An unmanned aerial vehicle processing device for bridge condition detection

Abstract

A type of unmanned aerial vehicle processing equipment for bridge condition inspection belongs to a metal intelligent welding system and includes a welding support platform and a laser welding head. The bottom of the welding support platform has a lower support seat, and the side of the lower support seat has a horizontal adjustment gear ring. The inside of the horizontal adjustment gear ring is provided with a welding mechanism. The laser welding head performs pre-cleaning and laser welding operations on the interface between the main part to be welded and the secondary part to be welded. The laser welding head includes a welding head support shell, and the side of the welding head support shell has a welding head angle adjustment column. 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. The side of the lower welding head support tube has a distance adjustment tube connection groove to prevent moisture at the joint during subsequent welding, which may cause air holes during welding. By controlling the position of the focusing mirror, the laser focus is always placed on the weld seam, further improving the welding quality of this device.

Description

Technical Field

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

[0002] An existing patent (publication number: CN211028629U) proposes a laser welding device, including a welding workbench, a fixing clamp fixedly connected to the upper end of the welding workbench, holes uniformly arranged inside the welding workbench, a placement tube fixedly connected to the upper end of the welding workbench, a laser welding gun placed inside the placement tube, and a support frame fixedly connected to the lower end of the welding workbench. A cross column is fixedly connected between the support frame and another support frame. However, this device "has a clamping block fixedly connected to the right end of the rotating column and a fixing block fixedly connected to the upper end of the welding workbench. The fixing clamp can fix the object to be welded before welding." The fixing clamp can operate on parts with relatively simple shapes, but the welding effect is limited when processing more complex drone parts, affecting the subsequent welding effect of complex parts. Summary of the Invention

[0003] In response to the above-mentioned deficiencies in the prior art, the present invention provides a UAV processing equipment for bridge condition detection that avoids the generation of pores during welding and further improves welding quality, thereby meeting the welding needs of parts with complex shapes.

[0004] The purpose of the present invention is to be achieved through the following technical solutions:

[0005] A UAV 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, and 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, and 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, and 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. The laser welding head performs pre-cleaning and laser welding operations on the interface between the main part to be welded and the auxiliary part to be welded.

[0006] 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 provided on the side of the No. 3 support arm, and a welding head angle adjustment column is provided 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 provided on the other side of the welding head bearing shell. A lower welding head bearing tube is provided at the bottom of the welding head bearing shell. A distance adjustment cylinder connecting groove is provided 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 provided 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 drive cylinder is provided with a pitch-adjusting driven gear ring, the pitch-adjusting driven gear ring is engaged with the focal length adjustment gear, the surface of the lower welding head bearing tube is provided with a focusing lens positioning groove, the focusing lens positioning groove is evenly arranged around the lower welding head bearing tube, the focusing lens mounting platform is adapted to the lower welding head bearing tube, the focusing lens mounting platform is connected to the lower welding head bearing tube, the focusing lens mounting platform slides inside the lower welding head bearing tube, the focusing lens mounting platform is fixedly connected to the focusing lens, the side of the focusing lens mounting platform is provided with a focusing lens positioning block, the focusing lens positioning blocks are evenly arranged around the focusing lens mounting platform, the focusing lens positioning block is adapted to the focusing lens positioning groove, the focusing lens positioning block is connected to the focusing lens positioning groove, the focusing lens positioning block slides inside the focusing lens positioning groove, and the focusing lens positioning block is engaged with the pitch-adjusting drive cylinder.

