding section during movement. The three-dimensional laser radar can directly scan and obtain the three-dimensional shape of the welding section, which is convenient and fast, but requires high measurement accuracy and has a high cost. The laser distance sensor and contact distance meter can use the change of the shortest vertical distance on the horizontal plane to obtain the arc shape of each welding section, which is low in cost.

[0012] Furthermore, the laser distance sensor includes a plurality of laser emitting ends distributed longitudinally. The welding section is tubular and has a curved surface in the cross-sectional direction, so that the plurality of laser emitting ends can not only obtain the shortest vertical distance between the wire rope inspection robot and each welding section during the movement process by comparing the plurality of distance data, but also enable the controller to comprehensively restore the three-dimensional shape of the welding section through the plurality of distance data, the offset data of the first position sensor and the moving distance of the wire rope inspection robot.

[0013] Furthermore, the contact distance meter includes an elastic telescopic distance measuring rod, a contact plate perpendicular to the extension direction of the upper chord frame is fixed on the measuring end of the elastic telescopic distance measuring rod, and the bottom of the contact plate contacts the top of the welding section. The elastic telescopic distance measuring rod obtains the shortest vertical distance through the contact plate, has low cost and can ensure high accuracy through physical contact.

[0014] Furthermore, a slide groove perpendicular to the welding section is provided at the bottom of the contact plate, a slide table is provided in the slide groove, a rotating shaft is provided on the slide table, the rotating shaft is fixedly connected to the top of the inverted V-shaped positioning block, and the two side surfaces of the positioning block are in contact with the two sides of the welding section respectively; a damper for resetting the rotation angle of the rotating shaft is provided at the rotation connection between the rotating shaft and the slide table. The inverted V-shaped positioning block can locate the center of the welding section under the pressure of the elastic telescopic distance measuring rod, and directly obtain the height change of the center line of the welding section on the horizontal plane regardless of the deformation or twisting of the welding section, which can more intuitively reflect the curvature of the welding section and reduce the workload of data processing. The setting of the rotating shaft and the slide groove provides the positioning block with the freedom of movement to adapt to the shape of the welding section, and the setting of the damper can limit and reset the rotation angle of the positioning block to prevent the positioning block from being overly tilted under the pressure of the elastic telescopic distance measuring rod and detaching from the welding section.

[0015] Furthermore, the distance between the top of the positioning block and the wall of each welding section is greater than the distance between the top of the upper plug plate and each welding section. Setting the height of the positioning block in this way enables the positioning block to pass through the upper plug plate of the welding section to avoid interference.

[0016] Furthermore, an industrial camera is provided on the inner top of the positioning block, and the industrial camera is electrically connected to the controller and is used to detect the welding quality. The industrial camera on the positioning block can detect the welding quality between the upper plug plate and the welding section during the movement of the positioning block.

[0017] Furthermore, a second position sensor for detecting the sliding position of the rotating shaft is provided in the chute, a rotation sensor for measuring the rotation angle of the rotating shaft is provided on the rotating shaft, and both the second position sensor and the rotation sensor are communicatively connected to the controller. The controller can obtain the shape of the center line of the welding section in three-dimensional space through the data of the second position sensor and the rotation sensor.

[0018] Furthermore, each pipeline welding fixture is provided with a steel cable holder and a positioning clamp located in the radial direction of the steel cable holder, and the positioning clamp is clamped and connected with the upper plug plate on the welding section. The positioning clamp is arranged so that the axis of the steel cable coincides with the center connecting line of the tops of the two upper plug plates in the two welding sections. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of a large-span fish-belly steel structure truss; Figure 2 It is a front view of the connection between the welding section and the upper plug plate; Figure 3 It is a schematic diagram of deformation of the welding section in the top projection direction; Figure 4 It is a structural schematic diagram of the arc detection device; Figure 5 It is a schematic diagram of the connection between the wire rope inspection robot, the guide telescopic rod and the measuring instrument; Figure 6 This is a front view of the connection between the wire rope inspection robot and the guide telescopic rod; Figure 7 A schematic diagram of the movement of the guide telescopic rod on the limit rod; Figure 8 The schematic diagram of the structure of the measuring instrument is a contact distance meter; Fig. 9 It is a front view structural schematic diagram of the positioning plate; Fig.10 It is a front view structural schematic diagram of the positioning plate moving and rotating; Fig.11 This is a schematic diagram of the connection between the cable force sensor and the cable inspection robot; Among them: 1. Welding section; 2. Upper plug plate; 100. Pipe welding fixture; 11. Steel cable; 200, steel cable inspection robot; 21, limit rod; 22, clamp arm; 221, cable force sensor; 300, guide telescopic rod; 400. Measuring instrument; 41. Elastic telescopic distance measuring rod; 42. Contact plate; 43. Slide groove; 44. Positioning block. DETAILED DESCRIPTION

