Steel structure truss installation construction equipment and installation construction method

Abstract

The invention discloses steel structure truss installation construction equipment which comprises three driving structures, the three driving structures are oppositely arranged in parallel, the driving structures are sequentially arranged in the transverse direction, turnover structures are symmetrically arranged between the driving structures, the driving structures are sequentially connected through the turnover structures, and the turnover structures are arranged on the driving structures. The invention relates to the technical field of truss building, the multi-rod type compatible obstacle crossing robot has the multi-rod type compatible function, the obstacle crossing function, the automatic climbing function and the continuous welding technology, and the robot can adapt to the circular or rectangular rod section through the three-point clamping design of the guide wheels and the driving wheels and is used for stable clamping and moving; the symmetrical layout of the up-and-down overturning structure allows the equipment to perform'lifting-crossing-resetting 'on the basis of the driving structure, so that the action of crossing the web member to move is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of truss erection, and specifically to a steel structure truss installation construction device and an installation construction method. Background Technique

[0002] A truss is a rigid structure system composed of straight bars connected by nodes, mainly used to bear loads; such as in building roof structures, bridge main bodies (such as steel truss bridges); since in addition to the axially symmetric bars, equilateral triangular web members, vertical web members or inclined web members will be provided in the abdomen of the truss to increase the overall bearing capacity and stability; the web members in the middle are mostly fixed by welding, and welding connections are also made during the erection of the truss to ensure its stability and strength; However, due to the gradual increase in the height of the truss during erection, and the individual truss axle box bars and web members will be assembled by welding and then hoisted and erected, the prior art mostly uses manual welding and high-altitude operations in sequence. If it is the assembly welding of web members, due to the different shapes of the bars, such as circular bars, rectangular bars, etc., it is necessary to move along the butt wall surface, which is easy to cause uneven welding. And if the space where the web members are located is limited, the welding cannot be continuously completed, and it is necessary to reposition the direction during secondary construction, which is extremely inconvenient and there is a risk of falling from a height. Summary of the Invention

[0003] The purpose of the present invention is to provide a steel structure truss installation construction device and an installation construction method to solve the problems raised in the above background technique.

[0004] To achieve the above purpose, the present invention provides the following technical solution: A steel structure truss installation construction device, including three driving structures, the three driving structures are respectively arranged relatively parallel, the driving structures are arranged in sequence along the horizontal direction, and are divided into the first driving structure, the second driving structure and the third driving structure. Among them, flipping structures are symmetrically arranged on the upper and lower side walls between the first driving structure and the second driving structure and between the second driving structure and the third driving structure. The driving structures are connected in sequence through the flipping structures, and a welding structure is fixedly arranged on the third driving structure; The driving structure is used to fix the device on the truss and can walk along the truss. The flipping structure is used for the series connection of the driving structures, and the flipping structure can cause the driving structures to flip relative to each other to change the walking direction. The welding structure is used for automatic welding and climbs and moves by means of the driving structure and the flipping structure.

[0005] Preferably, the driving structure includes a driving box, a storage battery, a partition board, a first hydraulic cylinder, a toothed arm, a flipping arm and a clamping assembly; An overturning opening communicating with the rear side wall is formed in the upper wall at the rear end of the driving box. The storage battery is fixedly arranged on the lower wall inside the driving box, and a charging port is arranged on the lower wall of the driving box. The partition plate is fixedly arranged inside the driving box and above the storage battery. One end of the first hydraulic cylinder is fixedly arranged on the upper arm of the partition plate and below the front end of the overturning opening. One end of the tooth arm is fixedly arranged on the telescopic end of the first hydraulic cylinder, and the other end of the tooth arm movably penetrates through the overturning opening. A plurality of teeth are equidistantly arranged on the rear side wall of the tooth arm. One end of the overturning arm is movably embedded in the overturning opening, and a gear is fixedly arranged at one end of the overturning arm. One end of the overturning arm is engaged with the tooth arm. An adjusting groove is formed near the left side at the other end of the overturning arm. The clamping assembly is fixedly arranged at the other end of the overturning arm.

[0006] Preferably, the clamping assembly includes a pair of first electric slide rails, a pair of driving seats, a bearing arm, a pair of clamping frames, two pairs of first bolts, a pair of first wheel frames, a pair of guide wheels, a second hydraulic cylinder, a second wheel frame, a driving wheel and a first motor. The pair of first electric slide rails are symmetrically arranged at the other end of the overturning arm and are respectively located at the front and rear end positions of the adjusting groove. One end of each of the pair of driving seats is movably inserted into the adjusting opening, and the other end of each driving seat is connected to the first electric slide rail and drives the driving seat to move back and forth. One end of the bearing arm is fixedly arranged on one of the driving seats and the bearing arm is close to the driving box. Both of the pair of clamping frames are U-shaped frames. One of the clamping frames is fixedly arranged on the lower wall at the other end of the overturning arm, and the other clamping frame is fixedly arranged on the other end of the bearing arm. The two pairs of first bolts are respectively movably screwed on both ends of the clamping frame. The pair of first wheel frames are both rectangular frames. The pair of first wheel frames are respectively movably arranged between both ends of the clamping frame and the first wheel frames are respectively movably sleeved on the first bolts. The pair of guide wheels are respectively movably embedded in the first wheel frames, and the diameter of the guide wheels is larger than the width of the first wheel frames and both ends of the clamping frame. One end of the second hydraulic cylinder fixedly penetrates through one of the driving seats and is close to the other end of the overturning arm. The second wheel frame is fixedly arranged on the telescopic end of the second hydraulic cylinder. The driving wheel is movably arranged on the second wheel frame. The first motor is fixedly arranged on the second wheel frame, and the driving end of the first motor fixedly penetrates through the middle of the driving wheel.