[0007] 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 provided 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 provided 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 the center position, and the main support The arm mounting seat is evenly arranged around the lower support column, a main positioning arm is provided 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 positioning groove 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 is provided with a master-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 side of the main expansion drive block is provided with a main drive slide, the main drive slide is pressed against the lower part of the main and slave slides, the main arm connecting column is provided with a main pneumatic rod connecting groove, the bottom of the main expansion drive block is provided with a main pneumatic rod, the main pneumatic rod slides inside the main pneumatic rod connecting groove, the bottom of the main pneumatic rod is provided with a main cylinder plug, the bottom of the main arm mounting platform is provided with a main drive cylinder, 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 cylinder The dynamic cylinder slides inside, and an air supply pipe is provided at the bottom of the main positioning arm. The surface of the air supply pipe is sequentially provided with a No. 1 air supply branch pipe, a No. 2 air supply branch pipe, and a No. 3 air supply branch pipe. The bottom of the main driving cylinder is connected to the No. 1 air supply branch pipe. 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. A secondary positioning arm is provided 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. 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 to the secondary arm column mounting groove. 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. 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 arm mounting seat, the secondary expansion ring is inserted into the secondary arm mounting seat, the secondary expansion ring is provided with a secondary expansion ring positioning block at the bottom, 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 is provided with a secondary slave slide on the inside, the secondary expansion drive block is provided with a secondary drive slide on the side, the secondary drive slide is pressed against the bottom of the secondary slave slide, the secondary expansion drive block is provided with a secondary pneumatic rod at the bottom, the secondary arm column bearing seat is provided with a secondary pneumatic rod connecting groove, the secondary pneumatic rod slides inside the secondary pneumatic rod connecting groove, the secondary arm column bearing seat is provided with 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 drive cylinder and connected to the auxiliary drive cylinder. The auxiliary cylinder plug slides inside the auxiliary drive cylinder. The bottom of the auxiliary drive 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 groove, which is adapted to the longitudinal lifting block. The longitudinal lifting slide groove is connected to the longitudinal lifting block. The longitudinal lifting block slides inside the longitudinal lifting slide groove. The side of the auxiliary positioning arm is provided with a side drive cylinder, which is adapted to the side cylinder plug and connected to the side cylinder plug. The side cylinder plug slides inside the side drive cylinder. The side of the longitudinal lifting slide groove is provided with a longitudinal positioning column connecting groove. One side of the side cylinder plug is provided with a side pneumatic rod, which slides inside the longitudinal positioning column connecting groove. The side pneumatic rod is pressed against the surface of the longitudinal lifting block. The side of the side drive cylinder is connected to the No. 3 air supply branch pipe.

[0008] 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, and 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.

[0009] 2. The contact area between the main expansion ring and the main support 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 support arm mounting seat, the main support arm mounting seat is subjected to greater friction force as a whole. At the same time, when the main expansion ring is pressed, the outer surface of the main expansion ring is subjected to force synchronously at 360°, so that the main support 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.

[0010] 3. Before welding, the present invention uses a high-temperature gas nozzle to spray high-temperature airflow 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, avoiding moisture at the joint during subsequent welding process, which leads to the generation of pores during welding, and ensures the welding quality during welding.

[0011] 4. The pitch-adjustable drive motor of the present invention drives the pitch-adjustable drive cylinder to rotate through the focal length adjustment gear. When the pitch-adjustable drive cylinder rotates, it can drive the focusing lens mounting platform to move longitudinally inside the lower welding head support 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

[0012] Figure 1 This is a structural schematic diagram of the UAV processing equipment for bridge condition detection described in the present invention.

[0013] Figure 2 This is a partially enlarged view of the UAV processing equipment for bridge condition detection described in the present invention.

[0014] Figure 3 This is a partially enlarged view of the welding auxiliary mechanism described in the present invention.

[0015] Figure 4 This is a partial cross-sectional view of the welding auxiliary mechanism described in the present invention.

[0016] Figure 5 The present invention Figure 4 Partial enlargement of Figure A.

[0017] Figure 6 The present invention Figure 4 Partial enlargement of Figure B.

[0018] Figure 7 This is a partial exploded view of the clamp adjustment device described in the present invention.

[0019] Figure 8 This is a partially enlarged view of the sub-frame clamping device described in the present invention.

[0020] Figure 9 This is a partially enlarged view of the horizontal adjustment device described in the present invention.

[0021] Figure 10 This is a partially enlarged view of the longitudinal positioning device described in the present invention.

[0022] Figure 11 This is a partial enlarged view of the laser welding head described in the present invention.

[0023] Figure 12 This is a diagram showing the installation status of the focusing mirror mounting platform described in the present invention.

[0024] Figure 13 This is a partial front cross-sectional view of the laser welding head described in the present invention.

[0025] Figure 14 This is a structural schematic diagram of the welding support platform described in the present invention.

[0026] Figure 15 This is a schematic diagram of the longitudinal adjustment rack structure of the present invention.

[0027] Figure 16 This is a structural schematic diagram of the adjustment arm bearing platform described in the present invention.

