A high-section steel box girder internal inspection equipment and method

Abstract

This invention discloses an internal inspection equipment and method for variable-height cross-section steel box girders. The equipment includes a track, a control cabinet, a scissor lift system, a ladder, guardrails, a lifting platform, a traveling platform, and a long-arm inspection mechanism. The track is installed inside the steel box girder, the traveling platform is installed on the track and can move along the track, the control cabinet is installed on the traveling platform, the ladder is installed in front of the traveling platform, the lifting platform is connected to the traveling platform via the scissor lift system, and the long-arm inspection mechanism and guardrails are integrated on the lifting platform. The entire device uses the traveling platform as its moving and load-bearing foundation. The lifting platform is driven to rise and fall by the long-stroke scissor lift system, the long-arm inspection mechanism flexibly extends to scan and collect structural data, and the control cabinet provides unified power supply and control. All components work together to achieve height adjustment, stable movement, automatic survey data collection, and manned inspection functions, realizing efficient and safe comprehensive survey, inspection, and maintenance of variable-height cross-section steel box girders.

Description

Technical Field

[0001] This invention belongs to the field of bridge inspection and maintenance technology, and more specifically, relates to an internal inspection equipment and method for a variable-height steel box girder. Background Technology

[0002] In the field of bridge engineering, steel box girders, with their advantages of high load-bearing capacity and good structural stability, have become the core load-bearing components of long-span bridges (such as cable-stayed bridges and suspension bridges). The health of the internal structure of the steel box girder directly determines the overall safety performance and service life of the bridge. To ensure the long-term performance of the steel box girder, regular internal inspection and maintenance are necessary. However, the interior of a steel box girder is usually a closed or semi-closed space, with harsh environmental conditions such as insufficient lighting, poor ventilation, welding residue, and dust accumulation, which greatly complicates manual inspection operations, resulting in low efficiency and safety risks such as falls from heights and exposure to harmful gases. To reduce the burden and risks of manual inspection, the field of bridge maintenance has begun research on automated maintenance equipment in recent years and has made initial progress. Existing technologies have developed various types of robot platforms, including track-mounted, wheeled, and magnetic adsorption types. However, most existing technical solutions are optimized for the panels of orthotropic steel box girders with uniform cross-sectional height. Their mobile chassis, designed to facilitate passage through low-lying spaces or limited by structural constraints, generally suffer from limited lifting height and insufficient obstacle-crossing ability, making them only suitable for standard cross-section environments with minimal changes in clearance. In actual engineering, to meet the stress and alignment requirements of bridges, variable-height steel box girders are often used. The internal clearance height varies significantly along the longitudinal direction of the bridge, increasing dramatically from a few meters to over ten meters, creating a complex structural space. Existing equipment suffers from poor space accessibility, limited height adjustment capabilities, and an inability to combine automated surveying with manual fine-tuning, failing to cover all critical areas of variable-height steel box girders. Summary of the Invention

[0003] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides an internal inspection and maintenance equipment and method for variable-height cross-section steel box girders. The method utilizes a walking platform to adjust its angle, maintaining the lifting platform's horizontal position when going up or down slopes, and a scissor lift system to adjust the lifting height of the platform. It possesses significant height adjustment capabilities and stable mobility, and is equipped with a long-arm inspection mechanism and a ladder, enabling efficient, safe, and comprehensive inspection, maintenance, and repair of variable-height cross-section steel box girders.

[0004] To achieve the above objectives, according to one aspect of the present invention, the present invention provides internal maintenance equipment for variable-height cross-section steel box girders, comprising: The walking platform moves and locks itself on tracks inside the steel box girder; The scissor lift system, installed on the traveling platform, provides vertical lifting power; A lifting platform is installed on top of the scissor lift system and rises and falls synchronously with it; The long-arm detection mechanism, installed on the lifting platform, includes a multi-stage telescopic arm nested in sequence, a rotating arm installed at the end of the multi-stage telescopic arm, and a data acquisition module set at the end of the rotating arm; The traveling platform includes a locking mechanism and a posture adjustment mechanism; the locking mechanism is used to lock the traveling platform to the track during operation; the posture adjustment mechanism is used to adjust the tilt angle of the scissor lift system so that the lifting platform is in a horizontal state.

