Unmanned aerial vehicle machining equipment for bridge condition detection

Abstract

Unmanned aerial vehicle machining equipment for bridge condition detection belongs to an intelligent metal welding system and comprises a welding supporting table and a laser welding head, a lower supporting seat is arranged at the bottom of the welding supporting table, a horizontal positioning gear ring is arranged on the side face of the lower supporting seat, and a welding mechanism is arranged on the inner side of the horizontal positioning gear ring. And the laser welding head carries out pre-cleaning and laser welding operation on the joint of the main to-be-welded part and the auxiliary to-be-welded part. The laser welding head comprises a welding head bearing shell, a welding head angle adjusting column is arranged on the side face of the welding head bearing shell and rotationally connected with an angle adjusting column mounting groove, a transmission shaft of a welding head driving motor is fixedly connected with the welding head angle adjusting column, and a distance adjusting cylinder connecting groove is formed in the side face of a lower welding head bearing pipe. And air holes generated in the welding process due to the fact that seams are moist in the subsequent welding process are avoided, the laser focus is always located at the welding seams by controlling the position of the focus lens, and the welding quality of the device is further improved.

Description

Technical Field

[0001] The present invention relates to the field of metal intelligent welding systems, and in particular to an unmanned aerial vehicle processing device for bridge condition detection. Background Art

[0002] The existing patent (Announcement No.: CN211028629U) proposes a laser welding device, including a welding workbench, a fixing clamp is fixedly connected to the upper end of the welding workbench, holes are evenly arranged inside the welding workbench, a placing tube is fixedly connected to the upper end of the welding workbench, a laser welding gun is placed inside the placing tube, a supporting frame is fixedly connected to the lower end of the welding workbench, and a horizontal column is fixedly connected between the supporting frame and another supporting frame. However, this device "the right end of the rotating column is fixedly connected to a clamping block, the upper end of the welding workbench is fixedly connected to a fixing block, and the fixing clamp can fix the object to be welded before welding". The fixing clamp can operate on parts with relatively simple shapes. When facing more complex drone parts, the welding effect is limited, which affects the subsequent welding effect of parts with complex shapes. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, the present invention provides an unmanned aerial vehicle processing equipment for bridge condition detection, which can avoid the generation of pores during welding and further improve the welding quality, thereby meeting the welding requirements of parts with complex shapes.

[0004] The purpose of the present invention is to be achieved through the following technical solutions: A kind of unmanned aerial vehicle processing equipment for bridge condition detection includes a welding support platform and a laser welding head. The bottom of the welding support platform is provided with a lower support seat, the side of the lower support seat is provided with a horizontal adjustment gear ring, the inner side of the horizontal adjustment gear ring is provided with a welding mechanism, the welding mechanism includes a horizontal adjustment device, a longitudinal adjustment device, and a multi-angle adjustment arm, the horizontal adjustment device is located on the inner side of the horizontal adjustment gear ring, the horizontal adjustment device moves around the main part to be welded on the horizontal plane, the longitudinal adjustment device is located on the inner side of the horizontal adjustment device, the longitudinal adjustment device moves around the main part to be welded on the vertical plane, the multi-angle adjustment arm is located on the inner side of the longitudinal adjustment device, a laser welding head is provided at the end of the multi-angle adjustment arm, the multi-angle adjustment arm can adjust the direction of the laser welding head, and the laser welding head performs pre-cleaning and laser welding on the interface between the main part to be welded and the auxiliary part to be welded.

[0005] The laser welding head includes a welding head bearing shell, a distance adjustment drive cylinder, a focal length adjustment gear, a focusing lens mounting platform, a focusing lens, and a distance adjustment drive motor. A welding head bearing shell is arranged on the side of the No. 3 support arm, and a welding head angle adjustment column is arranged on the side of the welding head bearing shell. The welding head angle adjustment column is rotatably connected to the angle adjustment column mounting groove. The transmission shaft of the welding head drive motor is fixedly connected to the welding head angle adjustment column. A high-temperature gas nozzle is arranged on the other side of the welding head bearing shell. A lower welding head bearing tube is arranged at the bottom of the welding head bearing shell. A distance adjustment cylinder connecting groove is arranged on the side of the lower welding head bearing tube. The distance adjustment cylinder connecting groove is rotatably connected to the distance adjustment drive cylinder. A distance adjustment motor platform is arranged on the top of the distance adjustment cylinder connecting groove. The distance adjustment drive motor is inserted into the distance adjustment motor platform and fixed. The transmission shaft of the distance adjustment drive motor is fixedly connected to the focal length Adjust the gear, the top of the pitch-adjusting driving cylinder is provided with a pitch-adjusting driven gear ring, the pitch-adjusting driven gear ring is meshed with the focal length adjusting gear, the surface of the lower welding head bearing tube is provided with a focusing mirror positioning groove, the focusing mirror positioning groove is evenly arranged around the lower welding head bearing tube, the focusing mirror mounting platform is adapted to the lower welding head bearing tube, the focusing mirror mounting platform is connected to the lower welding head bearing tube, the focusing mirror mounting platform slides inside the lower welding head bearing tube, the focusing mirror mounting platform is fixedly connected inside the focusing mirror mounting platform, a focusing mirror positioning block is provided on the side of the focusing mirror mounting platform, the focusing mirror positioning blocks are evenly arranged around the focusing mirror mounting platform, the focusing mirror positioning block is adapted to the focusing mirror positioning groove, the focusing mirror positioning block is connected to the focusing mirror positioning groove, the focusing mirror positioning block slides inside the focusing mirror positioning groove, and the focusing mirror positioning block is meshed with the pitch-adjusting driving cylinder.