[0028] In the figure: welding support platform 1; lower support base 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 slot 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 slot 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; pitch adjustment motor platform 98; pitch adjustment drive cylinder 99; pitch 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; pitch adjustment drive motor 109; pitch adjustment driven gear ring 111; lower welding head bearing tube 112; No. 1 gas supply branch 141; No. 2 gas supply branch 142; No. 3 gas supply branch 143; clamp adjustment device 601; sub-skeleton clamping device 602; horizontal adjustment device 701; vertical adjustment device 702; multi-angle adjustment arm 703. DETAILED DESCRIPTION

[0029] The present invention will be further described in detail below with reference to the accompanying drawings and examples:

[0030] Example 1:

[0031] 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, and 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 vertical 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, and the horizontal adjustment device 701 moves around the main part to be welded on the horizontal plane. The vertical adjustment device 702 is located on the inner side of the horizontal adjustment device 701, and the vertical 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 vertical adjustment device 702. A laser welding head 8 is provided 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. 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.

[0032] The laser welding head 8 of the present invention includes 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, and 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, and the welding head bearing shell 96 is provided with a 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 carrier shell 96 has a lower welding head carrier tube 112, and the side of the lower welding head carrier tube 112 has a distance adjustment tube connection groove 101. The distance adjustment tube connection groove 101 is rotatably connected to 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 interior 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 Gear 104, the top of the pitch-adjusting drive cylinder 99 is provided with a pitch-adjusting driven gear ring 111, the pitch-adjusting driven gear ring 111 is engaged with the focus 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 slides internally, the focusing lens mounting platform 106 is fixedly connected to the focusing lens 107, and 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, and the focusing lens positioning blocks 108 are adapted to the focusing lens positioning groove 105. The focusing lens positioning block 108 is connected to the focusing lens positioning groove 105, and the focusing lens positioning block 108 slides inside the focusing lens positioning groove 105, and the focusing lens positioning block 108 is engaged with the distance adjustment drive cylinder 99.

[0033] Example 2:

[0034] 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 a secondary skeleton clamping device 602 is provided on the side of the clamp adjustment device 601. 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 is provided with 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 provided on the side of the main arm mounting seat 13, 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 position of the main arm mounting seat 13, and 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, and 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, and 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, and the main expansion ring 22 has a master-slave slide 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 The side of the moving block 25 is provided with a main driving slide 26, which is pressed against the lower part of the main slave slide 23. The main arm connecting column 17 is provided with a main pneumatic rod connecting groove 27. The bottom of the main expansion driving block 25 is provided with a main pneumatic rod 28, which slides inside the main pneumatic rod connecting groove 27. The bottom of the main pneumatic rod 28 is provided with a main cylinder plug 31. The bottom of the main arm mounting platform 12 is provided with a main driving cylinder 29, 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 slides inside the main driving cylinder 29. The bottom of the main positioning arm 11 is provided with an air supply pipe 14, and the surface of the air supply pipe 14 is provided with 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 in sequence.The bottom of the main driving cylinder 29 is connected to the No. 1 air supply branch pipe 141, and the other side of the main positioning arm 11 is provided with a secondary arm mounting seat 16, and the bottom of the secondary arm mounting seat 16 is provided with a secondary arm column mounting groove 32, and a secondary positioning arm 15 is provided on the side of the secondary arm mounting seat 16, and the bottom of the secondary positioning arm 15 is provided with a secondary arm column bearing seat 33, and the middle of the secondary arm column bearing seat 33 is provided with a secondary arm connecting column 34, and the secondary arm connecting column 34 is rotatably connected to the secondary arm column mounting groove 32, and the top of the secondary arm connecting column 34 is provided with a secondary expansion ring bearing platform 35, and the surface of the secondary expansion ring bearing platform 35 is provided with a secondary expansion ring positioning groove 36, and the secondary expansion ring positioning groove 36 is evenly arranged around the secondary expansion ring bearing platform 35. 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 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 inside, the secondary expansion drive block 39 The side is provided with a secondary drive slide 41, which is pressed against the bottom of the secondary driven slide 38, and the bottom of the secondary expansion drive block 39 is provided with a secondary pneumatic rod 43, and the inside of the secondary support arm column bearing seat 33 is provided with a secondary pneumatic rod connecting groove 42, and the secondary pneumatic rod 43 slides inside the secondary pneumatic rod connecting groove 42, and the bottom of the secondary support arm column bearing seat 33 is provided with a secondary drive cylinder 45, and the bottom of the secondary pneumatic rod 43 is provided with a secondary cylinder plug 44, and 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, and the secondary cylinder plug 44 slides inside the secondary drive cylinder 45, and the bottom of the secondary drive cylinder 45 is connected to the second air supply branch pipe 142, and the middle part of the secondary positioning arm 15 is provided with a longitudinal lifting slide 4 7. The vertical lift chute 47 is compatible with the vertical lift block 53. The vertical lift chute 47 is connected to the vertical lift block 53, which slides within the vertical lift chute 47. The side of the auxiliary positioning arm 15 has a side drive cylinder 51. The side drive cylinder 51 is compatible with the side cylinder plug 52. The side drive cylinder 51 is connected to the side cylinder plug 52, which slides within the side drive cylinder 51. The side of the vertical lift chute 47 has a vertical positioning column connecting groove 48. The side of the side cylinder plug 52 has a side pneumatic rod 49. The side pneumatic rod 49 slides within the vertical positioning column connecting groove 48 and is pressed against the surface of the vertical lift block 53. The side of the side drive cylinder 51 is connected to the No. 3 air supply branch pipe 143.