[0020] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0021] In the prior art, reference Figure 1 and Figure 2 The upper chord of the large-span fish-belly steel structure truss is in the shape of a fish-belly arc. Since the bottom rod in the upper chord includes multiple welding segments 1, each welding segment 1 not only needs to be welded with two adjacent welding segments 1, but also the middle of the welding segment 1 needs to be inserted into the connecting web upper plug plate 2 and welded. The existence of multiple welding surfaces causes the welding segment 1 to be distorted to a certain extent, which deviates from the designed arc curve (reference Figure 3 , Figure 3 S in the figure is the deviation distance), which leads to the problem that it is inconvenient to measure the curvature of the curved surface of the large-span fish-belly steel structure truss and it is inconvenient to ensure the accuracy of the curvature of the curved surface. In order to solve this problem, the present application limits the welding deformation of the welding section 1 by using the steel cable 11, and the axis of the steel cable 11 is set to coincide with the top center connection line of the two upper plug plates 2 in the two welding sections 1, so that the steel cable 11 is used as the moving track of the steel cable inspection robot 200, so that the steel cable inspection robot 200 not only obtains the torsion degree of the two adjacent welding sections 1 through the tension of the steel cable 11 and the offset distance of the steel cable 11, but also enables the steel cable inspection robot 200 to move horizontally along the steel cable 11 under the restriction of the guide telescopic rod 300, and the measuring instrument 400 obtains the curved surface shape and curvature of each welding section 1 under the drive of the steel cable inspection robot 200, so as to facilitate the construction personnel to monitor the position of the welding section 1, improve the curvature accuracy of the large-span fish-belly steel structure truss, and solve the problem that the curvature of the large-span fish-belly steel structure truss is difficult to measure and it is inconvenient to ensure the curvature accuracy.

[0022] This embodiment provides a device for detecting the curvature of a large-span fish-belly steel structure truss, referring to Figure 4 , including two pipeline welding fixtures 100, a wire rope inspection robot 200, a guide telescopic rod 300, and a measuring instrument 400.

[0023] Specifically, two pipe welding fixtures 100 are respectively fixed on two welding sections 1 on the bottom rod of the fish-belly steel structure truss, and a steel cable 11 is arranged between the two pipe welding fixtures 100, and the axis of the steel cable 11 coincides with the center line connecting the tops of the two upper plug-in plates 2 in the two welding sections 1. As a specific structure in which the axis of the steel cable 11 coincides with the center line connecting the tops of the two upper plug-in plates 2 in the two welding sections 1, each pipe welding fixture 100 is provided with a steel cable fixer and a positioning clamp (not shown) located in the radial direction of the steel cable fixer, and the positioning clamp is clamped and connected to the upper plug-in plate 2 on the welding section 1.

[0024] The purpose of coinciding the axis of the steel cable 11 with the top center line of the two upper plug plates 2 in the two welding segments 1 is: considering that there is a certain torsion angle or deviation between the two adjacent welding segments 1 due to installation error or welding deformation between the two welding segments 1, and the two upper plug plates 2 are welding positioning parts located on the center line of the two welding segments 1, the deviation degree of the top center line of the two upper plug plates 2 is not only the smallest, but also can best reflect the torsion degree of welding deformation of the two welding segments 1. Therefore, setting the axis direction of the steel cable 11 in this way can not only limit the welding deformation of the two welding segments 1, but also obtain the torsion angle between the two welding segments 1 by obtaining the deviation distance between the two ends of the steel cable 11 in the top projection direction, thereby obtaining a more accurate arc.