[0006] The main part to be welded is placed on the upper part of the welding support platform, and the side of the main part to be welded is connected to the secondary part to be welded. A welding part auxiliary mechanism is arranged on the side of the main part to be welded, and the welding part auxiliary mechanism includes a clamp adjustment device and a secondary skeleton clamping device. The clamp adjustment device is located at the lower part of the welding support platform, and a secondary skeleton clamping device is arranged on the side of the clamp adjustment device. The secondary skeleton clamping device clamps the secondary part to be welded, and the clamp adjustment device can adjust the position of the clamp adjustment device. The clamp adjustment device includes a main positioning arm, an air supply pipe, a secondary positioning arm, a main expansion ring, a main expansion drive block, a secondary expansion ring, a secondary expansion drive block, a side cylinder plug, and a longitudinal lifting block. The bottom of the welding support platform is provided with a lower support column and a main support arm mounting seat. The lower support column is in a central position. The arm mounting seat is evenly arranged around the lower supporting column, a main positioning arm is arranged on the side of the main arm mounting seat, a main arm mounting platform is provided on one side of the main positioning arm, the main arm mounting platform corresponds to the position of the main arm mounting seat, a main arm connecting column is provided inside the main arm mounting platform, a main arm column mounting groove is provided at the bottom of the main arm mounting seat, the main arm connecting column is rotatably connected to the main arm column mounting groove, a main expansion ring bearing platform is provided on the top of the main arm connecting column, a main expansion ring positioning groove is provided on the top of the main expansion ring bearing platform, the main expansion ring is evenly arranged around the main expansion ring bearing platform, the main expansion ring is adapted to the main arm mounting seat, the main expansion ring is connected to the main arm mounting seat, the main expansion ring is inserted into the main arm mounting seat, a main expansion ring positioning block is provided at the bottom of the main expansion ring, and the main expansion ring positioning block is connected to the main expansion ring The main expansion ring positioning groove is adapted to the main expansion ring positioning groove, the main expansion ring positioning block is connected to the main expansion ring positioning groove, the main expansion ring positioning block slides inside the main expansion ring positioning groove, the main expansion ring has a main and slave slide inside, the main expansion drive block is adapted to the main expansion ring, the main expansion drive block is connected to the main expansion ring, the main expansion drive block slides inside the main expansion ring, the main expansion drive block has a main drive slide on the side, the main drive slide is pressed against the lower part of the main and slave slides, the main support arm connecting column has a main pneumatic rod connecting groove inside, the main expansion drive block has a main pneumatic rod at the bottom, the main pneumatic rod slides inside the main pneumatic rod connecting groove, the main pneumatic rod has a main cylinder plug at the bottom, the main support arm mounting platform has a main drive cylinder at the bottom, the main cylinder plug is adapted to the main drive cylinder, the main cylinder plug is connected to the main drive cylinder, the main cylinder plug is in the main drive The pneumatic cylinder slides inside, an air supply pipe is arranged at the bottom of the main positioning arm, and a No. 1 air supply branch pipe, a No. 2 air supply branch pipe and a No. 3 air supply branch pipe are arranged on the surface of the air supply pipe in sequence, and the bottom of the main driving cylinder is connected with the No. 1 air supply branch pipe, and a secondary arm mounting seat is provided on the other side of the main positioning arm, and a secondary arm column mounting groove is provided at the bottom of the secondary arm mounting seat, and a secondary positioning arm is arranged on the side of the secondary arm mounting seat, and a secondary arm column bearing seat is provided at the bottom of the secondary positioning arm, and a secondary arm connecting column is provided in the middle of the secondary arm column bearing seat, and the secondary arm connecting column is rotatably connected with the secondary arm column mounting groove, and a secondary expansion ring bearing platform is provided on the top of the secondary arm connecting column, and a secondary expansion ring positioning groove is provided on the surface of the secondary expansion ring bearing platform, and the secondary expansion ring positioning grooves are evenly arranged around the secondary expansion ring bearing platform, and the secondary expansion ring is adapted to the secondary arm mounting seat.The secondary expansion ring is connected to the secondary support arm mounting seat, the secondary expansion ring is inserted into the secondary support arm mounting seat, the secondary expansion ring bottom is provided with a secondary expansion ring positioning block, the secondary expansion ring positioning block is adapted to the secondary expansion ring positioning groove, the secondary expansion ring positioning block is connected to the secondary expansion ring positioning groove, the secondary expansion ring positioning block slides inside the secondary expansion ring positioning groove, the secondary expansion drive block is adapted to the secondary expansion ring, the secondary expansion drive block is connected to the secondary expansion ring, the secondary expansion drive block slides inside the secondary expansion ring, the secondary expansion ring inner side is provided with a secondary driven slide, the secondary expansion drive block side is provided with a secondary drive slide, the secondary drive slide is pressed against the bottom of the secondary driven slide, the secondary expansion drive block bottom is provided with a secondary pneumatic rod, the secondary support arm column bearing seat has a secondary pneumatic rod connecting groove, the secondary pneumatic rod slides inside the secondary pneumatic rod connecting groove, the secondary support arm column bearing seat has a secondary drive cylinder at the bottom, The bottom of the auxiliary pneumatic rod is provided with an auxiliary cylinder plug, which is adapted to the auxiliary driving cylinder, the auxiliary cylinder plug is connected to the auxiliary driving cylinder, the auxiliary cylinder plug slides inside the auxiliary driving cylinder, the bottom of the auxiliary driving cylinder is connected to the No. 2 air supply branch pipe, the middle of the auxiliary positioning arm is provided with a longitudinal lifting slide, the longitudinal lifting slide is adapted to the longitudinal lifting block, the longitudinal lifting slide is connected to the longitudinal lifting block, the longitudinal lifting block slides inside the longitudinal lifting slide, the side of the auxiliary positioning arm is provided with a side driving cylinder, the side driving cylinder is adapted to the side cylinder plug, the side driving cylinder is connected to the side cylinder plug, the side cylinder plug slides inside the side driving cylinder, the side of the longitudinal lifting slide is provided with a longitudinal positioning column connecting groove, one side of the side cylinder plug is provided with a side pneumatic rod, the side pneumatic rod slides inside the longitudinal positioning column connecting groove, the side pneumatic rod is pressed against the surface of the longitudinal lifting block, and the side of the side driving cylinder is connected to the No. 3 air supply branch pipe.

[0007] Beneficial effects: 1. After high-pressure gas is injected into the air supply pipe of the present invention, the main expansion ring expands outward and presses on the inner wall of the main arm mounting seat, so that the main arm mounting platform cannot continue to rotate, the secondary expansion ring expands outward and presses on the inner wall of the secondary arm mounting seat, so that the secondary positioning arm cannot continue to rotate, and the side pneumatic rod is pressed on the surface of the longitudinal lifting block, so that the longitudinal lifting block cannot continue to move. The three positionings are completed synchronously, making the positioning process more stable and efficient. At the same time, the three nodes can enable the clamp to move in all directions, thereby meeting the welding requirements of parts with complex shapes.

[0008] 2. The contact area between the main expansion ring and the main arm mounting seat of the present invention is larger, so that when the main expansion ring is pressed against the inner wall of the main arm mounting seat, the main arm mounting seat is generally subjected to greater friction. At the same time, when the main expansion ring is pressed, the outer side surface of the main expansion ring is subjected to force synchronously at 360°, so that the main arm mounting platform will not be offset due to uneven force during the process of being stuck, thereby making this device more accurate in providing positioning for the auxiliary parts to be welded, and making the subsequent welding processing more accurate.

[0009] 3. Before welding, the high-temperature gas nozzle of the present invention sprays a high-temperature gas flow to the welding point of the main part to be welded and the auxiliary part to be welded, which removes impurities at the connection between the main part to be welded and the auxiliary part to be welded, and also makes the connection between the main part to be welded and the auxiliary part to be welded drier, thereby avoiding moisture at the joint in the subsequent welding process, which may cause pores in the welding process, and ensuring the welding quality during welding.

[0010] 4. The pitch-adjustable driving motor of the present invention drives the pitch-adjustable driving cylinder to rotate through the focal length adjusting gear. When the pitch-adjustable driving cylinder rotates, it can drive the focusing lens mounting platform to move longitudinally inside the lower welding head supporting tube, thereby adjusting the position of the focus generated by the laser through the focusing lens. When this device encounters a more complex welding trajectory during the welding process, the laser focus can always fall on the weld by controlling the position of the focusing lens, thereby further improving the welding quality of this device. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 The present invention is a schematic structural diagram of an unmanned aerial vehicle processing equipment for bridge condition detection.

[0012] Figure 2 This is a partially enlarged view of the UAV processing equipment for bridge condition detection described in the present invention.

[0013] Figure 3 This is a partial enlarged view of the welding part auxiliary mechanism described in the present invention.

[0014] Figure 4 It is a partial cross-sectional view of the welding part auxiliary mechanism described in the present invention.

[0015] Figure 5 The present invention Figure 4 Partial enlargement of Figure A.

[0016] Figure 6 The present invention Figure 4 Partial enlargement of Figure B.