[0035] Example 3:

[0036] The sub-skeleton 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. A bidirectional screw 58 is provided inside the bidirectional screw mounting platform 56. A bidirectional screw mounting block 57 is provided 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 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 platform 59 is threadedly connected to the bidirectional screw 58. The block bearing platform 59 faces 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, and 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, and the block supporting platform 59 is provided with a block platform supporting seat 62 on the side away from the block platform positioning cylinder 55, and a positioning block 63 is provided on the top of the block platform supporting seat 62, and a positioning block 63 is provided at the bottom of the positioning block 63 with a positioning block connecting column 64, and the positioning block connecting column 64 is rotatably connected to the block platform supporting seat 62, and the positioning block 63 is pressed tightly on 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.

[0037] An operating method of a UAV processing equipment for bridge condition detection includes the following steps: when adjusting the clamping position of the welding auxiliary mechanism 6, rotating the screw adjustment knob 65, the screw adjustment knob 65 drives the bidirectional screw 58 to rotate, so that the block carriers 59 on both sides are close to each other, until the positioning block 63 is pressed against both sides of the auxiliary part to be welded, the auxiliary part to be welded is clamped, the clamped auxiliary part to be welded is connected to the main part to be welded, after confirming the position of the auxiliary part to be welded, the air supply pipe 14 is ventilated, the main expansion drive block 25 is connected to the main drive slide 26 and the main and slave slides 23 The cooperation drives the main expansion ring 22 to expand outward and press on the inner wall of the main support arm mounting seat 13, so that the main support arm mounting platform 12 cannot continue to rotate. The secondary expansion drive block 39 drives the secondary expansion ring 37 to expand outward and press on the inner wall of the secondary support 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. The side pneumatic rod 49 presses on the surface of the longitudinal lifting block 53, so that the longitudinal lifting block 53 cannot continue to move. The connection between the main support 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.

[0038] It should be noted that the hollow design of the main expansion ring 22 and the secondary expansion ring 37 allows them to expand outward or contract inward. After high-pressure gas is injected into the air supply pipe 14, the main expansion ring 22 expands outward and presses against the inner wall of the main support arm mounting seat 13, preventing the main support arm mounting platform 12 from continuing to rotate. The secondary expansion ring 37 expands outward and presses against the inner wall of the secondary support arm mounting seat 16, preventing the secondary positioning arm 15 from continuing to rotate. The side pneumatic rod 49 presses against the surface of the vertical lifting block 53, preventing the vertical lifting block 53 from continuing to move. The three positioning points are completed synchronously, making the positioning process more stable and efficient. At the same time, the three nodes allow the fixture to move in various directions, thereby meeting the welding requirements of parts with complex shapes. The present invention applies force evenly to prevent weld bumps or unevenness.

[0039] It should also be noted that when the UAV for bridge condition inspection processes and welds, 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 subjected to greater friction as a whole. At the same time, when the main expansion ring 22 is pressed, the outer surface of the main expansion ring 22 is subjected to 360° synchronous force, so that the main arm mounting platform 12 will not deviate 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 process more accurate. This effectively prevents the danger of uneven force deformation caused by inaccurate welding or uneven welds.