[0005] Furthermore, the walking platform also includes a frame, walking rollers driven by a walking motor mounted on the bottom of the frame, and anti-slip wheels mounted on the sides of the walking rollers.

[0006] Furthermore, the attitude adjustment mechanism includes an angle adjustment device. The input end of the angle adjustment device is connected to an angle adjustment motor, and the output end is connected to a scissor lift system angle adjustment shaft through a set of transmission gears. The scissor lift system angle adjustment shaft is installed between the double lugs on the upper part of the frame.

[0007] Furthermore, the attitude adjustment mechanism also includes an angle locking device for locking the angle adjustment shaft of the scissor lift system.

[0008] Furthermore, the locking mechanism includes an electric push rod fixedly mounted on the frame and a top plate connected to the end of the electric push rod.

[0009] Furthermore, the long-arm detection mechanism also includes a rotary table fixed to the lifting platform and a lifting platform installed on the rotary table, both of which are driven by motors.

[0010] Furthermore, the acquisition module includes multiple cameras and fill lights facing different directions, an inertial measurement unit (IMU), and a lidar.

[0011] Furthermore, it also includes: Protective railings are installed around the lifting platform, and an openable safety door is provided on one side of the lifting platform; A ladder is installed between the walking platform and the safety door of the lifting platform.

[0012] Furthermore, it also includes: a control cabinet, which is fixed to the walking platform and includes an inertial measurement unit, an emergency DC power supply, a communication module, a heat dissipation module, and a control switch; the control cabinet is electrically connected to the walking platform, the scissor lift system, and the long arm detection mechanism, and is used to realize the power supply, motion control, data communication, and status monitoring of the whole machine.

[0013] According to a second aspect of the present invention, the present invention provides a method for internal maintenance of a variable-height cross-section steel box girder, which is based on the aforementioned internal maintenance equipment for a variable-height cross-section steel box girder, and includes the following steps: S100: Equipment Positioning and Stabilization: Install the maintenance equipment on the track, lock it using the locking mechanism of the traveling platform, and adjust the lifting platform to a horizontal state using the attitude adjustment mechanism; S200: Automated Detection: Release the locking mechanism, the device travels along the track to the target position, drives the long-arm detection mechanism to lift to the working height, and then controls the movement of the multi-stage telescopic arm and rotating arm of the long-arm detection mechanism to enable the acquisition module to scan the internal structure of the steel box girder and simultaneously collect data with attitude and position information; S300: Decision Judgment: Analyze the data collected in step S200 to determine whether there are any defects requiring manual intervention; S400: If there are no defects requiring manual intervention, the equipment is transferred to the next work station, and steps S100 to S300 are repeated; S500: If there are defects requiring manual intervention, maintenance personnel climb the ladder to the lifting platform, drive the scissor lift system to lift the lifting platform carrying personnel to the vicinity of the defect point, and perform manual inspection and treatment; S600: After maintenance is completed and personnel have safely evacuated, the control scissor lift system and long arm detection mechanism are reset, and the drive unit exits the steel box girder.

[0014] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects: 1. This invention provides an internal maintenance equipment for variable-height steel box girders. A walking platform can continuously travel along a track and its angle can be adjusted to adapt to the longitudinal slope, ensuring the lifting platform remains horizontal and providing a stable working foundation for the equipment. A scissor lift system can drive the lifting platform to complete vertical lifting ranges from several meters to over ten meters, ensuring the working surface accurately reaches different target heights of the variable-height section. A long-arm inspection mechanism further provides multi-degree-of-freedom fine extension and posture adjustment capabilities, establishing a multi-level adjustable configuration of the walking platform, scissor lift system, and long-arm inspection mechanism. This solves the inspection blind spots caused by poor space accessibility, insufficient lifting height, and limited working range in existing equipment, achieving comprehensive, blind-spot-free inspection of all key areas within a single steel box girder compartment, including the top plate, web plate, bottom plate, and stiffening ribs.