[0017] Figure 7 This is a partial exploded view of the clamp adjustment device described in the present invention.

[0018] Figure 8 This is a partial enlarged view of the auxiliary frame clamping device described in the present invention.

[0019] Fig. 9 This is a partial enlarged view of the horizontal adjustment device described in the present invention.

[0020] Fig.10 This is a partial enlarged view of the longitudinal positioning device described in the present invention.

[0021] Fig.11 This is a partial enlarged view of the laser welding head described in the present invention.

[0022] Fig.12 This is a diagram showing the installation status of the focusing mirror mounting platform described in the present invention.

[0023] Fig.13 This is a partial front cross-sectional view of the laser welding head described in the present invention.

[0024] Fig.14 This is a schematic diagram of the structure of the welding support platform described in the present invention.

[0025] Fig.15 This is a schematic diagram of the longitudinal adjustment rack structure of the present invention.

[0026] Fig.16 It is a schematic diagram of the structure of the adjusting arm bearing platform described in the present invention.

[0027] In the figure: welding support platform 1; lower support seat 2; horizontal adjustment gear ring 3; welding part auxiliary mechanism 6; welding mechanism 7; laser welding head 8; lower support column 9; main positioning arm 11; main arm mounting platform 12; main arm mounting seat 13; air supply pipe 14; auxiliary positioning arm 15; auxiliary arm mounting seat 16; main arm connecting column 17; main arm column mounting groove 18; main expansion ring bearing platform 19; main expansion ring positioning groove 21; main expansion ring 22; main and slave slides 23; main expansion ring positioning block 24; main expansion drive block 25; main drive slide 26; main pneumatic rod connecting groove 27; main pneumatic rod 28; main drive cylinder 29; main cylinder plug 31; auxiliary arm column mounting groove 32; auxiliary arm column bearing seat 33; auxiliary Support arm connecting column 34; auxiliary expansion ring bearing platform 35; auxiliary expansion ring positioning groove 36; auxiliary expansion ring 37; auxiliary driven slide 38; auxiliary expansion drive block 39; auxiliary drive slide 41; auxiliary pneumatic rod connecting groove 42; auxiliary pneumatic rod 43; auxiliary cylinder plug 44; auxiliary drive cylinder 45; auxiliary expansion ring positioning block 46; longitudinal lifting slide groove 47; longitudinal positioning column connecting groove 48; side pneumatic rod 49; side drive cylinder 51; side cylinder plug 52; longitudinal lifting block 53; upper lifting platform 54; block platform positioning cylinder 55; bidirectional screw mounting platform 56; bidirectional screw mounting block 57; bidirectional screw 58; block bearing platform 59; block platform positioning rod 61; block platform bearing seat 62; positioning block 63; positioning block connecting column 64; screw Rod adjustment knob 65; longitudinal adjustment rack 66; longitudinal rack mounting groove 67; longitudinal rack positioning block 68; longitudinal rack drive platform 69; rack motor platform 71; rack displacement drive motor 72; rack displacement drive gear 73; adjustment arm mounting groove 74; adjustment arm bearing platform 75; adjustment arm drive platform 76; adjustment arm positioning block 77; adjustment arm motor platform 78; adjustment arm drive motor 79; adjustment arm drive gear 81; No. 1 support arm motor 82; No. 1 support arm seat 83; No. 1 support arm 84; No. 1 outer node block 85; No. 1 inner node block 86; No. 1 node motor 87; No. 2 support arm 88; No. 2 outer node block 89; No. 2 inner node block 91; No. 2 node motor 92; No. 3 support arm 93; angle adjustment motor installation Slot 94; welding head drive motor 95; welding head bearing shell 96; high-temperature gas nozzle 97; distance adjustment motor platform 98; distance adjustment drive cylinder 99; distance adjustment cylinder connecting slot 101; welding head angle adjustment column 102; angle adjustment column mounting slot 103; focal length adjustment gear 104; focusing mirror positioning slot 105; focusing mirror mounting platform 106; focusing mirror 107; focusing mirror positioning block 108; distance adjustment drive motor 109; distance adjustment driven gear ring 111; lower welding head bearing tube 112; No. 1 air supply branch 141; No. 2 air supply branch 142; No. 3 air supply branch 143; clamp adjustment device 601; sub-frame clamping device 602; horizontal adjustment device 701; vertical adjustment device 702; multi-angle adjustment arm 703. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below according to the accompanying drawings and embodiments: Embodiment 1: A UAV processing equipment for bridge condition detection includes a welding support platform 1, a lower support seat 2 is provided at the bottom of the welding support platform 1, a horizontal adjustment gear ring 3 is provided on the side of the lower support seat 2, a welding mechanism 7 is arranged on the inner side of the horizontal adjustment gear ring 3, the welding mechanism 7 includes a horizontal adjustment device 701, a longitudinal adjustment device 702, and a multi-angle adjustment arm 703, the horizontal adjustment device 701 is located on the inner side of the horizontal adjustment gear ring 3, the horizontal adjustment device 701 moves around the main part to be welded on the horizontal plane, the longitudinal adjustment device 702 is located on the inner side of the horizontal adjustment device 701, the longitudinal adjustment device 702 moves around the main part to be welded on the vertical plane, the multi-angle adjustment arm 703 is located on the inner side of the longitudinal adjustment device 702, a laser welding head 8 is arranged at the end of the multi-angle adjustment arm 703, the multi-angle adjustment arm 703 can adjust the direction of the laser welding head 8, and the laser welding head 8 performs pre-cleaning and laser welding operations on the interface between the main part to be welded and the auxiliary part to be welded.

[0029] The laser welding head 8 of the present invention comprises a welding head bearing shell 96, a distance adjustment drive cylinder 99, a focal length adjustment gear 104, a focusing lens mounting platform 106, a focusing lens 107, and a distance adjustment drive motor 109. The welding head bearing shell 96 is arranged on the side of the third support arm 93. The side of the welding head bearing shell 96 has a welding head angle adjustment column 102, and the welding head angle adjustment column 102 is rotatably connected to the angle adjustment column mounting groove 103. The transmission shaft of the welding head drive motor 95 is fixedly connected to the welding head angle adjustment column 102. The other side of the carrier shell 96 has a high-temperature gas nozzle 97, and the interface is pre-cleaned. The bottom of the welding head bearing shell 96 has a lower welding head bearing tube 112, and the side of the lower welding head bearing tube 112 has a distance adjustment tube connection groove 101. The distance adjustment tube connection groove 101 is rotatably connected with the distance adjustment drive tube 99. The top of the distance adjustment tube connection groove 101 has a distance adjustment motor platform 98. The distance adjustment drive motor 109 is inserted into the inside of the distance adjustment motor platform 98 and fixed. The transmission shaft of the distance adjustment drive motor 109 is fixedly connected to the focal length adjustment The gear 104, the top of the pitch-adjusting driving cylinder 99 is provided with a pitch-adjusting driven gear ring 111, the pitch-adjusting driven gear ring 111 is meshed with the focal length adjustment gear 104, the surface of the lower welding head supporting tube 112 is provided with a focusing lens positioning groove 105, the focusing lens positioning groove 105 is evenly arranged around the lower welding head supporting tube 112, the focusing lens mounting platform 106 is adapted to the lower welding head supporting tube 112, the focusing lens mounting platform 106 is connected to the lower welding head supporting tube 112, and the focusing lens mounting platform 106 is on the lower welding head supporting tube 112. 2, the focusing lens mounting platform 106 is fixedly connected with the focusing lens 107, the focusing lens mounting platform 106 has a focusing lens positioning block 108 on the side, the focusing lens positioning blocks 108 are evenly arranged around the focusing lens mounting platform 106, the focusing lens positioning blocks 108 are adapted to the focusing lens positioning groove 105, the focusing lens positioning blocks 108 are connected to the focusing lens positioning groove 105, the focusing lens positioning blocks 108 slide inside the focusing lens positioning groove 105, and the focusing lens positioning blocks 108 are engaged with the distance adjustment driving cylinder 99.