[0040] Example 4:

[0041] The horizontal adjustment device 701 of the present invention includes a longitudinal adjustment rack 66, a rack displacement drive motor 72, and a rack displacement drive gear 73. The horizontal adjustment gear ring 3 has a longitudinal rack mounting groove 67, 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 drive platform 69, and the surface of the longitudinal rack drive platform 69 has a rack motor platform 71. The rack displacement drive motor 72 is inserted into the rack motor platform 71 and fixed. The transmission shaft of the rack displacement drive motor 72 passes through the longitudinal rack drive platform 69 and is fixedly connected to the rack displacement drive gear 73. The rack displacement drive gear 73 is engaged with the horizontal adjustment gear ring 3.

[0042] Example 5:

[0043] The longitudinal adjustment device 702 of the present invention includes an adjustment arm bearing platform 75, an adjustment arm drive motor 79, an adjustment arm drive 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 provided on the side of the longitudinal adjustment rack 66. An adjustment arm drive platform 76 is provided on one side of the adjustment arm bearing platform 75, and an adjustment arm positioning block 77 is provided on the side of the adjustment arm drive 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 adjustment arm mounting groove 74. The adjustment arm driving platform 76 has an adjustment arm motor platform 78 on its surface. The adjustment arm driving motor 79 is inserted into the adjustment arm motor platform 78 and fixed therein. The transmission shaft of the adjustment arm driving motor 79 passes through the adjustment arm driving platform 76 and is fixedly connected to the adjustment arm driving gear 81. The adjustment arm driving gear 81 is engaged with the longitudinal adjustment rack 66. The No. 1 support arm motor 82 is inserted into the adjustment arm bearing platform 75 and fixed therein. The transmission shaft of the No. 1 support arm motor 82 passes through the adjustment arm bearing platform 75 and is fixedly connected to the No. 1 support arm seat 83.

[0044] Example 6:

[0045] The multi-angle adjustment arm 703 of the present invention includes a No. 1 node motor 87, a No. 2 support arm 88, a No. 2 node motor 92, a No. 3 support arm 93, and a welding head drive motor 95. The No. 1 support arm seat 83 has a No. 1 support arm 84 on one side, and a No. 1 inner node block 86 at the end of the No. 1 support arm 84. The No. 2 support arm 88 is provided on the side of the No. 1 support arm 84. The No. 1 outer node block 85 is rotatably connected to the No. 1 inner node block 86. The No. 1 node motor 87 is inserted into the No. 1 outer node block 85 and fixed. The No. 1 node motor 87 has a transmission shaft fixedly connected to the No. 1 inner node block 86. 6. The other side of the second support arm 88 has a second outer node block 89. 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. The second inner node block 91 is rotatably connected to the second outer node block 89. The second node motor 92 is inserted into the interior of the second outer node block 89 and fixed. The transmission shaft of the second node motor 92 is fixedly connected to the second inner node block 91. The other side of the third support arm 93 has an angle adjustment motor mounting slot 94. The angle adjustment motor mounting slot 94 has an angle adjustment column mounting slot 103 inside. The welding head drive motor 95 is inserted into the interior of the angle adjustment motor mounting slot 94 and fixed. Real-time and precise adjustment of the welding focal length is achieved to ensure the concentration of laser energy. The laser incident angle can be dynamically adjusted to avoid welding offset caused by workpiece deformation.

[0046] Example 7:

[0047] The present invention drives the rack displacement drive gear 73 to rotate through the rack displacement drive motor 72, so that the rack displacement drive 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 drive gear 81 to rotate through the adjusting arm drive motor 79, so that the adjusting arm drive 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 controls the No. 1 support arm seat 83 to rotate through the No. 1 support arm motor 82, controls the No. 2 support arm 88 to rotate through the No. 1 node motor 87, controls the No. 3 support arm 93 to rotate through the No. 2 node motor 92, and controls the No. 3 support arm 93 to rotate through the welding head drive motor 95. 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.

[0048] It should be noted that before welding, the high-temperature gas nozzle 97 sprays high-temperature airflow to the welding point of 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.

[0049] 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.

