Crawling robot for field welding of steel structure bridge

Abstract

The utility model relates to the technical field of welding robots, in particular to a crawling robot for on-site welding of a steel structure bridge, which comprises a shell and a welding component mounted on the front end face of the shell, the section of the shell is of a square structure, hinged supports are fixedly connected to the periphery of the outer wall of the shell, and supporting rods are movably connected to the outer walls of the four hinged supports. Rollers are rotatably connected to the inner sides of the four wheel carriers, the four rotating wheels abut against the inner wall of the pipe fitting, meanwhile, the four electric push rods are started to contract, so that the four supporting rods are driven to move with the hinged supports as the center, the supporting rods are close to the shell, the four rollers are separated from the inner wall of the pipe fitting, and at the moment, the whole equipment is supported only through the four rotating wheels; the rolling directions of the four rotating wheels are the same as the circumferential direction of the pipe fitting, so that the whole device is driven to rotate circumferentially, adjustment is convenient, the welding assembly can weld all positions of the inner wall of the pipe fitting through flexible adjustment in the axial direction and the circumferential direction, and the device is suitable for welding work of the inner wall of the pipe fitting, high in flexibility and capable of effectively improving the welding efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of welding robots, in particular to a crawling robot used for on-site welding of steel structure bridges. Background Art

[0002] Steel-framed bridges are bridges whose main load-bearing structures are made of steel, i.e. steel-structured bridges, steel bridges, and legs or piers (platforms) form a rigid connection. The structural forms can be divided into portal rigid-frame bridges, inclined-leg rigid-frame bridges, T-shaped rigid-frame bridges, and continuous rigid-frame bridges. Bridge reinforcement generally refers to the restoration or improvement of the bearing capacity of existing bridges by strengthening components and improving structural performance, so as to extend their service life and meet the requirements of modern transportation. Steel-structured bridges have outstanding structural stability and rigidity conditions, and play an important role in the construction of transportation network projects. Their remarkable process convenience and bearing capacity make them a hot topic of concern for bridge engineering industry workers.

[0003] Welding robots are industrial robots that perform welding. According to the definition of the International Organization for Standardization, industrial robots belong to standard welding robots. Industrial robots are multi-purpose, reprogrammable, automatically controlled manipulators.

[0004] However, during the welding process of steel structure bridges, some pipes need to be welded from the inside of the pipes. Existing steel structure bridge welding robots are not suitable for internal welding of pipes, resulting in reduced efficiency of the entire steel structure bridge welding work. Utility Model Content

[0005] The utility model aims to provide a crawling robot for on-site welding of steel structure bridges, which is suitable for welding the inner wall of a pipe, has high flexibility and can effectively improve welding efficiency.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a crawling robot used for on-site welding of steel structure bridges, comprising an outer shell and a welding assembly installed on the front end face of the outer shell, the outer shell has a square cross-section and is fixedly connected to hinge seats on all four sides of the outer wall, the outer walls of four hinge seats are movably connected to support rods, the other ends of the four support rods are fixedly connected to wheel frames, the inner sides of the four wheel frames are rotatably connected to rollers, the outer wall of the outer shell is movably connected to electric push rods on all four sides, the four electric push rods are respectively located directly in front of the four support rods, and the other ends of the four electric push rods are respectively movably connected to the outer walls of the four support rods.

[0007] In order to make the welding robot rotate in the circumferential direction of the pipeline, as a crawling robot for on-site welding of steel structure bridges of the utility model, four cylinders are installed inside the shell, and the four cylinders are respectively located on the four diagonals of the shell cross-section, and the output ends of the four cylinders extend to the outside of the shell and are rotatably connected to a rotating wheel.

[0008] In order to drive the rollers and the rotating wheel to rotate, a crawling robot used for on-site welding of steel structure bridges is preferably used in the utility model, wherein a first motor is installed on the outer wall of one of the wheel frames, the output end of the first motor is fixedly connected to the roller, and a second motor is installed on the outer wall of one of the rotating wheels.

[0009] In order to improve the automation level of the welding robot, as a preferred crawling robot for on-site welding of steel structure bridges of the utility model, the front end surface of the shell is provided with a distance sensor, an ultrasonic sensor and a camera.