[0015] 2. This invention provides an internal inspection equipment for variable-height cross-section steel box girders, integrating two operating modes: "automated general inspection" and "manual fine-tuning." In unmanned mode, the long-arm inspection mechanism can autonomously conduct rapid and efficient preliminary inspections of large areas. Through its multi-sensor system, it collects high-quality images and point cloud data, enabling preliminary identification and location of surface defects such as coating peeling and cracks. This effectively replaces manual basic inspection work in harsh environments, offering high efficiency and eliminating safety risks. In manned mode, when the automated inspection identifies significant or suspected defects, the lifting platform serves as a stable and safe high-altitude mobile work platform, precisely and smoothly transporting inspection personnel and their tools to the vicinity of the defect point for close-range re-inspection, precise measurement (such as crack width), non-destructive testing, and even temporary treatment. This approach leverages the advantages of machines in efficiency and data processing while retaining the irreplaceable role of human experts in complex judgments and precise operations, achieving seamless integration of inspection and maintenance, and significantly improving the efficiency and depth of inspection.

[0016] 3. The variable-height cross-section steel box girder internal maintenance equipment of the present invention ensures that the equipment will not slip off the track through the anti-slip wheels of the walking platform; the polyurethane top plate driven by the electric push rod presses the track before lifting, forming a strong anti-overturning moment; the tilt angle of the scissor lift system can be dynamically adjusted and locked through the angle adjustment and locking device to ensure that the lifting platform remains level on any slope. The synergistic effect of multiple safety structures solves the risks of equipment overturning and personnel falling during high-altitude and mobile operations, and provides reliable safety guarantee for automated inspection and manual maintenance. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the internal maintenance equipment for a variable-height steel box girder according to an embodiment of the present invention; Figure 2 This is a detailed drawing of a walking platform for internal maintenance equipment of a variable-height steel box girder according to an embodiment of the present invention; Figure 3 This is a schematic diagram of a working scenario where a walking platform for internal maintenance equipment of a variable-height steel box girder moves along a track, according to an embodiment of the present invention. Figure 4 This is a schematic diagram illustrating a scenario where the lifting platform is adjusted to maintain horizontality when the internal maintenance equipment of a variable-height cross-section steel box girder is going uphill, according to an embodiment of the present invention. Figure 5 This is a schematic diagram of a long-arm inspection mechanism for internal maintenance equipment of a variable-height cross-section steel box girder according to an embodiment of the present invention; Figure 6 This is a flowchart of an internal inspection equipment testing method for a variable-height cross-section steel box girder according to an embodiment of the present invention.

[0018] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1-track, 2-control cabinet, 3-scissor lift system, 4-ladder, 5-guardrail, 6-lifting platform, 7-traveling platform, 71-traveling motor, 72-anti-derailment wheel, 73-electric push rod, 74-top plate, 75-traveling roller, 76-frame, 77-angle locking device, 78-angle adjustment device, 79-angle adjustment motor, 710-scissor lift system angle adjustment shaft, 8-long arm detection mechanism, 81-acquisition module, 82-rotating arm, 83-first motor, 84-third-stage telescopic arm, 85-second-stage telescopic arm, 86-first-stage telescopic arm, 87-lifting platform, 88-second motor, 89-third motor, 810-rotating platform. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0021] It should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the technical product is in use. They are only for the convenience of describing the technology and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the technology.

[0022] Example 1 like Figure 1The present invention provides a schematic diagram of an internal maintenance equipment structure for a variable-height cross-section steel box girder, including a track 1, a control cabinet 2, a scissor lift system 3, a ladder 4, a guardrail 5, a lifting platform 6, a traveling platform 7, and a long-arm inspection mechanism 8. The track 1 is installed inside the steel box girder, the traveling platform 7 is installed on the track 1, the control cabinet 2 is installed on the traveling platform 7, the ladder 4 is installed in front of the traveling platform 7, the lifting platform 6 is connected to the traveling platform 7 via the scissor lift system 3, and the long-arm inspection mechanism 8 and the guardrail 5 are integrated on the lifting platform 6. The entire device is designed for... The walking platform 7 serves as the foundation for movement and load-bearing, and the lifting platform 6 is raised and lowered via a long-stroke scissor lift system 3. The lifting platform 6 supports a flexible, extendable long-arm inspection mechanism 8 for automated inspection, and together with the ladder 4 and surrounding safety railings 5, forms a safe working space for personnel. The entire system is powered and controlled by a control cabinet 2 integrated on the walking platform 7. The components work together to achieve height adjustment, stable movement, data acquisition, and personnel-carrying maintenance functions, enabling efficient, safe, and comprehensive inspection and maintenance of variable-height cross-section steel box girders. Specifically… The track 1 is pre-laid inside the steel box girder to provide a moving track for the walking platform 7, ensuring that the equipment travels along the preset path.