[0050] 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 for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A UAV processing equipment for bridge condition detection, characterized by : It comprises a welding support platform (1) and a laser welding head (8). The bottom of the welding support platform (1) is provided with a lower support seat (2). The side of the lower support seat (2) is provided with a horizontal adjustment tooth ring (3). A welding mechanism (7) is provided inside 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 inside the horizontal adjustment tooth ring (3). The horizontal adjustment device (701) The longitudinal positioning device (702) moves around the main part to be welded on the horizontal plane, and the longitudinal positioning device (702) is located inside the horizontal positioning device (701). The longitudinal positioning device (702) moves around the main part to be welded on the vertical plane, and the multi-angle adjustment arm (703) is located inside the longitudinal positioning device (702). The end of the multi-angle adjustment arm (703) is provided with a laser welding head (8); the laser welding head (8) includes a welding head bearing shell (96), a distance adjustment drive cylinder (99), a focal length adjustment gear (104), and a focusing lens installation. A mounting platform (106), a focusing lens (107), a pitch adjustment drive motor (109), a welding head bearing shell (96) is provided on the side of the third support arm (93), a welding head angle adjustment column (102) is provided on the side of the welding head bearing shell (96), the welding head angle adjustment column (102) is rotatably connected to the angle adjustment column mounting groove (103), a transmission shaft of the welding head drive motor (95) is fixedly connected to the welding head angle adjustment column (102), and a high-temperature gas nozzle (97) is provided on the other side of the welding head bearing shell (96). The bottom of the welding head bearing shell (96) is provided with a lower welding head bearing tube (112), and 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), and 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);A welding auxiliary mechanism (6) is provided on the side of the main part to be welded, and the welding auxiliary mechanism (6) includes a fixture adjustment device (601), and the fixture 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), a side cylinder plug (52), and a longitudinal lifting block (53). The bottom of the welding support platform (1) is provided with a lower support column (9) and a main support arm mounting seat (13), and the lower support column (9) is located at In the center position, the main arm mounting seat (13) is evenly arranged around the lower support column (9), the main arm mounting seat (13) is provided with a main positioning arm (11) on the side, the main positioning arm (11) has a main arm mounting platform (12) on one side, the main arm mounting platform (12) corresponds to the position of 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 main arm connecting column (17) is connected to the main arm column mounting groove (18), and the main arm connecting column (17) is connected to the main arm column mounting groove (18). ) has a main expansion ring bearing platform (19) at the top, a main expansion ring positioning groove (21) at the top of the main expansion ring bearing platform (19), 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 master-slave slide (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 block (25) has a main drive slide (26) on the side, and the main drive slide (26) is pressed against the lower part of the master-slave slide (23).

2. The UAV processing equipment for bridge condition detection according to claim 1 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 fixedly connected to the focusing mirror (107) inside, and the focusing mirror mounting platform (106) has a focusing mirror positioning block (108) on the side, and the focusing mirror positioning blocks (108) are evenly arranged around the focusing mirror mounting platform (106), and the focusing mirror positioning blocks (108) are adapted to the focusing mirror positioning groove (105), and the focusing mirror positioning blocks (108) are connected to the focusing mirror positioning groove (105), and the focusing mirror positioning blocks (108) slide inside the focusing mirror positioning groove (105), and the focusing mirror positioning blocks (108) are engaged with the distance adjustment drive cylinder (99).

3. The UAV processing equipment for bridge condition detection according to claim 2 is characterized by The main part to be welded 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 welding part auxiliary mechanism (6) also includes 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, and the clamp adjustment device (601) adjusts the position of the clamp adjustment device (601).