[0007] Preferably, the overturning structure includes a second electric slide rail, an overturning seat, a pair of shaft blocks, a second motor, a third electric slide rail, a driving arm, a pair of shaft tubes, a pair of docking plates and a pair of arm rods. The second electric slide rail is fixedly arranged on the upper wall of the drive box and is located on the front side of the flipping opening. The flipping seat is fixedly arranged on the second electric slide rail and moves left and right. A pair of the shaft blocks are symmetrically arranged on the upper wall of the flipping seat and close to the left end. Shaft holes are formed in the middle of the other ends of the pair of shaft blocks. The second motor is fixedly arranged on the upper wall of the rear end of the flipping seat, and the driving end of the second motor faces the shaft hole. Two pairs of torsion bars are equidistantly arranged on the driving end of the second motor. The third electric slide rail is fixedly arranged on the upper wall of the shaft seat and is located on the right side wall of the shaft block. One end of the driving arm is fixedly arranged on the third electric slide rail and the driving arm moves back and forth. Two bearings corresponding to the shaft holes are symmetrically arranged on the other two ends of the driving arm. A pair of shaft tubes respectively fixedly penetrate through the middle parts of the bearings of the driving arm, and torsion grooves corresponding to the torsion bars are formed in the inner walls of the shaft tubes. The shaft tubes can movably penetrate through the shaft holes and are sleeved on the driving end of the second motor. A pair of docking plates are respectively fixedly sleeved on one ends of the shaft tubes, and two pairs of insertion rods are equidistantly arranged on the rear side walls of the docking plates. A pair of the arm bars are both L-shaped. One ends of the pair of arm bars are respectively detachably sleeved on the shaft tubes, and one ends of the arm bars are respectively movably sleeved on the insertion rods. The other ends of the pair of arm bars are respectively fixedly arranged on the drive box.

[0008] Preferably, the welding structure includes a bearing box, a control board, a fourth electric slide rail, a cylinder frame, a main body arm, a third hydraulic cylinder, a third motor, a shaft arm, a fourth motor, a gun arm and a welding torch. One end of the bearing box is fixedly arranged on the front side wall of the drive box. A sliding groove is arranged on the upper wall of one end of the bearing box. The control board is fixedly arranged on the inner lower wall of the front end of the bearing box. The fourth electric slide rail is fixedly arranged on the inner upper wall of the bearing box and is located at the sliding groove part, and the fourth moving seat of the fourth electric slide rail movably penetrates through the sliding groove. One end of the cylinder frame is fixedly arranged on the fourth electric slide rail and the cylinder frame moves back and forth. The cylinder frame is concave-shaped. One end of the main body arm is movably arranged on the cylinder frame. One end of the third hydraulic cylinder is movably embedded in the cylinder frame, and the telescopic end of the third hydraulic cylinder is movably connected to one end of the main body arm. The third motor is fixedly embedded in the other end of the main body arm. The shaft arm is fixedly arranged on the driving end of the third motor. The fourth motor is fixedly arranged in the shaft arm, and the driving end of the fourth motor movably penetrates through the middle part of the left side wall of the shaft arm. The gun arm is movably clamped on the shaft arm and is connected to the driving end of the fourth motor. The gun arm is driven by the fourth motor to flip on the shaft arm. The welding torch is fixedly arranged on the gun arm.

[0009] Preferably, in order to realize the climbing movement of the equipment, a wireless module is arranged on the control board for wireless driving and control.

[0010] Preferably, the welding torch flips left and right through the third motor and flips up and down through the fourth motor.

[0011] Preferably, the drive box can be turned up or down through the flipping structure on the upper and lower side walls.

[0012] Preferably, a camera is fixedly arranged on the main body arm, and the camera can be flipped 360 degrees.