[0023] The control cabinet 2 is fixedly installed on the walking platform 7 and includes a switching power supply, an inertial measurement unit (IMU), an emergency DC power supply, a communication module, a heat dissipation module, and a control switch. The control cabinet 2 is electrically connected to the drive motor of the walking platform 7, the servo motor of the scissor lift system 3, the drive unit of the long arm detection mechanism 8, and all sensors via cables or wireless means. It provides unified power supply and control for the entire equipment, and can communicate with the outside world to realize remote walking control and data transmission of the equipment. It also facilitates operation and maintenance by maintenance personnel.

[0024] The scissor lift system 3 is vertically mounted on the central area of ​​the upper surface of the walking platform 7. It adopts a diamond-shaped scissor lift hinge mechanism, consisting of multiple scissor arms hinged together by a central pin. Driven by a high-power servo motor, it achieves stable lifting and lowering within a range of several meters to over ten meters.

[0025] The ladder 4 is located between the safety door of the walking platform 7 and the lifting platform 6, installed on the side of the walking platform 7, with its upper end leading to the safety door of the lifting platform 6. It is used to assist personnel in climbing from the bottom plate of the track / box girder to the lifting platform 6 to manually inspect and repair the interior of the variable-height steel box girder.

[0026] The protective railings 5 ​​are installed around the lifting platform 6, and small doors that can be opened and closed are provided on the side of the ladder 4 to prevent inspection personnel from falling while the platform is raised and to ensure the safety of maintenance personnel.

[0027] The lifting platform 6 is fixedly installed on top of the scissor lift system 3 and rises and falls synchronously with the extension and retraction of the scissor lift system 3. The lifting platform 6 forms a high-altitude working surface for carrying maintenance personnel and / or equipment. It can lift maintenance personnel to the vicinity of the top plate of the box girder for defect re-inspection or treatment, and can also lift the long-arm inspection mechanism 8 to a certain height.

[0028] like Figure 2 As shown, the walking platform 7 includes a walking mechanism, a locking mechanism, a posture adjustment mechanism, and a frame 76, wherein... The frame 76, as the core skeleton of the walking platform 7, is welded from a high-strength steel structure and provides the mounting base for all other components.

[0029] The traveling mechanism includes a traveling motor 71, traveling rollers 75, and anti-slip wheels 72. The traveling rollers 75 are mounted to the bottom of the frame 76 via bearing seats and are driven by the traveling motor 71 through a reducer, enabling the equipment to travel longitudinally along the track (e.g., ...). Figure 3 (As shown). Anti-slip wheels 72 are installed in pairs on the inner or outer side of the traveling rollers 75, with their rims in contact with the track, effectively preventing the equipment from deviating from the track or slipping during travel.

[0030] The locking mechanism includes an electric push rod 73 and a top plate 74. The cylinder end of the electric push rod 73 is fixedly mounted on the frame 76, and the end of the electric push rod 73 is connected to the top plate 74. The top plate 74 is made of polyurethane material. Its distance from the track 1 is adjusted by the electric push rod 76. When the equipment is traveling along the track 1, it does not contact the track. Before the lifting platform 6 is raised, it makes close contact with the track 1, connecting the frame 76 to the track 1 to form a stable anchor point. This resists the torque generated by the tilting of the scissor lift system 3 and the lifting platform 6, preventing the entire equipment from overturning.