[0030] Embodiment 2: The main part to be welded of the present invention is placed on the upper part of the welding support platform 1, and the side of the main part to be welded is connected to the secondary part to be welded. The side of the main part to be welded is provided with a welding part auxiliary mechanism 6, and the welding part auxiliary mechanism 6 includes a clamp adjustment device 601 and a secondary skeleton clamping device 602. The clamp adjustment device 601 is located at the lower part of the welding support platform 1, and the side of the clamp adjustment device 601 is provided with a secondary skeleton clamping device 602. The secondary skeleton clamping device 602 clamps the secondary part to be welded. The clamp adjustment device 601 can adjust the position of the clamp adjustment device 601. The clamp adjustment device 601 includes a main positioning arm 11, an air supply pipe 14, a secondary positioning arm 15, a main expansion ring 22, a main expansion drive block 25, a secondary expansion ring 37, a secondary expansion drive block 39, Side cylinder plug 52, longitudinal lifting block 53, the bottom of the welding support platform 1 has a lower support column 9 and a main arm mounting seat 13, the lower support column 9 is in the center position, the main arm mounting seat 13 is evenly arranged around the lower support column 9, a main positioning arm 11 is arranged on the side of the main arm mounting seat 13, one side of the main positioning arm 11 has a main arm mounting platform 12, the main arm mounting platform 12 corresponds to the main arm mounting seat 13, the main arm mounting platform 12 has a main arm connecting column 17 inside, the main arm mounting seat 13 has a main arm column mounting groove 18 at the bottom, the main arm connecting column 17 is rotatably connected to the main arm column mounting groove 18, the top of the main arm connecting column 17 has a main expansion ring bearing platform 19, and the top of the main expansion ring bearing platform 19 has a main expansion ring positioning groove 21 The main expansion ring positioning groove 21 is evenly arranged around the main expansion ring bearing platform 19, the main expansion ring 22 is adapted to the main support arm mounting seat 13, the main expansion ring 22 is connected to the main support arm mounting seat 13, the main expansion ring 22 is inserted into the main support arm mounting seat 13, the main expansion ring 22 has a main expansion ring positioning block 24 at the bottom, the main expansion ring positioning block 24 is adapted to the main expansion ring positioning groove 21, the main expansion ring positioning block 24 is connected to the main expansion ring positioning groove 21, the main expansion ring positioning block 24 slides inside the main expansion ring positioning groove 21, the main expansion ring 22 has a main and slave sliding table 23 inside, the main expansion drive block 25 is adapted to the main expansion ring 22, the main expansion drive block 25 is connected to the main expansion ring 22, the main expansion drive block 25 slides inside the main expansion ring 22, the main expansion drive A main driving slide 26 is provided on the side of the moving block 25, and the main driving slide 26 is pressed against the lower part of the main slave slide 23. A main pneumatic rod connecting groove 27 is provided inside the main support arm connecting column 17. A main pneumatic rod 28 is provided at the bottom of the main expansion driving block 25, and the main pneumatic rod 28 slides inside the main pneumatic rod connecting groove 27. A main cylinder plug 31 is provided at the bottom of the main pneumatic rod 28. A main driving cylinder 29 is provided at the bottom of the main support arm mounting platform 12, and the main cylinder plug 31 is adapted to the main driving cylinder 29. The main cylinder plug 31 is connected to the main driving cylinder 29, and the main cylinder plug 31 slides inside the main driving cylinder 29. An air supply pipe 14 is provided at the bottom of the main positioning support arm 11, and a No. 1 air supply branch pipe 141, a No. 2 air supply branch pipe 142, and a No. 3 air supply branch pipe 143 are provided on the surface of the air supply pipe 14 in sequence.The bottom of the main driving cylinder 29 is connected to the No. 1 air supply branch pipe 141, the other side of the main positioning arm 11 is provided with a secondary arm mounting seat 16, the bottom of the secondary arm mounting seat 16 is provided with a secondary arm column mounting groove 32, the side of the secondary arm mounting seat 16 is provided with a secondary positioning arm 15, the bottom of the secondary positioning arm 15 is provided with a secondary arm column bearing seat 33, the middle part of the secondary arm column bearing seat 33 is provided with a secondary arm connecting column 34, the secondary arm connecting column 34 is rotatably connected with the secondary arm column mounting groove 32, the top of the secondary arm connecting column 34 is provided with a secondary expansion ring bearing platform 35, the surface of the secondary expansion ring bearing platform 35 is provided with a secondary expansion ring positioning groove 36, the secondary expansion ring positioning groove 36 is evenly arranged around the secondary expansion ring bearing platform 35, and the secondary expansion ring is arranged on the side of the secondary expansion ring. The expansion ring 37 is adapted to the secondary arm mounting seat 16, the secondary expansion ring 37 is connected to the secondary arm mounting seat 16, the secondary expansion ring 37 is inserted into the secondary arm mounting seat 16, the secondary expansion ring 37 has a secondary expansion ring positioning block 46 at the bottom, the secondary expansion ring positioning block 46 is adapted to the secondary expansion ring positioning groove 36, the secondary expansion ring positioning block 46 is connected to the secondary expansion ring positioning groove 36, the secondary expansion ring positioning block 46 slides inside the secondary expansion ring positioning groove 36, the secondary expansion drive block 39 is adapted to the secondary expansion ring 37, the secondary expansion drive block 39 is connected to the secondary expansion ring 37, the secondary expansion drive block 39 slides inside the secondary expansion ring 37, the secondary expansion ring 37 has a secondary driven slide 38 on the inner side, the secondary expansion drive block 39 The side has a secondary driving slide 41, which is pressed against the bottom of the secondary driven slide 38, the bottom of the secondary expansion drive block 39 has a secondary pneumatic rod 43, the inside of the secondary support arm column bearing seat 33 has a secondary pneumatic rod connecting groove 42, the secondary pneumatic rod 43 slides inside the secondary pneumatic rod connecting groove 42, the bottom of the secondary support arm column bearing seat 33 has a secondary driving cylinder 45, the bottom of the secondary pneumatic rod 43 has a secondary cylinder plug 44, the secondary cylinder plug 44 is adapted to the secondary driving cylinder 45, the secondary cylinder plug 44 is connected to the secondary driving cylinder 45, the secondary cylinder plug 44 slides inside the secondary driving cylinder 45, the bottom of the secondary driving cylinder 45 is connected to the second air supply branch pipe 142, and the middle part of the secondary positioning arm 15 has a longitudinal lifting slide groove 4 7. The longitudinal lifting chute 47 is adapted to the longitudinal lifting block 53. The longitudinal lifting chute 47 is connected to the longitudinal lifting block 53. The longitudinal lifting block 53 slides inside the longitudinal lifting chute 47. The side of the auxiliary positioning arm 15 has a side driving cylinder 51. The side driving cylinder 51 is adapted to the side cylinder plug 52. The side driving cylinder 51 is connected to the side cylinder plug 52. The side cylinder plug 52 slides inside the side driving cylinder 51. The side of the longitudinal lifting chute 47 has a longitudinal positioning column connecting groove 48. One side of the side cylinder plug 52 has a side pneumatic rod 49. The side pneumatic rod 49 slides inside the longitudinal positioning column connecting groove 48. The side pneumatic rod 49 is pressed against the surface of the longitudinal lifting block 53. The side of the side driving cylinder 51 is connected to the No. 3 air supply branch pipe 143.