[0013] The installation and construction method of a steel structure truss installation and construction equipment includes the following steps Step 1: Fix it on the axial rod of the truss through three-point contact in the drive structure, and the equipment can move along the truss; Step 2: When there are web members between the axial rods of the truss, it can cross the web members by flipping the clamping assembly and adjusting the relative distance of the drive structure with the help of the flipping structure, and two drive structures are kept clamped and fixed during movement and crossing; Step 3: During movement, the flipping structure can drive two opposite drive structures to flip, so as to move from one truss to another butt-jointed truss; Step 4: After movement, the welding gun can be driven to feed and the orientation can be adjusted with the help of the welding structure, and the welding gun can be welded and installed along an arc or a straight line through synchronous operations A steel structure truss installation and construction equipment and an installation and construction method proposed by the present invention have the following beneficial effects: I. Omnidirectional movement ability 1). Compatibility with multiple rod types The three-point clamping design of the guide wheel and the drive wheel can adapt to circular or rectangular rod cross-sections for stable clamping and movement.

[0014] 2). Obstacle-crossing function The symmetrical layout of the up-and-down flipping structure allows the equipment to perform "lifting - crossing - resetting" based on the drive structure, and the action can cross the web member to move.

[0015] II. Improvement of construction efficiency 1). Automatic climbing Crossing, moving and welding are carried out through camera imaging, which improves the efficiency and safety compared with manual high-altitude operation.

[0016] 2). Continuous welding process The mobile welding system can be completed during movement, and the pre-spot welding points of the axial rods and the circumferential seam welding of the web members can be completed in multiple directions through the welding structure. Description of the drawings

[0017] Figure 1 It is the assembly structure schematic diagram of the present invention; Figure 2 It is the split structure schematic diagram of the drive structure of the present invention; Figure 3 ForFigure 2 Schematic diagram of the assembly structure; Figure 4 Schematic diagram of the split and enlarged display structure of the flipping structure of the present invention; Figure 5 is Figure 4 Schematic diagram of the assembly structure; Figure 6 Schematic diagram of the split structure of the welding structure of the present invention; Figure 7 is Figure 6 Schematic diagram of the assembly structure; Figure 8 Schematic diagram of the partial enlarged structure at position A of the present invention; Figure 9 Schematic diagram of the partial enlarged structure at position B of the present invention.

[0018] In the figure: 1. Driving structure, 11. Driving box, 12. Storage battery, 13. Partition board, 14. First hydraulic cylinder, 15. Tooth arm, 16. Flipping arm, 17. Clamping assembly, 170. First electric slide rail, 171. Driving seat, 172. Bearing arm, 173. Clamping frame, 174. First bolt, 175. First wheel frame, 176. Guide wheel, 177. Second hydraulic cylinder, 178. Second wheel frame, 179. Driving wheel, 180. First motor, 2. Flipping structure, 21. Second electric slide rail, 22. Flipping seat, 23. Shaft block, 24. Second motor, 25. Third electric slide rail, 26. Driving arm, 27. Shaft tube, 28. Docking plate, 29. Arm rod, 3. Welding structure, 31. Bearing box, 32. Control board, 33. Fourth electric slide rail, 34. Cylinder frame, 35. Main body arm, 36. Third hydraulic cylinder, 37. Third motor, 38. Shaft arm, 39. Fourth motor, 40. Gun arm, 41. Welding torch, 5. Flipping port, 6. Gear, 71. Shaft hole, 72. Bearing, 73. Torsion groove, 74. Torsion rod, 81. Insert rod, 9. Camera. Detailed implementation manners

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0020] Please refer to Figures 1-9, the present invention provides a technical solution: a steel structure truss installation and construction equipment, including three driving structures 1, which are arranged relatively parallel to each other. The driving structures 1 are arranged in sequence along the transverse direction and are divided into the first driving structure 1, the second driving structure 1, and the third driving structure 1. Among them, flipping structures 2 are symmetrically arranged on the upper and lower side walls between the first driving structure 1 and the second driving structure 1 and between the second driving structure 1 and the third driving structure 1. The driving structures 1 are sequentially connected through the flipping structures 2. Among them, a welding structure 3 is fixedly arranged on the third driving structure 1; the driving structure 1 is used to fix the equipment on the truss and can walk along the truss. The flipping structure 2 is used for the series connection of the driving structures 1, and the flipping structure 2 can cause the driving structure 1 to flip relatively to change the walking direction. The welding structure 3 is used for automatic welding and climbs and moves by means of the driving structure 1 and the flipping structure 2.