[0031] The attitude adjustment mechanism includes an angle locking device 77, an angle adjustment device 78, an angle adjustment motor 79, and a scissor lift system angle adjustment shaft 710. The scissor lift system angle adjustment shaft 710 is mounted between the double lugs on the frame 76 via bearing seats and is connected to the bottom of the upper scissor lift system 3. The angle adjustment device 78 is driven by the angle adjustment motor 79 and is meshed with the scissor lift system angle adjustment shaft 710 through a set of transmission gears. The input end of the angle adjustment device 78 is the angle adjustment motor 79, and the output end is the scissor lift system angle adjustment shaft 710. The angle adjustment motor 79 can output a large torque to the scissor lift system angle adjustment shaft 710 to adjust the tilt angle of the scissor lift system 3 to ensure that the lifting platform 6 is in a horizontal state (e.g., Figure 4(As shown). The angle locking device 77 is fixed to the frame 76, and its actuator can press or lock the scissor fork system angle adjustment shaft 710. When the lifting platform 6 is in a horizontal state, the angle adjustment shaft 710 of the scissor fork system is locked and pressed to prevent the shaft gear from continuing to rotate, ensuring that the lifting platform 6 maintains a horizontal state.

[0032] like Figure 5 As shown, the long-arm detection mechanism 8 includes a data acquisition module 81, a rotating arm 82, a first motor 83, a three-stage telescopic arm 84, a two-stage telescopic arm 85, a first-stage telescopic arm 86, a lifting platform 87, a second motor 88, a third motor 89, and a rotating platform 810. The rotary table 810 is fixedly mounted on the lifting platform 6 via its base. Driven by the third motor 89, it can drive the structure above it to rotate 360° continuously in the horizontal direction, used to adjust the orientation of the multi-stage telescopic arms. The lifting platform 87 is fixedly mounted above the rotary table 810. Driven by the second motor 88, it can perform precise vertical lifting movements to raise the height of each stage of the telescopic arms above the guardrail 5 to prevent collisions. The first-stage telescopic arm 86 is mounted on the top of the lifting platform 87 via a rectangular sleeve. The second-stage telescopic arm 85 is nested within the first-stage telescopic arm 86 via a built-in slide rail and screw mechanism. The third-stage telescopic arm 84 is nested within the second-stage telescopic arm 85 via a built-in slide rail and screw mechanism. The first-stage telescopic arm 85 and the first-stage telescopic arm 86 are connected in stages. Each stage of the telescopic arm is driven by a motor to extend or retract along the same axis to expand the range of motion of the long-arm detection mechanism. A rotating arm 82 is installed at the end of the third-stage telescopic arm 84. The rotating arm 82 is driven by the first motor 83 and can rotate 360° around the end of the third-stage telescopic arm 84. The acquisition module 81 is slidably installed on the longitudinal slide rail of the rotating arm 82 and can move or lock along the slide rail. The acquisition module 81 includes multiple cameras and supplementary lights, inertial measurement units (IMU), lidar and other sensors with different orientations. It is used to acquire high-quality images and point cloud data inside the steel box girder and record its own attitude and acquisition time. Driven by the rotation of the third-stage telescopic arm 84, it can acquire 360° data.

[0033] This invention's device can operate in both manned and unmanned automated modes, achieving a highly efficient combination of "automated general inspection" and "manual fine-tuning" for comprehensive internal inspection of variable-height cross-section steel box girders. Specifically, In unmanned automated operation mode, commands are issued via computer and local area network to control cabinet 2. The walking motor 71 of the walking platform 7 starts, driving the walking rollers 75 to roll on the track 1. At the same time, the anti-derailment wheel 72 always maintains contact and constraint with the side of the track 1. When the walking platform 7 moves up or down slopes along the track 1, the angle adjustment device 78 adjusts the lifting platform 6 to be horizontal and locks it through the angle locking device 77 to ensure that the lifting platform 6 remains horizontal. After moving to the target detection position, the walking motor 71 stops rotating and remains locked. The electric push rod 73 is controlled to push the top plate 74 to move, so that the top plate 74 is pressed tightly against the track 1. The long-arm inspection mechanism 8 begins operation, with the rotary table 810 driving the entire boom to rotate horizontally to determine the working fan-shaped area. The lifting platform 87 raises the boom to a safe height to avoid the protective railing 5. The multi-stage telescopic boom extends synchronously or sequentially towards the target direction, achieving a large radial progression and delivering the end effector unit to the area to be inspected. The rotating arm 82 rotates to adjust the angle of the acquisition module 1 and can perform final precise positioning along the slide rail of the rotating arm 82, so that the acquisition module 81 can accurately approach different areas such as the web, top plate, and bottom plate of the steel box girder to collect close-range image data, realizing the acquisition of images of defects such as coating peeling, cracks, corrosion, and water leakage, as well as the position and posture data of the inspection module.