[0031] Embodiment 3: The sub-frame clamping device 602 of the present invention includes a bidirectional screw 58, a block bearing platform 59, and a positioning block 63. The top of the vertical lifting block 53 is provided with an upper lifting platform 54, and one end of the upper lifting platform 54 is provided with a block platform positioning cylinder 55. The side of the block platform positioning cylinder 55 is provided with a bidirectional screw mounting platform 56. The bidirectional screw mounting platform 56 is provided with a bidirectional screw 58 inside. The middle of the bidirectional screw 58 is provided with a bidirectional screw mounting block 57. The bidirectional screw mounting block 57 is rotatably connected to the bidirectional screw mounting platform 56. Screw adjustment knobs 65 are provided on both sides of the bidirectional screw 58. Block bearing platforms 59 are provided on both sides of the bidirectional screw mounting platform 56. The block bearing platforms 59 are threadedly connected to the bidirectional screw 58. The block bearing platforms 59 face the card. One side of the block platform positioning cylinder 55 is provided with a block platform positioning rod 61, which is adapted to the block platform positioning cylinder 55, connected to the block platform positioning cylinder 55, and slides inside the block platform positioning cylinder 55. The block bearing platform 59 is provided with a block platform bearing seat 62 on the side away from the block platform positioning cylinder 55. A positioning block 63 is arranged on the top of the block platform bearing seat 62, and a positioning block 63 is provided with a positioning block connecting column 64 at the bottom of the positioning block 63. The positioning block connecting column 64 is rotatably connected to the block platform bearing seat 62, and the positioning block 63 is pressed tightly against the side of the secondary part to be welded, and the main part to be welded is placed on the upper part of the welding support platform 1, and the end of the secondary part to be welded is connected to the main part to be welded.

[0032] An operating method of an unmanned aerial vehicle processing equipment for bridge condition detection includes the following steps: when adjusting the clamping position of the welding part auxiliary mechanism 6, the screw adjustment knob 65 is turned, and the screw adjustment knob 65 drives the bidirectional screw 58 to rotate, so that the block bearing platforms 59 on both sides are close to each other, until the positioning block 63 is pressed tightly on both sides of the auxiliary part to be welded, and the auxiliary part to be welded is clamped, and the clamped auxiliary part to be welded is connected with the main part to be welded. After confirming the position of the auxiliary part to be welded, air is ventilated into the air supply pipe 14, and the main expansion drive block 25 is connected to the main slave slide 23 through the main drive slide 26. The cooperation drives the main expansion ring 22 to expand outward and press against the inner wall of the main arm mounting seat 13, so that the main arm mounting platform 12 cannot continue to rotate, and the secondary expansion drive block 39 drives the secondary expansion ring 37 to expand outward and press against the inner wall of the secondary arm mounting seat 16 through the cooperation of the secondary drive slide 41 and the secondary driven slide 38, so that the secondary positioning arm 15 cannot continue to rotate, and the side pneumatic rod 49 presses against the surface of the longitudinal lifting block 53, so that the longitudinal lifting block 53 cannot continue to move, and the connection between the main arm mounting platform 12, the secondary positioning arm 15, the longitudinal lifting block 53 and other components is completely stuck, and the positioning of the secondary parts to be welded is completed.

[0033] It should be noted that the hollow design of the main expansion ring 22 and the auxiliary expansion ring 37 allows the main expansion ring 22 and the auxiliary expansion ring 37 to expand outward or contract inward. After the high-pressure gas is injected into the air supply pipe 14, the main expansion ring 22 expands outward and presses on the inner wall of the main arm mounting seat 13, so that the main arm mounting platform 12 cannot continue to rotate. The auxiliary expansion ring 37 expands outward and presses on the inner wall of the auxiliary arm mounting seat 16, so that the auxiliary positioning arm 15 cannot continue to rotate. The side pneumatic rod 49 presses on the surface of the vertical lifting block 53, so that the vertical lifting block 53 cannot continue to move. The three positionings are completed synchronously, making the positioning process more stable and efficient. At the same time, the three nodes can enable the fixture to move in all directions, so as to meet the welding requirements of parts with complex shapes. The present invention applies force evenly to prevent the occurrence of weld nodules or unevenness.

[0034] It should also be noted that when the UAV for bridge condition detection is processed and welded, the contact area between the main expansion ring 22 and the main arm mounting seat 13 is large, so that when the main expansion ring 22 is pressed against the inner wall of the main arm mounting seat 13, the main arm mounting seat 13 is generally subjected to greater friction. At the same time, when the main expansion ring 22 is pressed, the outer side of the main expansion ring 22 is subjected to 360° synchronous force, so that the main arm mounting platform 12 will not be offset due to uneven force during the process of being stuck, so that this device is more accurate in providing positioning for the auxiliary parts to be welded, and the subsequent welding processing accuracy is higher. Effectively prevent the occurrence of inaccurate welding or uneven welds that lead to uneven force and deformation and danger.

[0035] Embodiment 4: The horizontal adjustment device 701 of the present invention includes a longitudinal adjustment rack 66, a rack displacement driving motor 72, and a rack displacement driving gear 73. The horizontal adjustment gear ring 3 has a longitudinal rack mounting groove 67 inside, and the inner side of the horizontal adjustment gear ring 3 is provided with a longitudinal adjustment rack 66. The outer side of the longitudinal adjustment rack 66 has a longitudinal rack positioning block 68, and the longitudinal rack positioning block 68 is adapted to the longitudinal rack mounting groove 67. The longitudinal rack positioning block 68 is connected to the longitudinal rack mounting groove 67, and the longitudinal rack positioning block 68 slides inside the longitudinal rack mounting groove 67. The side of the longitudinal rack positioning block 68 has a longitudinal rack driving platform 69, and the surface of the longitudinal rack driving platform 69 has a rack motor platform 71. The rack displacement driving motor 72 is inserted into the rack motor platform 71 and fixed, and the transmission shaft of the rack displacement driving motor 72 passes through the longitudinal rack driving platform 69 and is fixedly connected to the rack displacement driving gear 73, and the rack displacement driving gear 73 is meshed with the horizontal adjustment gear ring 3.