[0021] Please refer to Figures 2-3 As shown in the figure, further, the driving structure 1 includes a driving box 11, a storage battery 12, a partition 13, a first hydraulic cylinder 14, a toothed arm 15, a flipping arm 16, and a clamping assembly 17; A flipping port 5 communicating with the rear side wall is opened on the upper wall at the rear end of the driving box 11. The storage battery 12 is fixedly arranged on the lower wall inside the driving box 11, and a charging port is arranged on the lower wall of the driving box 11. The partition 13 is fixedly arranged inside the driving box 11 and above the storage battery 12. One end of the first hydraulic cylinder 14 is fixedly arranged on the upper arm of the partition 13 and below the front end of the flipping port 5. One end of the toothed arm 15 is fixedly arranged on the telescopic end of the first hydraulic cylinder 14, and the other end of the toothed arm 15 movably penetrates through the flipping port 5. A plurality of teeth are equidistantly arranged on the rear side wall of the toothed arm 15. One end of the flipping arm 16 is movably installed in the flipping port 5, and a gear 6 is fixedly arranged at one end of the flipping arm 16. One end of the flipping arm 16 engages with the toothed arm 15. An adjustment groove is opened near the left side at the other end of the flipping arm 16. The clamping assembly 17 is fixedly arranged at the other end of the flipping arm 16; it is powered by the storage battery 12, and the toothed arm 15 is driven by the first hydraulic cylinder 14 to rise and fall inside the driving box 11, and the flipping arm 16 is driven to flip to realize the flipping and clamping of the clamping assembly 17.

[0022] As a preferred solution, further, the clamping assembly 17 includes a pair of first electric slide rails 170, a pair of driving seats 171, a bearing arm 172, a pair of clamping frames 173, two pairs of first bolts 174, a pair of first wheel frames 175, a pair of guide wheels 176, a second hydraulic cylinder 177, a second wheel frame 178, a driving wheel 179, and a first motor 180; A pair of first electric slide rails 170 are symmetrically arranged at the other end of the flipping arm 16 and are respectively located at the front and rear ends of the adjustment groove. One end of a pair of driving seats 171 is respectively movably inserted into the adjustment openings, and the other end of the driving seats 171 is respectively connected to the first electric slide rails 170 and drives the driving seats 171 to move back and forth. One end of a bearing arm 172 is fixedly arranged on one of the driving seats 171 and the bearing arm 172 is close to the driving box 11. A pair of clamping frames 173 are both U-shaped frames. One of the clamping frames 173 is fixedly arranged on the lower wall of the other end of the flipping arm 16, and the other clamping frame 173 is fixedly arranged on the other end of the bearing arm 172. Two pairs of first bolts 174 are respectively movably screwed on the two ends of the clamping frames 173. A pair of first wheel frames 175 are both rectangular frames. A pair of first wheel frames 175 are respectively movably arranged between the two ends of the clamping frames 173 and the first wheel frames 175 are respectively movably sleeved on the first bolts 174. A pair of guide wheels 176 are respectively movably embedded in the first wheel frames 175, and the diameter of the guide wheels 176 is larger than the width of the first wheel frames 175 and the two ends of the clamping frames 173. One end of a second hydraulic cylinder 177 fixedly penetrates through one of the driving seats 171 and is close to the other end of the flipping arm 16. A second wheel frame 178 is fixedly arranged on the telescopic end of the second hydraulic cylinder 177. A driving wheel 179 is movably arranged on the second wheel frame 178. A first motor 180 is fixedly arranged on the second wheel frame 178, and the driving end of the first motor 180 fixedly penetrates through the middle of the driving wheel 179; the first electric slide rails 170 respectively drive one of the guide wheels 176 and the driving wheel 179 to move and adjust the position, and different-width or -diameter pipes are clamped according to the distance between the two guide wheels 176. The driving wheel 179 moves up and down to contact the upper wall of the pipe to realize three-point positioning clamping, and the driving wheel 179 drives the rotating mobile device through the first motor 180. According to different clamping requirements, the guide wheels 176 can also be flipped and tilted in the clamping frames 173 by means of the first wheel frames 175.