[0034] In manned operation mode, communication is established with control cabinet 2 via computer and local area network. Workers climb onto lifting platform 6 from track 1 via ladder 4. The travel motor 71 of the traveling platform 7 starts, driving the traveling rollers 75 to roll on track 1. Simultaneously, the anti-derailment rollers 72 maintain contact and constraint with the side of track 1. When the traveling platform 7 moves up or down slopes along track 1, the angle adjustment device 78 adjusts the lifting platform 6 to a horizontal position and locks it via the angle locking device 77, ensuring the lifting platform 6 remains horizontal. After moving to the target inspection position, the travel motor 71 stops rotating and remains locked. The electric push rod 73 is controlled to push the top plate 74, pressing it firmly against track 1. The scissor lift system 3 raises the height of the lifting platform 6 until the maintenance personnel approach the top plate of the steel box girder. After inspection, the height is lowered, the top plate is released, and the platform can continue moving along the track for the next maintenance operation.

[0035] Example 2 like Figure 6 As shown, based on the equipment in Embodiment 1, this embodiment of the invention provides a method for internal maintenance of high-section steel box girders, including the following steps: S100: Equipment positioning and initial stabilization: Lay track 1 on the preset path inside the variable-height steel box girder to be inspected, install the inspection equipment on track 1, and drive the top plate 74 to make close contact with track 1 through electric push rod 73 to firmly lock the device on track 1, start the angle adjustment motor 69 to drive the angle adjustment device 78 to drive the scissor lift system angle adjustment shaft 710 to rotate, and after the lifting platform 6 is adjusted to a horizontal state, the angle locking device 77 locks the scissor lift system angle adjustment shaft 710. S200: Automated Survey: The drive plate 74 disengages from track 1, and the device travels along track 1 to the target position. Based on the current beam segment's cross-sectional height, the control cabinet 2 controls the rotation of the rotary table 810 of the long-arm detection mechanism 8, adjusting the horizontal orientation of the multi-stage telescopic arm. The lifting platform 87 is raised, elevating the multi-stage telescopic arm to a safe height. The multi-stage telescopic arm extends sequentially, bringing the acquisition module 81 closer to the target area of ​​the box girder's web / top / bottom plate. The rotary arm 82 adjusts its pitch angle and drives the acquisition module 81 to move slightly along the slide rail, scanning the structural surface in the optimal posture. The acquisition module 81 simultaneously acquires images and laser point cloud data, and integrates its own posture and time information recorded by the IMU to complete comprehensive data acquisition for this station. S300: Data evaluation and decision-making: The data collected in step S200 is sent back to the control center for analysis to determine whether there are any major diseases and to make a decision: If no major diseases are found, proceed to step S400; if major or suspected diseases are found, proceed to step S500. S400: Equipment Transfer and Continuous Inspection: Control the long-arm inspection mechanism 8 to retract to its traveling posture. Release the locking of the traveling platform 7 and control the equipment to move along the track to the next maintenance station. Repeat steps S100 to S300 until the automated inspection of the entire target beam segment is completed; S500: Manned fine maintenance and fault treatment: Maintenance personnel enter the lifting platform 6 via ladder 4, close the openable small door of the guardrail 5, start the scissor lift system 3 to raise the lifting platform 6 to the target height, and carry out fault inspection and treatment. After the manual fine maintenance is completed, the scissor lift system 3 descends and the personnel safely evacuate the lifting platform. S600: Mission Completion and Equipment Recovery: After maintenance is completed, the control scissor lift system 3 and the long arm detection mechanism 8 are reset, the angle locking device 67 and the top plate 64 are released, and the drive device exits the steel box girder.