[0036] Embodiment 5: The longitudinal adjustment device 702 of the present invention comprises an adjustment arm bearing platform 75, an adjustment arm driving motor 79, an adjustment arm driving gear 81, and a No. 1 support arm seat 83. The longitudinal adjustment rack 66 has an adjustment arm mounting groove 74 inside, and an adjustment arm bearing platform 75 is arranged on the side of the longitudinal adjustment rack 66. An adjustment arm driving platform 76 is arranged on one side of the adjustment arm bearing platform 75, and an adjustment arm positioning block 77 is arranged on the side of the adjustment arm driving platform 76. The adjustment arm positioning block 77 is adapted to the adjustment arm mounting groove 74, and the adjustment arm positioning block 77 is connected to the adjustment arm mounting groove 74. 7 slides inside the adjusting arm mounting groove 74, the adjusting arm driving platform 76 has an adjusting arm motor platform 78 on its surface, the adjusting arm driving motor 79 is inserted into the adjusting arm motor platform 78 and fixed, the transmission shaft of the adjusting arm driving motor 79 passes through the adjusting arm driving platform 76 and is fixedly connected to the adjusting arm driving gear 81, the adjusting arm driving gear 81 is meshed with the longitudinal adjusting rack 66, the No. 1 support arm motor 82 is inserted into the adjusting arm bearing platform 75 and fixed, the transmission shaft of the No. 1 support arm motor 82 passes through the adjusting arm bearing platform 75 and is fixedly connected to the No. 1 support arm seat 83.

[0037] Embodiment 6: The multi-angle adjustment arm 703 of the present invention comprises a first node motor 87, a second support arm 88, a second node motor 92, a third support arm 93, and a welding head drive motor 95. A first support arm 84 is provided on one side of the first support arm seat 83, a first inner node block 86 is provided at the end of the first support arm 84, a second support arm 88 is provided on the side of the first support arm 84, and a first outer node block 85 is provided on one side of the second support arm 88. The first outer node block 85 is rotatably connected to the first inner node block 86. The first node motor 87 is inserted into the first outer node block 85 and fixed. The first node motor 87 has a transmission shaft fixedly connected to the first inner node block 86. 6. The other side of the second support arm 88 has a second outer node block 89, and the side of the second support arm 88 is provided with a third support arm 93. One side of the third support arm 93 has a second inner node block 91, and the second inner node block 91 is rotatably connected with the second outer node block 89. The second node motor 92 is inserted into the second outer node block 89 and fixed. The transmission shaft of the second node motor 92 is fixedly connected with the second inner node block 91. The other side of the third support arm 93 has an angle adjustment motor installation slot 94, and the angle adjustment motor installation slot 94 has an angle adjustment column installation slot 103 inside. The welding head drive motor 95 is inserted into the angle adjustment motor installation slot 94 and fixed. Real-time and precise adjustment of the welding focal length is achieved to ensure the concentration of laser energy, and the laser incident angle can be dynamically adjusted to avoid welding offset caused by workpiece deformation.

[0038] Embodiment 7: The present invention drives the rack displacement driving gear 73 to rotate through the rack displacement driving motor 72, so that the rack displacement driving gear 73 moves inside the horizontal adjustment gear ring 3, so that the welding mechanism 7 drives the laser welding head 8 to perform a 360° circular movement around the main part to be welded on the horizontal plane, and drives the adjusting arm driving gear 81 to rotate through the adjusting arm driving motor 79, so that the adjusting arm driving gear 81 moves inside the longitudinal adjustment rack 66, so that the welding mechanism 7 drives the welding mechanism 7 to perform a circular movement around the main part to be welded on the vertical plane, and the No. 1 support arm motor 82 controls the No. 1 support arm seat 83 to rotate, the No. 1 node motor 87 controls the No. 2 support arm 88 to rotate, the No. 2 node motor 92 controls the No. 3 support arm 93 to rotate, and the welding head driving motor 95 controls the welding head bearing shell 96 to rotate. When the UAV for bridge condition detection is processed and welded, the laser welding head 8 can weld the main parts to be welded and the auxiliary parts to be welded of the UAV for bridge condition detection in all directions and angles, so as to meet the welding requirements of different positions.

[0039] It should be noted that before welding, the high-temperature gas nozzle 97 sprays high-temperature airflow to the welding point between the main parts to be welded and the auxiliary parts to be welded, which removes impurities at the connection between the main parts to be welded and the auxiliary parts to be welded, and also makes the connection between the main parts to be welded and the auxiliary parts to be welded of the bridge condition inspection drone drier, avoiding moisture at the joints in the subsequent welding process, which leads to the formation of pores in the welding process, and ensures the welding quality during welding.

[0040] It should also be noted that the distance adjustment drive motor 109 drives the distance adjustment drive cylinder 99 to rotate through the focal length adjustment gear 104. When the distance adjustment drive cylinder 99 rotates, it can drive the focusing lens mounting platform 106 to move longitudinally inside the lower welding head supporting tube 112, thereby adjusting the position of the focus generated by the laser through the focusing lens 107. When this device encounters a more complex welding trajectory during the welding process, the laser focus can always fall on the weld by controlling the position of the focusing lens 107, thereby further improving the welding quality of this device.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the technical principles of the present invention, and these improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A UAV processing equipment for bridge condition detection, characterized by The invention relates to a welding support platform (1) and a laser welding head (8). The welding support platform (1) has a lower support seat (2) at the bottom, and a horizontal adjustment tooth ring (3) is provided on the side of the lower support seat (2). A welding mechanism (7) is arranged on the inner side of the horizontal adjustment tooth ring (3). The welding mechanism (7) comprises a horizontal adjustment device (701), a longitudinal adjustment device (702), and a multi-angle adjustment arm (703). The horizontal adjustment device (701) is located on the inner side of the horizontal adjustment tooth ring (3). The horizontal adjustment device (701) moves around the main part to be welded on a horizontal plane. The longitudinal adjustment device (702) is located on the inner side of the horizontal adjustment device (701). The longitudinal adjustment device (702) moves around the main part to be welded on a vertical plane. The multi-angle adjustment arm (703) is located on the inner side of the longitudinal adjustment device (702). The end of the multi-angle adjustment arm (703) is arranged with a laser welding head (8).

2. The UAV processing equipment for bridge condition detection according to claim 1 is characterized in that The laser welding head (8) comprises a welding head bearing shell (96), a distance adjustment drive cylinder (99), a focal length adjustment gear (104), a focusing lens mounting platform (106), a focusing lens (107), and a distance adjustment drive motor (109). The side of the third support arm (93) is provided with a welding head bearing shell (96). The side of the welding head bearing shell (96) is provided with a welding head angle adjustment column (102). The welding head angle adjustment column (102) is rotatably connected to the angle adjustment column mounting groove (103). The transmission shaft of the welding head drive motor (95) is fixedly connected to the welding head angle adjustment column (102). The other side of the head bearing shell (96) is provided with a high-temperature gas nozzle (97), the bottom of the welding head bearing shell (96) is provided with a lower welding head bearing tube (112), the side of the lower welding head bearing tube (112) is provided with a pitch adjustment tube connecting groove (101), the pitch adjustment tube connecting groove (101) is rotatably connected to the pitch adjustment drive tube (99), the top of the pitch adjustment tube connecting groove (101) is provided with a pitch adjustment motor platform (98), the pitch adjustment drive motor (109) is inserted into the pitch adjustment motor platform (98) and fixed, and the transmission shaft of the pitch adjustment drive motor (109) is fixedly connected to the focal length adjustment gear (104).