[0023] Please refer to Figures 4-5 As shown in the figure, further, the flipping structure 2 includes a second electric slide rail 21, a flipping seat 22, a pair of shaft blocks 23, a second motor 24, a third electric slide rail 25, a driving arm 26, a pair of shaft tubes 27, a pair of docking plates 28 and a pair of arm rods 29; The second electric slide rail 21 is fixedly arranged on the upper wall of the drive box 11 and is located at the front side of the flipping opening 5. The flipping seat 22 is fixedly arranged on the second electric slide rail 21 and the flipping seat 22 moves left and right. A pair of shaft blocks 23 are symmetrically arranged on the upper wall of the flipping seat 22 and are close to the left end. Shaft holes 71 are respectively opened in the middle of the other ends of the pair of shaft blocks 23. The second motor 24 is fixedly arranged on the upper wall of the rear end of the flipping seat 22, and the driving end of the second motor 24 is opposite to the shaft hole 71. Two pairs of torsion bars 74 are equidistantly arranged on the driving end of the second motor 24. The third electric slide rail 25 is fixedly arranged on the upper wall of the shaft seat and is located on the right side wall of the shaft block 23. One end of the driving arm 26 is fixedly arranged on the third electric slide rail 25 and the driving arm 26 moves back and forth. Bearings 72 corresponding to the shaft holes 71 are symmetrically arranged on the other two ends of the driving arm 26. A pair of shaft tubes 27 respectively fixedly penetrate through the middle parts of the bearings 72 of the driving arm 26, and torsion grooves 73 corresponding to the torsion bars 74 are opened in the inner walls of the shaft tubes 27. The shaft tubes 27 can movably penetrate through the shaft holes 71 and are sleeved on the driving end of the second motor 24. A pair of docking plates 28 are respectively fixedly sleeved on one ends of the shaft tubes 27, and two pairs of insertion rods 81 are equidistantly arranged on the rear side wall of the docking plates 28. A pair of arm rods 29 are both L-shaped. One ends of the pair of arm rods 29 are respectively detachably sleeved on the shaft tubes 27, and one ends of the arm rods 29 are respectively movably sleeved on the insertion rods 81. The other ends of the pair of arm rods 29 are respectively fixedly arranged on the drive box 11; the flipping seat 22 is driven to move by the second electric slide rail 21, the distance between the two relatively arranged drive boxes 11 is adjusted by the arm rods 29 to drive the corresponding drive structure 1 to move. The shaft tubes 27 on the driving arm 26 are driven to move by the third electric slide rail 25, and one end of the shaft tube 27 is inserted into or pulled out of one end of the arm rod 29 and the shaft hole 71 of the shaft block 23 for locking or unlocking. When the shaft tube 27 is inserted into the shaft block 23 and one end of the arm rod 29, the torsion groove 73 of the shaft tube 27 is sleeved on the driving end of the second motor 24 and forces are applied by means of the torsion bars 74, and then the shaft rod can be driven to rotate by the second motor 24. At the same time, the shaft rod is connected to one end of the arm rod 29 through the insertion rods 81 on the docking plate 28 to synchronously drive the arm rod 29 to flip, so as to realize the flipping of the two relatively arranged drive structures 1.

[0024] Please refer to Figures 6-7 As shown in the figure, further, the welding structure 3 includes a bearing box 31, a control board 32, a fourth electric slide rail 33, a cylinder frame 34, a main body arm 35, a third hydraulic cylinder 36, a third motor 37, a shaft arm 38, a fourth motor 39, a gun arm 40 and a welding torch 41; One end of the bearing box 31 is fixedly arranged on the front side wall of the driving box 11. A sliding groove is arranged on the upper wall at one end of the bearing box 31. The control board 32 is fixedly arranged on the inner lower wall at the front end of the bearing box 31. The fourth electric slide rail 33 is fixedly arranged on the inner upper wall of the bearing box 31 and is located at the sliding groove part. The fourth moving seat of the fourth electric slide rail 33 movably penetrates through the sliding groove. One end of the cylinder frame 34 is fixedly arranged on the fourth electric slide rail 33 and the cylinder frame 34 moves back and forth. The cylinder frame 34 is concave. One end of the main body arm 35 is movably arranged on the cylinder frame 34. One end of the third hydraulic cylinder 36 is movably inserted into the cylinder frame 34, and the telescopic end of the third hydraulic cylinder 36 is movably connected to one end of the main body arm 35. The third motor 37 is fixedly inserted into the other end of the main body arm 35. The shaft arm 38 is fixedly arranged on the driving end of the third motor 37. The fourth motor 39 is fixedly arranged in the shaft arm 38, and the driving end of the fourth motor 39 movably penetrates through the middle part of the left side wall of the shaft arm 38. The gun arm 40 is movably clamped on the shaft arm 38 and is connected to the driving end of the fourth motor 39. The gun arm 40 is driven by the fourth motor 39 to turn on the shaft arm 38. The welding torch 41 is fixedly arranged on the gun arm 40. The control board 32 carried by the bearing box 31 can be used for wireless connection. The fourth electric slide rail 33 drives the welding torch 41 to move back and forth to adjust the feeding position. The third hydraulic cylinder 36 drives the main body arm 35 to turn up and down on the cylinder frame 34 to adjust the up and down position of the welding torch 41. The third motor 37 drives the shaft arm 38 to rotate left and right to adjust the orientation of the welding torch 41. The fourth motor 39 drives the gun arm 40 to turn up and down to adjust the angle of the welding torch 41.

[0025] As a preferred solution, further, since the welding torch 41 turns up and down, feeds back and forth, and turns left and right through the gun arm 40 with a certain length, it can realize the movement of the welding point along the end of the web member of the truss with a diameter smaller than the length of the gun arm 40.

[0026] As a preferred solution, further, the welding torch 41 turns left and right through the third motor 37, and the welding torch 41 turns up and down through the fourth motor 39 for welding to adjust the orientation requirements.

[0027] As a preferred solution, further, the driving box 11 can be turned up or down through the flipping structure 2 on the upper and lower side walls, and is used for the locking docking or unlocking of the flipping structure 2 on one side, so as to realize the movement and climbing according to the docking of the truss construction.

[0028] As a preferred solution, further, a camera 9 is fixedly arranged on the main body arm 35, and the camera 9 can turn 360 degrees. Imaging judgment and part selection are carried out through the camera 9.