[0036] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An internal maintenance device for a variable-height steel box girder, characterized in that, include: The walking platform (7) moves and locks on the track (1) inside the steel box girder; The scissor lift system (3) is installed on the walking platform (7) and provides vertical lifting power; The lifting platform (6) is installed on top of the scissor lift system (3) and rises and falls synchronously with it; The long-arm detection mechanism (8) is installed on the lifting platform (6) and includes a multi-stage telescopic arm connected in sequence, a rotating arm (82) installed at the end of the multi-stage telescopic arm, and a data acquisition module (81) set at the end of the rotating arm (82); wherein, the walking platform (7) includes a locking mechanism and an attitude adjustment mechanism; the locking mechanism is used to lock the walking platform (7) to the track during operation; the attitude adjustment mechanism is used to adjust the tilt angle of the scissor lift system (3) so that the lifting platform (6) is in a horizontal state; The attitude adjustment mechanism includes an angle adjustment device (78), the input end of which is connected to an angle adjustment motor (79), and the output end is connected to a scissor fork system angle adjustment shaft (710) through a set of transmission gears. The scissor fork system angle adjustment shaft (710) is installed between the double ear plates above the frame (76). The attitude adjustment mechanism also includes an angle locking device (77) for locking the angle adjustment shaft (710) of the scissor lift system. The locking mechanism includes an electric push rod (73) fixedly mounted on the frame (76) and a top plate (74) connected to the end of the electric push rod (73).

2. The internal maintenance equipment for a variable-height steel box girder according to claim 1, characterized in that, The walking platform (7) also includes a frame (76), a walking roller (75) driven by a walking motor (71) installed at the bottom of the frame (76), and an anti-detachment roller (72) installed on the side of the walking roller (75).

3. The internal maintenance equipment for a variable-height steel box girder according to claim 1, characterized in that, The long-arm detection mechanism (8) also includes a rotary table (810) fixed on the lifting platform (6) and a lifting platform (87) installed on the rotary table (810). Both the rotary table (810) and the lifting platform (87) are driven by motors.

4. The internal maintenance equipment for a variable-height steel box girder according to claim 1, characterized in that, The acquisition module (81) includes multiple cameras and fill lights facing different directions, an inertial measurement unit (IMU), and a lidar.

5. The internal maintenance equipment for a variable-height steel box girder according to any one of claims 1-4, characterized in that, Also includes: A protective railing (5) is installed around the lifting platform (6), and an openable safety door is provided on one side of the lifting platform (6); a ladder (4) is installed between the walking platform (7) and the safety door of the lifting platform (6).

6. The internal maintenance equipment for a variable-height steel box girder according to any one of claims 1-4, characterized in that, Also includes: The control cabinet (2) is fixed on the walking platform (7) and includes an inertial measurement unit, an emergency DC power supply, a communication module, a heat dissipation module and a control switch. The control cabinet (2) is electrically connected to the walking platform (7), the scissor lift system (3) and the long arm detection mechanism (8) to realize the power supply, motion control, data communication and status monitoring of the whole machine.

7. A maintenance method based on the internal maintenance equipment for variable-height cross-section steel box girders according to any one of claims 1-6, characterized in that, Includes the following steps: S100: Equipment positioning and stabilization: Install the maintenance equipment on the track (1), lock it through the locking mechanism of the walking platform (7), and adjust the lifting platform (6) to a horizontal state through the attitude adjustment mechanism; S200: Automated detection: Release the locking mechanism, the device moves along the track (1) to the target position, drive the long arm detection mechanism (8) to lift to the working height, and then control the movement of the multi-stage telescopic arm and rotating arm (82) of the long arm detection mechanism (8) so that the acquisition module (81) scans the internal structure of the steel box girder and simultaneously collects data with attitude and position information; S300: Decision judgment: Analyze the data collected in step S200 to determine whether there are defects that need to be handled manually; S400: If there are no defects that need to be handled manually, the equipment is transferred to the next work station, and steps S100 to S300 are repeated; S500: If there are defects that require manual handling, maintenance personnel will enter the lifting platform (6) via the ladder (4), drive the scissor lift system (3) to lift the lifting platform (6) carrying personnel to the vicinity of the defect point for manual inspection and handling; S600: After the maintenance is completed and the personnel have safely evacuated, the control scissor lift system (3) and the long arm detection mechanism (8) are reset, and the drive device exits the steel box girder.

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