3. The UAV processing equipment for bridge condition detection according to claim 2 is characterized by: The top of the pitch-adjusting driving cylinder (99) is provided with a pitch-adjusting driven gear ring (111), the pitch-adjusting driven gear ring (111) is meshed with the focal length adjustment gear (104), the surface of the lower welding head supporting tube (112) is provided with a focusing mirror positioning groove (105), the focusing mirror positioning groove (105) is evenly arranged around the lower welding head supporting tube (112), the focusing mirror mounting platform (106) is adapted to the lower welding head supporting tube (112), the focusing mirror mounting platform (106) is connected to the lower welding head supporting tube (112), and the focusing mirror mounting platform (106) is inside the lower welding head supporting tube (112). The focusing mirror mounting platform (106) is internally fixedly connected to the focusing mirror (107), a focusing mirror positioning block (108) is provided on the side of the focusing mirror mounting platform (106), the focusing mirror positioning blocks (108) are evenly arranged around the focusing mirror mounting platform (106), the focusing mirror positioning blocks (108) are adapted to the focusing mirror positioning groove (105), the focusing mirror positioning block (108) is connected to the focusing mirror positioning groove (105), the focusing mirror positioning block (108) slides inside the focusing mirror positioning groove (105), and the focusing mirror positioning block (108) is meshed with the distance adjustment driving cylinder (99).

4. The UAV processing equipment for bridge condition detection according to claim 1 is characterized in that The main part to be welded is placed on the upper part of a welding support platform (1), the side of the main part to be welded is connected to the secondary part to be welded, and a welding part auxiliary mechanism (6) is arranged on the side of the main part to be welded, and the welding part auxiliary mechanism (6) comprises a clamp adjustment device (601) and a secondary frame clamping device (602), the clamp adjustment device (601) is located at the lower part of the welding support platform (1), and a secondary frame clamping device (602) is arranged on the side of the clamp adjustment device (601), the secondary frame clamping device (602) clamps the secondary part to be welded, and the clamp adjustment device (601) adjusts the position of the clamp adjustment device (601).

5. The UAV processing equipment for bridge condition detection according to claim 1 is characterized by: The fixture adjustment device (601) comprises a main positioning arm (11), an air supply pipe (14), a secondary positioning arm (15), a main expansion ring (22), a main expansion drive block (25), a secondary expansion ring (37), a secondary expansion drive block (39), a side cylinder plug (52), and a longitudinal lifting block (53). The bottom of the welding support platform (1) has a lower support column (9) and a main support arm mounting seat (13). The lower support column (9) is in a central position. The main support arm mounting seat (13) is evenly arranged around the lower support column (9). A main positioning arm (11) is arranged on the side of the main positioning arm (11), and a main arm mounting platform (12) is provided on one side of the main positioning arm (11). The main arm mounting platform (12) corresponds to the main arm mounting seat (13). A main arm connecting column (17) is provided inside the main arm mounting platform (12). The main arm mounting seat (13) has a main arm column mounting groove (18) at the bottom. The main arm connecting column (17) is rotatably connected to the main arm column mounting groove (18). A main expansion ring bearing platform (19) is provided on the top of the main arm connecting column (17). The main expansion ring bearing platform The main expansion ring (19) has a main expansion ring positioning groove (21) at the top, the main expansion ring positioning groove (21) is evenly arranged around the main expansion ring bearing platform (19), the main expansion ring (22) is adapted to the main support arm mounting seat (13), the main expansion ring (22) is connected to the main support arm mounting seat (13), the main expansion ring (22) is inserted into the main support arm mounting seat (13), the main expansion ring (22) has a main expansion ring positioning block (24) at the bottom, the main expansion ring positioning block (24) is adapted to the main expansion ring positioning groove (21), and the main expansion ring positioning block (24) The main expansion ring (22) is connected to the main expansion ring positioning groove (21), the main expansion ring positioning block (24) slides inside the main expansion ring positioning groove (21), the main expansion ring (22) has a main and slave slides (23) inside, the main expansion drive block (25) is adapted to the main expansion ring (22), the main expansion drive block (25) is connected to the main expansion ring (22), the main expansion drive block (25) slides inside the main expansion ring (22), the side of the main expansion drive block (25) has a main drive slide (26), and the main drive slide (26) is pressed against the lower part of the main and slave slides (23).

6. The UAV processing equipment for bridge condition detection according to claim 5 is characterized by: The main support arm connecting column (17) has a main pneumatic rod connecting groove (27) inside, the main expansion drive block (25) has a main pneumatic rod (28) at the bottom, the main pneumatic rod (28) slides inside the main pneumatic rod connecting groove (27), the main pneumatic rod (28) has a main cylinder plug (31) at the bottom, the main support arm mounting platform (12) has a main driving cylinder (29) at the bottom, the main cylinder plug (31) is adapted to the main driving cylinder (29), the main cylinder plug (31) is connected to the main driving cylinder (29), the main cylinder plug (31) slides inside the main driving cylinder (29), and the main positioning support arm (11) is provided with an air supply pipe (14) at the bottom, and the surface of the air supply pipe (14) is provided with a first air supply branch pipe (141), a second air supply branch pipe (142), and a third air supply branch pipe (143) in sequence. The main driving cylinder (29) is connected to the first air supply branch pipe (141) at the bottom, the main positioning arm (11) has a secondary arm mounting seat (16) on the other side, the secondary arm mounting seat (16) has a secondary arm column mounting groove (32) at the bottom, a secondary positioning arm (15) is arranged on the side of the secondary arm mounting seat (16), the secondary positioning arm (15) has a secondary arm column bearing seat (33) at the bottom, the secondary arm column bearing seat (33) has a secondary arm connecting column (34) in the middle, the secondary arm connecting column (34) is rotatably connected to the secondary arm column mounting groove (32), the secondary arm connecting column (34) has a secondary expansion ring bearing platform (35) at the top, the secondary expansion ring bearing platform (35) has a secondary expansion ring positioning groove (36) on the surface, and the secondary expansion ring positioning The grooves (36) are evenly arranged around the secondary expansion ring bearing platform (35); the secondary expansion ring (37) is adapted to the secondary support arm mounting seat (16); the secondary expansion ring (37) is connected to the secondary support arm mounting seat (16); the secondary expansion ring (37) is inserted into the secondary support arm mounting seat (16); the bottom of the secondary expansion ring (37) is provided with a secondary expansion ring positioning block (46); the secondary expansion ring positioning block (46) is adapted to the secondary expansion ring positioning groove (36); the secondary expansion ring positioning block (46) is connected to the secondary expansion ring positioning groove (36); the secondary expansion ring positioning block (46) slides inside the secondary expansion ring positioning groove (36); the secondary expansion drive block (39) is adapted to the secondary expansion ring (37); the secondary expansion drive block (39) is connected to the secondary expansion ring (37); the secondary expansion drive block (39) ) slides inside the secondary expansion ring (37), the secondary expansion ring (37) has a secondary driven slide (38) on the inner side, the secondary expansion drive block (39) has a secondary drive slide (41) on the side, the secondary drive slide (41) is pressed against the bottom of the secondary driven slide (38), the secondary expansion drive block (39) has a secondary pneumatic rod (43) at the bottom, the secondary support arm column bearing seat (33) has a secondary pneumatic rod connecting groove (42), the secondary pneumatic rod (43) slides inside the secondary pneumatic rod connecting groove (42), the secondary support arm column bearing seat (33) has a secondary drive cylinder (45) at the bottom, the secondary pneumatic rod (43) has a secondary cylinder plug (44) at the bottom, the secondary cylinder plug (44) is adapted to the secondary drive cylinder (45), and the secondary cylinder plug (44) is connected to the secondary drive cylinder (45),The auxiliary cylinder plug (44) slides inside the auxiliary drive cylinder (45), and the bottom of the auxiliary drive cylinder (45) is connected to the second air supply branch pipe (142). The middle part of the auxiliary positioning support arm (15) has a longitudinal lifting slide groove (47), and the longitudinal lifting slide groove (47) is adapted to the longitudinal lifting block (53). The longitudinal lifting slide groove (47) is connected to the longitudinal lifting block (53), and the longitudinal lifting block (53) slides inside the longitudinal lifting slide groove (47). The side of the auxiliary positioning support arm (15) has a side drive cylinder (51), and the side drive cylinder (51) is connected to the side air supply branch pipe (142). The side cylinder plug (52) is adapted to the side drive cylinder (51), the side cylinder plug (52) is connected to the side cylinder plug (52), the side cylinder plug (52) slides inside the side drive cylinder (51), the side of the longitudinal lifting slide groove (47) has a longitudinal positioning column connecting groove (48), one side of the side cylinder plug (52) has a side pneumatic rod (49), the side pneumatic rod (49) slides inside the longitudinal positioning column connecting groove (48), the side pneumatic rod (49) is pressed against the surface of the longitudinal lifting block (53), and the side of the side drive cylinder (51) is connected to the third air supply branch pipe (143).