[0029] The detailed connection means are well-known technologies in the art. The following mainly introduces the working principle and process. The specific work is as follows.

[0030] Working principle: S1. When the equipment is in use, it is wirelessly remotely controlled and connected through the control board 32 in the carrier box 31; the equipment is manually placed on the corresponding truss axial rod; it is clamped and fixed through the clamping component 17 in the driving structure 1; that is, according to the diameter of the truss pipe, the first electric slide rail 170 is driven to drive the driving seat 171 to move, so as to adjust the distance between the guide wheels 176 on the two clamp brackets 173 and adjust the position of the driving wheel 179. Then, the front and rear side walls of the pipe are clamped by the two guide wheels 176 relatively, and the first hydraulic cylinder 14 is driven to drive the second wheel bracket 178 to descend to make the driving wheel 179 fit on the upper wall surface of the pipe, realizing three-point positioning and limiting. At this time, since there are three driving components on the equipment, the equipment is stabilized through the synchronous clamping of the three driving structures 1; S2. After the equipment is fixed, the first motor 180 on the second wheel bracket 178 can be driven to drive the driving wheel 179 to rotate, and the equipment is driven to move by the force applied through the contact with the truss with the help of the guide wheels 176 arranged relatively horizontally; according to the use requirements and the shape of the truss pipe, the first bolt 174 can also be rotated to adjust the first wheel bracket 175 to flip in the clamp bracket 173, and then the inclination angle of the guide wheel 176 is adjusted; S3. The equipment is powered by the battery 12 in the drive box 11 and moves on the truss; and the imaging of the camera 9 is used for judgment and projection to the terminal control equipment; when it is blocked by the web member in the middle of the truss during movement, the first hydraulic cylinder 14 on the partition plate 13 in the corresponding driving structure 1 can be driven to extend in sequence. The toothed arm 15 passes through the lifting and lowering of the flipping port 5 and engages with the gear 6 on the flipping arm 16 to drive the flipping arm 16 to flip in the flipping port 5, unlock the clamping component 17 and lift it off the truss; Secondly, the second electric slide rail 21 in the flipping structure 2 is driven to drive the flipping seat 22 to translate, so as to increase the distance between the two connected drive boxes 11 with the help of the arm rod 29, so that one of the drive boxes 11 can cross the web member and then be clamped and fixed again, and the operation is carried out in sequence. When one of the driving structures 1 crosses, the other two driving structures 1 are used for clamping and controlling the movement to achieve the obstacle-crossing function, and then the movement of the equipment is realized; S4. If the equipment moves from one truss to another docking truss, the flipping structure 2 can be used for limiting and driving the flipping, so that the two corresponding driving structures 1 flip at different angles to fit onto the other truss and be clamped; the flipping structure 2 on the upper wall of the drive box 11 can be used for locking and driving, and the flipping structure 2 on the lower wall of the drive box 11 can be unlocked, and then it can be flipped upward, and vice versa, it can be flipped downward; That is, by driving the third electric slide rail 25 on the flipping seat 22 to drive the driving arm 26 to move, it is urged that the shaft tube 27 located in the bearing 72 penetrates through the arm rod 29 and the shaft hole 71 of the shaft block 23 for locking. At the same time, the shaft tube 27 will be sleeved on the driving end of the second motor 24 by means of the torsion groove 73. Through the fit between the torsion groove 73 and the torsion rod 74, the second motor 24 drives one of the shaft tubes 27 to rotate. At the same time, the insertion of the shaft tube 27 at one end of the arm rod 29 will cause the insertion rod 81 on the docking plate 28 to be inserted into the arm rod 29. Furthermore, when the shaft tube 27 is stressed and rotates, it will drive the arm rod 29 to rotate, thereby driving the two corresponding drive boxes 11 to flip; the docking of the two shaft tubes 27 and the shaft block 23 synchronously bears the drive box 11, and when not in use for flipping, the drive boxes 11 are locked and docked and carried through the flipping structure 2 on the upper and lower side walls; S5. By relatively flipping the two drive structures 1 through the flipping structure 2, it is possible to climb and move on the truss by means of the cooperation of the clamping assembly 17 and the mobile device; S6. When the device moves to the corresponding position, align the welding structure 3 with the corresponding position, and then drive the fourth electric slide rail 33 in the bearing box 31 to drive the welding torch 41 to move back and forth to control the feed; by driving the third hydraulic cylinder 36 on the drive cylinder frame 34 to contract, the main body arm 35 is driven to flip on the cylinder frame 34 to adjust the height of the welding torch 41; S7. By driving the shaft arm 38 to rotate left and right by the third motor 37, the left and right orientations and the left and right inclination angles of the welding torch 41 are adjusted. By driving the gun arm 40 to rotate up and down on the shaft arm 38 by the fourth motor 39, the front and rear inclination angles of the welding torch 41 are realized. By synchronously driving the slot holes of the welding torch 41 and by means of the front and rear feed and the left and right mobile device, the welding torch 41 can move along a straight line or an arc to meet the welding construction requirements.