[0025] Specifically, refer to Figure 5 The wire rope inspection robot 200 is movably arranged on the wire rope 11, and a limit rod 21 is horizontally arranged at the bottom of the wire rope inspection robot 200. In this embodiment, the wire rope inspection robot 200 can be a cable inspection robot or a wire climbing robot. Fig.11 The wire rope inspection robot 200 is provided with a wire rope force sensor 221 for measuring the tension of the wire rope 11. In this embodiment, the wire rope force sensor 221 is a contact wire rope force sensor, which is provided on the clamp arm 22 of the wire rope inspection robot 200. The clamp arm 22 drives itself and the contact wire rope force sensor to always keep in contact with the wire rope 11 through a spring. Preferably, the contact wire rope force sensor is a vibrating wire rope force sensor, which has a vibrating wire inside. The tension of the wire rope is transmitted to the vibrating wire, and the vibrating wire is vibrated by an internal excitation device, and the vibration frequency of the vibrating wire is measured by a vibration pickup device. The tension of the wire rope is calculated by using a calibrated frequency-tension relationship curve and the vibration frequency of the vibrating wire.

[0026] The function of the wire rope inspection robot 200 is: the wire rope inspection robot 200 can not only inspect the tension and damage of the wire rope 11 to ensure the construction quality, but also drive the measuring instrument 400 to move and scan the arc shape of the welding section 1. The wire rope inspection robot 200 can calculate the installation arc of the welding section 1 in three-dimensional space based on the design parameters of the welding section 1, the moving distance of the first position sensor and the arc shape of the welding section 1 to ensure the construction quality.

[0027] Specifically, one end of the guide telescopic rod 300 is vertically hinged on an upper plug plate 2 in the middle of a welding section 1, and the other end of the guide telescopic rod 300 is sleeved on the limit rod 21, and a first position sensor (not shown in the figure) for detecting the sliding distance relative to the limit rod 21 is provided on the sleeve end of the guide telescopic rod 300, and the first position sensor is electrically connected to the controller of the wire rope inspection robot 200.

[0028] In this embodiment, in order to more accurately obtain the curvature of the welding section 1, a distance sensor (not shown in the figure) for measuring the length of the guide telescopic rod 300 is provided in the guide telescopic rod 300, and a tilt sensor (not shown in the figure) is provided at the hinge end of the guide telescopic rod 300 and the upper plug plate 2, and both the distance sensor and the tilt sensor are connected to the controller for communication. A three-dimensional coordinate axis is established at the hinge of the above plug plate 2 and the guide telescopic rod 300, and the vertical upward direction is used as the Z axis, and the horizontal line in the length direction of the welding section 1 is used as the X axis. Considering that due to the deformation of the welding section 1, the top view projection of the steel cable 11 is not a horizontal line, so the moving distance of the steel cable inspection robot 200 on the steel cable 11 cannot be used as the X-axis position coordinate. Therefore, the length and tilt of the guide telescopic rod 300 are obtained by the distance sensor and the tilt sensor, and the X-axis position coordinate of the steel cable inspection robot 200 is obtained by multiplying the length by the cosine of the tilt angle. Combined with the change of the Z-axis coordinate of the elastic telescopic distance measuring rod 41, the curvature of the welding section 1 can be obtained more accurately.

[0029] The function of the guide telescopic rod 300 is as follows: since the wire rope inspection robot 200 may twist while traveling along the wire rope 11, which may affect the measurement effect of the measuring instrument 400, one end of the guide telescopic rod 300 is vertically hinged on one of the upper plug plates 2, so that the guide telescopic rod 300 can only rotate and extend in the vertical plane, so that the guide telescopic rod 300 is sleeved on the limit rod 21 of the wire rope inspection robot 200, so that the wire rope inspection robot 200 can always maintain horizontal travel on the wire rope 11, ensuring the measurement effect of the measuring instrument 400. At the same time, the sliding distance of the guide telescopic rod 300 on the limit rod 21 is the deviation distance of the wire rope 11, refer to Figure 3 , Figure 6 and Figure 7 , so that the sliding distance of the telescopic rod 300 guided by the first position sensor on the limiting rod 21 can reflect the torsion degree of the welding deformation of the two welding sections 1.

[0030] Specifically, the measuring instrument 400 is fixed on the wire rope inspection robot 200 and electrically connected to the controller, and the measuring instrument 400 is used to measure the arc shape of each welding segment 1. In this embodiment, the specific structure of the measuring instrument 400 can be a three-dimensional laser radar, a laser distance sensor or a contact distance meter. The three-dimensional laser radar is used to scan and obtain the arc shape of each welding segment 1. The laser distance sensor or the contact distance meter obtains the arc shape of each welding segment 1 by measuring the shortest vertical distance between the wire rope inspection robot 200 and each welding segment 1 during movement.