7. The UAV processing equipment for bridge condition detection according to claim 4 is characterized by: The secondary frame clamping device (602) comprises a bidirectional screw (58), a block bearing platform (59), and a positioning block (63). The top of the longitudinal lifting block (53) is provided with an upper lifting platform (54). One end of the upper lifting platform (54) is provided with a block platform positioning cylinder (55). The side of the block platform positioning cylinder (55) is provided with a bidirectional screw mounting platform (56). A bidirectional screw (58) is arranged inside the bidirectional screw mounting platform (56). A bidirectional screw mounting block (57) is arranged in the middle of the bidirectional screw (58). The bidirectional screw mounting block (57) is rotatably connected to the bidirectional screw mounting platform (56). Screw adjustment knobs (65) are arranged on both sides of the bidirectional screw (58). Block bearing platforms (59) are arranged on both sides of the bidirectional screw mounting platform (56). The block bearing platform (59) is threadedly connected to the bidirectional screw (58). The block bearing platform (59) A block platform positioning rod (61) is provided on one side facing the block platform positioning cylinder (55), the block platform positioning rod (61) is adapted to the block platform positioning cylinder (55), the block platform positioning rod (61) is connected to the block platform positioning cylinder (55), and the block platform positioning rod (61) slides inside the block platform positioning cylinder (55). A block platform bearing seat (62) is provided on one side of the block platform positioning cylinder (55) away from the block platform positioning cylinder (55), a positioning block (63) is provided on the top of the block platform bearing seat (62), a positioning block (63) is provided on the bottom of the positioning block (63) and a positioning block connecting column (64) is rotatably connected to the block platform bearing seat (62), the positioning block (63) is pressed against the side of the secondary part to be welded, the primary part to be welded is placed on the upper part of the welding support platform (1), and the end of the secondary part to be welded is connected to the primary part to be welded.

8. The UAV processing equipment for bridge condition detection according to claim 1 is characterized by: The horizontal adjustment device (701) comprises a longitudinal adjustment rack (66), a rack displacement driving motor (72), and a rack displacement driving gear (73). The horizontal adjustment gear ring (3) has a longitudinal rack mounting groove (67) inside. The horizontal adjustment gear ring (3) is provided with a longitudinal adjustment rack (66) on the inner side. The longitudinal adjustment rack (66) has a longitudinal rack positioning block (68) on the outer side. The longitudinal rack positioning block (68) is adapted to the longitudinal rack mounting groove (67). The longitudinal rack positioning block (68) is connected to the longitudinal rack mounting groove (67). The positioning block (68) slides inside the longitudinal rack mounting groove (67); a longitudinal rack driving platform (69) is provided on the side of the longitudinal rack positioning block (68); a rack motor platform (71) is provided on the surface of the longitudinal rack driving platform (69); a rack displacement driving motor (72) is inserted into the rack motor platform (71) and fixed therein; a transmission shaft of the rack displacement driving motor (72) passes through the longitudinal rack driving platform (69) and is fixedly connected to a rack displacement driving gear (73); and the rack displacement driving gear (73) is meshed with the horizontal adjustment gear ring (3).

9. The UAV processing equipment for bridge condition detection according to claim 1 is characterized by: The longitudinal adjustment device (702) comprises an adjustment arm bearing platform (75), an adjustment arm driving motor (79), an adjustment arm driving gear (81), and a No. 1 support arm seat (83). The longitudinal adjustment rack (66) has an adjustment arm mounting groove (74) inside. The longitudinal adjustment rack (66) is provided with an adjustment arm bearing platform (75) on the side. The adjustment arm bearing platform (75) has an adjustment arm driving platform (76) on one side. The adjustment arm driving platform (76) has an adjustment arm positioning block (77) on the side. The adjustment arm positioning block (77) is adapted to the adjustment arm mounting groove (74). The adjustment arm positioning block (77) is connected to the adjustment arm mounting groove (74). The adjustment arm positioning block (77) is connected to the adjustment arm mounting groove (74). 77) slides inside the adjusting arm mounting groove (74), the adjusting arm driving platform (76) has an adjusting arm motor platform (78) on its surface, the adjusting arm driving motor (79) is inserted into the adjusting arm motor platform (78) and fixed, the adjusting arm driving motor (79) has a transmission shaft that passes through the adjusting arm driving platform (76) and is fixedly connected to the adjusting arm driving gear (81), the adjusting arm driving gear (81) is meshed with the longitudinal adjustment rack (66), the No. 1 support arm motor (82) is inserted into the adjusting arm bearing platform (75) and fixed, the No. 1 support arm motor (82) has a transmission shaft that passes through the adjusting arm bearing platform (75) and is fixedly connected to the No. 1 support arm seat (83).

10. The UAV processing equipment for bridge condition detection according to claim 1 is characterized by: The multi-angle adjustment arm (703) comprises a first node motor (87), a second support arm (88), a second node motor (92), a third support arm (93), and a welding head drive motor (95); a first support arm (84) is provided on one side of the first support arm seat (83); a first inner node block (86) is provided at the end of the first support arm (84); a second support arm (88) is provided on the side of the first support arm (84); a first outer node block (85) is provided on one side of the second support arm (88); the first outer node block (85) is rotatably connected to the first inner node block (86); the first node motor (87) is inserted into the first outer node block (85) and fixed; the first node motor (87) has a transmission shaft fixedly connected to the first inner node block (86); 6), the other side of the No. 2 support arm (88) is provided with a No. 2 outer node block (89), the side of the No. 2 support arm (88) is provided with a No. 3 support arm (93), one side of the No. 3 support arm (93) is provided with a No. 2 inner node block (91), the No. 2 inner node block (91) is rotatably connected to the No. 2 outer node block (89), the No. 2 node motor (92) is inserted into the No. 2 outer node block (89) and fixed, the No. 2 node motor (92) has a transmission shaft fixedly connected to the No. 2 inner node block (91), the other side of the No. 3 support arm (93) is provided with an angle adjustment motor mounting groove (94), the angle adjustment motor mounting groove (94) has an angle adjustment column mounting groove (103), and the welding head drive motor (95) is inserted into the angle adjustment motor mounting groove (94) and fixed.

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