[0031] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A steel structure truss installation and construction equipment, characterized in that: It includes three driving structures (1). The three driving structures (1) are respectively arranged relatively parallel to each other, and the driving structures (1) are arranged in sequence along the transverse direction, and are divided into the first driving structure (1), the second driving structure (1) and the third driving structure (1). Among them, turning structures (2) are symmetrically arranged on the upper and lower side walls between the first driving structure (1) and the second driving structure (1) and between the second driving structure (1) and the third driving structure (1). The driving structures (1) are sequentially connected through the turning structures (2). Among them, a welding structure (3) is fixedly arranged on the third driving structure (1); The driving structure (1) is used to fix the device on the truss and can move along the truss. The turning structure (2) is used for the series connection of the driving structures (1), and the turning structure (2) can cause the driving structure (1) to turn relatively to change the walking direction. The welding structure (3) is used for automatic welding and climbs and moves by means of the driving structure (1) and the turning structure (2).

2. The installation and construction equipment for a steel structure truss according to claim 1, characterized in that: The driving structure (1) includes a driving box (11), a storage battery (12), a partition board (13), a first hydraulic cylinder (14), a toothed arm (15), a turning arm (16) and a clamping assembly (17); A turning opening (5) communicating with the rear side wall is opened on the upper wall at the rear end of the driving box (11). The storage battery (12) is fixedly arranged on the lower wall inside the driving box (11), and a charging port is arranged on the lower wall of the driving box (11). The partition board (13) is fixedly arranged inside the driving box (11) and above the storage battery (12). One end of the first hydraulic cylinder (14) is fixedly arranged on the upper arm of the partition board (13) and below the front end of the turning opening (5). One end of the toothed arm (15) is fixedly arranged on the telescopic end of the first hydraulic cylinder (14), and the other end of the toothed arm (15) movably penetrates through the turning opening (5). A plurality of teeth are equidistantly arranged on the rear side wall of the toothed arm (15). One end of the turning arm (16) is movably installed in the turning opening (5), and a gear (6) is fixedly arranged at one end of the turning arm (16). One end of the turning arm (16) meshes with the toothed arm (15). An adjusting groove is opened near the left side at the other end of the turning arm (16). The clamping assembly (17) is fixedly arranged at the other end of the turning arm (16).

3. The installation and construction equipment for a steel structure truss according to claim 2, characterized in that: The clamping assembly (17) includes a pair of first electric slide rails (170), a pair of driving seats (171), a bearing arm (172), a pair of clamping frames (173), two pairs of first bolts (174), a pair of first wheel frames (175), a pair of guide wheels (176), a second hydraulic cylinder (177), a second wheel frame (178), a driving wheel (179) and a first motor (180); A pair of the first electric slide rails (170) are symmetrically arranged at the other end of the flipping arm (16) and are respectively located at the front and rear end parts of the adjustment slot. One end of a pair of the driving seats (171) is respectively movably inserted into the adjustment openings, and the other end of the driving seats (171) is respectively connected to the first electric slide rails (170) and drives the driving seats (171) to move back and forth. One end of the bearing arm (172) is fixedly arranged on one of the driving seats (171) and the bearing arm (172) is close to the driving box (11). A pair of the clamping frames (173) are both portal frames. One of the clamping frames (173) is fixedly arranged on the lower wall of the other end of the flipping arm (16), and the other clamping frame (173) is fixedly arranged on the other end of the bearing arm (172). Two pairs of the first bolts (174) are respectively movably screwed on the two ends of the clamping frames (173). A pair of the first wheel frames (175) are both rectangular frames. A pair of the first wheel frames (175) are respectively movably arranged between the two ends of the clamping frames (173) and the first wheel frames (175) are respectively movably sleeved on the first bolts (174). A pair of the guide wheels (176) are respectively movably embedded in the first wheel frames (175), and the diameter of the guide wheels (176) is larger than the widths of the first wheel frames (175) and the two ends of the clamping frames (173). One end of the second hydraulic cylinder (177) fixedly penetrates through one of the driving seats (171) and is close to the other end of the flipping arm (16). The second wheel frame (178) is fixedly arranged on the telescopic end of the second hydraulic cylinder (177). The driving wheel (179) is movably arranged on the second wheel frame (178). The first motor (180) is fixedly arranged on the second wheel frame (178), and the driving end of the first motor (180) fixedly penetrates through the middle of the driving wheel (179).