[0031] As a further embodiment of the measuring instrument 400 being a laser distance sensor, reference is made to Figure 5The laser distance sensor includes a plurality of laser emitting ends distributed longitudinally. The welding section 1 is tubular and has a curved surface in the cross-sectional direction. Thus, the plurality of laser emitting ends can not only obtain the shortest vertical distance between the wire rope inspection robot 200 and each welding section 1 during the movement process by comparing the plurality of distance data, but also enable the controller to comprehensively restore the three-dimensional shape of the welding section 1 through the plurality of distance data, the offset data of the first position sensor and the moving distance of the wire rope inspection robot 200.

[0032] As a further embodiment of the measuring instrument 400 being a contact distance meter, reference is made to Figure 8 The contact distance meter includes an elastic telescopic distance measuring rod 41, a contact plate 42 perpendicular to the extension direction of the upper chord frame is fixed on the measuring end of the elastic telescopic distance measuring rod 41, and the bottom of the contact plate 42 contacts the top of the welding section 1. The elastic telescopic distance measuring rod 41 obtains the shortest vertical distance through the contact plate 42, which is low in cost and can ensure high accuracy through physical contact.

[0033] In order to more intuitively reflect the curvature of the welding section 1 and reduce the workload of data processing, a slide groove 43 perpendicular to the welding section 1 is provided at the bottom of the contact plate 42. A slide table is slidably provided in the slide groove 43. A rotating shaft is provided on the slide table. The rotating shaft is fixedly connected to the top of an inverted V-shaped positioning block 44. The two side surfaces of the positioning block 44 are respectively in contact with the two sides of the welding section 1. A damper for resetting the rotation angle of the rotating shaft is provided at the rotating connection between the rotating shaft and the slide table. Fig. 9 and Fig.10 The inverted V-shaped positioning block 44 can locate the center of the welding section 1 under the extrusion of the elastic telescopic distance measuring rod 41. Regardless of the deformation or twisting of the welding section 1, the height change of the center line of the welding section 1 on the horizontal plane can be directly obtained, which can more intuitively reflect the curvature of the welding section 1 and reduce the workload of data processing. The setting of the rotating shaft and the slide groove 43 provides the positioning block 44 with the freedom to move to adapt to the shape of the welding section 1. The setting of the damper can limit and reset the rotation angle of the positioning block 44 to prevent the positioning block 44 from being overly tilted under the pressure of the elastic telescopic distance measuring rod 41 and being separated from the welding section 1. In this embodiment, the damper limits the angle of the positioning block 44 with the horizontal plane to between -15° and 15°, ensuring that the positioning block 44 is always on the welding section 1. In order to prevent the positioning block 44 from being stuck in rotation due to excessive twisting of the welding section 1, the length of the positioning block 44 can be appropriately reduced according to the diameter of the welding section 1 itself, and a smooth layer is provided on the inner surface of the positioning block 44 to reduce friction.

[0034] In order to further obtain the shape of the center line of the welding section 1 in three-dimensional space, a second position sensor (not shown in the figure) for detecting the sliding position of the rotating shaft is arranged in the slide groove 43, and a rotation sensor for measuring the rotation angle of the rotating shaft is arranged on the rotating shaft. The second position sensor and the rotation sensor are both connected to the controller for communication.

[0035] In order to enable the positioning block 44 to pass through multiple welding segments 1 to avoid interference, the distance between the top of the positioning block 44 and the wall of each welding segment 1 is greater than the distance between the top of the upper insert plate 2 and each welding segment 1. The height of the positioning block 44 is set in this way so that the positioning block 44 can pass through the upper insert plate 2 of the welding segment 1.

[0036] In order to detect the welding quality between the upper plug plate 2 and the welding section 1 during the movement of the positioning block 44, an industrial camera (not shown in the figure) can be provided on the inner top of the positioning block 44 of this embodiment. The industrial camera is electrically connected to the controller and is used to detect the welding quality.

[0037] Although the specific implementation of the invention is described in detail in conjunction with the drawings, it should not be understood as limiting the scope of protection of this application. Within the scope described in the claims, various modifications and variations that can be made by those skilled in the art without creative work still fall within the scope of protection of this application.