4. The UAV processing equipment for bridge condition detection according to claim 3 is characterized by : The main 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 arm mounting platform (12) has a main drive cylinder (29) at the bottom, the main cylinder plug (31) is adapted to the main drive cylinder (29), the main cylinder plug (31) is connected to the main drive cylinder (29), the main cylinder plug (31) slides inside the main drive cylinder (29), the main positioning 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 No. 1 air supply branch pipe (141), a No. 2 air supply branch pipe (142), a No. 3 air supply branch pipe (143), and a No. 4 air supply branch pipe (144). The main driving cylinder (29) is connected to the 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 provided 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 top of the secondary arm connecting column (34) has a secondary expansion ring bearing platform (35). The surface of the secondary expansion ring bearing platform (35) has a secondary expansion ring positioning groove (36). 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 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 auxiliary expansion ring (37), the auxiliary expansion ring (37) has an auxiliary driven slide (38) on the inner side, the auxiliary expansion drive block (39) has an auxiliary drive slide (41) on the side, the auxiliary drive slide (41) is pressed against the bottom of the auxiliary driven slide (38), the auxiliary expansion drive block (39) has an auxiliary pneumatic rod (43) at the bottom, the auxiliary arm column bearing seat (33) has an auxiliary pneumatic rod connecting groove (42), the auxiliary pneumatic rod (43) slides inside the auxiliary pneumatic rod connecting groove (42), the auxiliary arm column bearing seat (33) has an auxiliary driving cylinder (45) at the bottom, the auxiliary pneumatic rod (43) has an auxiliary cylinder plug (44) at the bottom, the auxiliary cylinder plug (44) is adapted to the auxiliary driving cylinder (45), and the auxiliary cylinder plug (44) is connected to the auxiliary driving 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 (142). The middle part of the auxiliary positioning arm (15) has a longitudinal lifting chute (47), and 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), and the longitudinal lifting block (53) slides inside the longitudinal lifting chute (47). The side of the auxiliary positioning arm (15) has a side drive cylinder (51), and the side drive cylinder (51) is adapted to the side air supply branch (142). The cylinder plug (52) is adapted to the side drive cylinder (51), the side drive cylinder (51) 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 lift slide (47) has a longitudinal positioning column connection groove (48), and the side cylinder plug (52) has a side pneumatic rod (49) on one side. The side pneumatic rod (49) slides inside the longitudinal positioning column connection groove (48), and the side pneumatic rod (49) is pressed against the surface of the longitudinal lift block (53). The side of the side drive cylinder (51) is connected to the third air supply branch pipe (143).

5. The UAV processing equipment for bridge condition detection according to claim 4 is characterized in that The auxiliary skeleton clamping device (602) includes 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), and the side of the block platform positioning cylinder (55) is provided with a bidirectional screw mounting platform (56). A bidirectional screw (58) is provided inside the bidirectional screw mounting platform (56), and a bidirectional screw mounting block (57) is provided 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 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), and the block bearing platform (59) is threadedly connected to the bidirectional screw (58). The block bearing platform (59) is threadedly connected to the bidirectional screw (58). 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 supporting platform (59) 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) with a positioning block connecting column (64), the 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.

6. The UAV processing equipment for bridge condition detection according to claim 1 is characterized by : The horizontal adjustment device (701) includes a longitudinal adjustment rack (66), a rack displacement drive motor (72), and a rack displacement drive 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 inside. The longitudinal adjustment rack (66) has a longitudinal rack positioning block (68) on the outside. 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), the longitudinal rack positioning block (68) has a longitudinal rack drive platform (69) on its side, the longitudinal rack drive platform (69) has a rack motor platform (71) on its surface, the rack displacement drive motor (72) is inserted into the rack motor platform (71) and fixed, the transmission shaft of the rack displacement drive motor (72) passes through the longitudinal rack drive platform (69) and is fixedly connected to the rack displacement drive gear (73), and the rack displacement drive gear (73) is engaged with the horizontal adjustment gear ring (3).

7. The UAV processing equipment for bridge condition detection according to claim 1 is characterized by : The longitudinal adjustment device (702) includes an adjustment arm bearing platform (75), an adjustment arm drive motor (79), an adjustment arm drive 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 drive platform (76) on one side. The adjustment arm drive 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). 7) Slide inside the adjustment arm mounting groove (74), the adjustment arm drive platform (76) has an adjustment arm motor platform (78) on its surface, the adjustment arm drive motor (79) is inserted into the adjustment arm motor platform (78) and fixed, the adjustment arm drive motor (79) has a transmission shaft that passes through the adjustment arm drive platform (76) and is fixedly connected to the adjustment arm drive gear (81), the adjustment arm drive gear (81) is engaged with the longitudinal adjustment rack (66), the No. 1 support arm motor (82) is inserted into the adjustment arm bearing platform (75) and fixed, the No. 1 support arm motor (82) has a transmission shaft that passes through the adjustment arm bearing platform (75) and is fixedly connected to the No. 1 support arm seat (83).

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

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