4. The steel structure truss installation and construction equipment according to claim 3, characterized in that: The flipping structure (2) includes a second electric slide rail (21), a flipping seat (22), a pair of shaft blocks (23), a second motor (24), a third electric slide rail (25), a driving arm (26), a pair of shaft tubes (27), a pair of docking plates (28) and a pair of arm rods (29); The second electric slide rail (21) is fixedly arranged on the upper wall of the driving box (11) and is located on the front side of the flipping opening (5). The flipping seat (22) is fixedly arranged on the second electric slide rail (21) and the flipping seat (22) moves left and right. A pair of the shaft blocks (23) are symmetrically arranged on the upper wall of the flipping seat (22) and are close to the left end. Shaft holes (71) are formed in the middle of the other ends of the pair of shaft blocks (23). The second motor (24) is fixedly arranged on the upper wall of the rear end of the flipping seat (22), and the driving end of the second motor (24) is opposite to the shaft hole (71). Two pairs of torsion bars (74) are equidistantly arranged on the driving end of the second motor (24). The third electric slide rail (25) is fixedly arranged on the upper wall of the shaft seat and is located on the right side wall of the shaft block (23). One end of the driving arm (26) is fixedly arranged on the third electric slide rail (25) and the driving arm (26) moves back and forth. Bearings (72) corresponding to the shaft holes (71) are symmetrically arranged on the other two ends of the driving arm (26). A pair of shaft tubes (27) respectively fixedly penetrate through the middle parts of the bearings (72) of the driving arm (26), and torsion grooves (73) corresponding to the torsion bars (74) are formed in the inner walls of the shaft tubes (27). The shaft tubes (27) can movably penetrate through the shaft holes (71) and are sleeved on the driving end of the second motor (24). A pair of docking discs (28) are respectively fixedly sleeved on one ends of the shaft tubes (27), and two pairs of insertion rods (81) are equidistantly arranged on the rear side walls of the docking discs (28). A pair of arm rods (29) are both L-shaped. One ends of the pair of arm rods (29) are respectively detachably sleeved on the shaft tubes (27), and one ends of the arm rods (29) are respectively movably sleeved on the insertion rods (81). The other ends of the pair of arm rods (29) are respectively fixedly arranged on the driving box (11).

5. The installation and construction equipment for a steel structure truss according to claim 4, wherein: The welding structure (3) includes a bearing box (31), a control board (32), a fourth electric slide rail (33), a cylinder frame (34), a main body arm (35), a third hydraulic cylinder (36), a third motor (37), a shaft arm (38), a fourth motor (39), a gun arm (40), and a welding torch (41); One end of the carrier box (31) is fixedly arranged on the front side wall of the drive box (11). There is a sliding groove on the upper wall at one end of the carrier box (31). The control board (32) is fixedly arranged on the inner lower wall at the front end of the carrier box (31). The fourth electric slide rail (33) is fixedly arranged on the inner upper wall of the carrier box (31) and is located at the sliding groove part. The fourth moving seat of the fourth electric slide rail (33) movably penetrates through the sliding groove. One end of the cylinder frame (34) is fixedly arranged on the fourth electric slide rail (33), and the cylinder frame (34) moves back and forth. The cylinder frame (34) is concave. One end of the main body arm (35) is movably arranged on the cylinder frame (34). One end of the third hydraulic cylinder (36) is movably installed in the cylinder frame (34), and the telescopic end of the third hydraulic cylinder (36) is movably connected to one end of the main body arm (35). The third motor (37) is fixedly installed in the other end of the main body arm (35). The shaft arm (38) is fixedly arranged on the driving end of the third motor (37). The fourth motor (39) is fixedly arranged in the shaft arm (38), and the driving end of the fourth motor (39) movably penetrates through the middle part of the left side wall of the shaft arm (38). The gun arm (40) is movably clamped on the shaft arm (38), and the gun arm (40) is connected to the driving end of the fourth motor (39). The gun arm (40) is driven by the fourth motor (39) to flip on the shaft arm (38). The welding torch (41) is fixedly arranged on the gun arm (40).

6. The installation and construction equipment for a steel structure truss according to claim 5, wherein: The welding torch (41) flips left and right through the third motor (37), and the welding torch (41) flips up and down through the fourth motor (39).

7. The steel structure truss installation and construction equipment according to claim 6, characterized in that: The drive box (11) can be turned up or down through the turning structure (2) on the upper and lower side walls.

8. A steel structure truss installation and construction equipment according to claim 7, characterized in that: The camera (9) is fixedly arranged on the main body arm (35), and the camera (9) can flip 360 degrees.

9. The installation and construction method of a steel structure truss installation and construction device according to claim 8, characterized in that: Including the following steps Step 1: Fix it on the axial rod of the truss through three-point contact in the driving structure (1), and the device can move along the truss; Step 2: When there are web members between the axial rods of the truss, it can cross the web members by flipping the clamping assembly (17) and adjusting the relative distance of the driving structure (1) with the help of the flipping structure (2), and two driving structures (1) are kept clamped and fixed during the movement and crossing; Step 3: During the movement, the flipping structure (2) can drive two opposite driving structures (1) to flip, so as to move from one truss to another butt-jointed truss; Step 4: After the movement, the welding structure (3) can be used to drive the welding torch (41) to feed and adjust the orientation, and the welding torch (41) can be welded and installed along an arc or a straight line through synchronous operations.

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