Claims

1. A device for detecting the curvature of a large-span fish-belly steel structure truss, characterized in that: include: Two pipe welding clamps (100), the two pipe welding clamps (100) being respectively fixed on two adjacent welding sections (1) on the bottom rod of the fish-belly steel structure truss, a steel cable (11) being arranged between the two pipe welding clamps (100), the axis of the steel cable (11) being coincident with a center line connecting the tops of two upper plug plates (2) in the two welding sections (1); A wire rope inspection robot (200), the wire rope inspection robot (200) being movably arranged on the wire rope (11), the wire rope inspection robot (200) being provided with a wire force sensor (221) for measuring the tension of the wire rope (11), and a limit rod (21) being horizontally arranged at the bottom of the wire rope inspection robot (200); a guide telescopic rod (300), one end of the guide telescopic rod (300) being vertically hinged on an upper plug plate (2) in the middle of the welding section (1), the other end of the guide telescopic rod (300) being sleeved on the limit rod (21), and a first position sensor for detecting a sliding distance relative to the limit rod (21) being provided on the sleeved end of the guide telescopic rod (300), the first position sensor being electrically connected to a controller of the wire rope inspection robot (200); a measuring instrument (400), the measuring instrument (400) being fixed on the wire rope inspection robot (200) and electrically connected to the controller, the measuring instrument (400) being used to measure and obtain the arc surface shape of each welding segment (1); The wire rope inspection robot (200) moves horizontally along the wire rope (11) under the restriction of the guide telescopic rod (300), the measuring instrument (400) obtains the arc surface shape of each welding segment (1) under the drive of the wire rope inspection robot (200), and the controller obtains the curvature of each welding segment (1) through the arc surface shape.

2. The arc detection device according to claim 1, characterized in that: A distance sensor for measuring the length of the guide telescopic rod (300) is arranged inside the guide telescopic rod (300), and an inclination sensor is arranged at the hinged end between the guide telescopic rod (300) and the upper plugboard (2), and both the distance sensor and the inclination sensor are in communication connection with the controller.

3. The arc detection device according to claim 1, characterized in that: The measuring instrument (400) is a laser distance sensor, a contact distance meter or a three-dimensional laser radar for scanning to obtain the arc shape of each welding segment (1); the laser distance sensor or the contact distance meter obtains the arc shape of each welding segment (1) by measuring the shortest vertical distance between the wire rope inspection robot (200) and each welding segment (1) during movement.

4. The arc detection device according to claim 3, characterized in that: The laser distance sensor comprises a plurality of laser emitting ends distributed longitudinally.

5. The arc detection device according to claim 3, characterized in that: The contact distance meter comprises an elastic telescopic distance measuring rod (41), a contact plate (42) perpendicular to the extension direction of the upper chord frame being fixed to the measuring end of the elastic telescopic distance measuring rod (41), and the bottom of the contact plate (42) is in contact with the top of the welding section (1).

6. The arc detection device according to claim 5, characterized in that: A slide groove (43) perpendicular to the welding section (1) is provided at the bottom of the contact plate (42); a slide table is slidably provided in the slide groove (43); a rotating shaft is provided on the slide table; the rotating shaft is fixedly connected to the top of an inverted V-shaped positioning block (44); two side surfaces of the positioning block (44) are respectively in contact with two sides of the welding section (1); a damper for resetting the rotation angle of the rotating shaft is provided at the rotation connection between the rotating shaft and the slide table.

7. The arc detection device according to claim 6, characterized in that: The distance between the top of the positioning block (44) and the wall surface of each welding section (1) is greater than the distance between the top of the upper insert plate (2) and each welding section (1).

8. The arc detection device according to claim 7, characterized in that: An industrial camera is arranged on the inner top of the positioning block (44); the industrial camera is electrically connected to the controller and is used to detect welding quality.

9. The arc detection device according to claim 6, characterized in that: A second position sensor for detecting the sliding position of the rotating shaft is arranged in the sliding groove (43), and a rotation sensor for measuring the rotation angle of the rotating shaft is arranged on the rotating shaft. Both the second position sensor and the rotation sensor are in communication connection with the controller.

10. The arc detection device according to claim 1, characterized in that: Each of the pipeline welding clamps (100) is provided with a steel cable fixer and a positioning clamp plate located in the radial direction of the steel cable fixer, and the positioning clamp plate is clamped and connected to the upper plug plate (2) on the welding section (1).

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