[0010] In order to improve the automation level of the welding robot, as a preferred crawling robot for on-site welding of steel structure bridges of the utility model, a single-chip microcomputer and a battery are installed inside the shell.

[0011] In order to improve the friction between the rollers, the rotating wheel and the inner wall of the pipe, as a preferred embodiment of the crawling robot for on-site welding of steel structure bridges of the utility model, the rollers and the rotating wheel are both rubber wheels.

[0012] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0013] The outer shell is supported by four support rods and rollers. When welding, the equipment is installed inside the pipe, and the four rollers are in contact with the inner wall of the pipe. The rolling direction of the four rollers is the same as the axial direction of the pipe. Therefore, when the first motor is started, one of the rollers is driven to rotate, which can drive the entire equipment to move inside the pipe. When the four cylinders are started, the four wheels are driven to extend outward until the four wheels are in contact with the inner wall of the pipe. At the same time, the four electric push rods are started to contract, thereby driving the four support rods to move around the hinge seat, so that the support rods are close to the outer shell, thereby separating the four rollers from the inner wall of the pipe. At this time, the entire equipment is only supported by the four wheels, and the rolling direction of the four wheels is the same as the circumference of the pipe, thereby driving the entire equipment to rotate circumferentially, which is easy to adjust. Through flexible adjustment in the axial and circumferential directions, the welding assembly can weld various positions on the inner wall of the pipe. This equipment is suitable for welding the inner wall of the pipe, has high flexibility, and effectively improves the welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is the overall external main view structure diagram of the utility model;

[0015] Figure 2This is the overall cross-sectional structural diagram of the utility model;

[0016] Figure 3 This is a schematic diagram of the utility model installed inside a pipe fitting.

[0017] In the figure: 1. Shell; 2. Welding assembly; 3. Hinge seat; 4. Support rod; 5. Wheel frame; 6. Roller; 7. Electric push rod; 8. Cylinder; 9. Rotating wheel; 10. First motor; 11. Second motor; 12. Distance measuring sensor; 13. Ultrasonic sensor; 14. Camera. DETAILED DESCRIPTION

[0018] See also Figures 1 to 3 A crawling robot for on-site welding of steel structure bridges comprises a shell 1 and a welding assembly 2 installed on the front end surface of the shell 1. The shell 1 has a square cross-section and is fixedly connected to hinge seats 3 on all sides of the outer wall. The outer walls of the four hinge seats 3 are movably connected to support rods 4. The other ends of the four support rods 4 are fixedly connected to wheel frames 5. The inner sides of the four wheel frames 5 are rotatably connected to rollers 6. The outer wall of the shell 1 is movably connected to electric push rods 7 on all sides. The four electric push rods 7 are respectively located in front of the four support rods 4, and the other ends of the four electric push rods 7 are movably connected to the outer walls of the four support rods 4.

[0019] In this embodiment: the shell 1 is supported by four support rods 4 and rollers. When welding, the equipment is installed inside the pipe, and the four rollers 6 are in contact with the inner wall of the pipe. The rolling direction of the four rollers 6 is the same as the axial direction of the pipe. Therefore, when the first motor 10 is started, one of the rollers 6 is driven to rotate, which can drive the entire equipment to move inside the pipe. When the four cylinders 8 are started, the four rotating wheels 9 are driven to extend outward until the four rotating wheels 9 are in contact with the inner wall of the pipe. At the same time, the four electric push rods 7 are started to shrink, thereby driving the four support rods 4 to move around the hinge seat 3, so that the support rods 4 are close to the shell 1, so that the four rollers 6 are separated from the inner wall of the pipe. At this time, the entire equipment is only supported by the four rotating wheels 9, and the rolling direction of the four rotating wheels 9 is the same as the circumference of the pipe, thereby driving the entire equipment to rotate circumferentially, which is convenient to adjust. Through flexible adjustment in the axial and circumferential directions, the welding assembly 2 can weld various positions of the inner wall of the pipe. This equipment is suitable for welding the inner wall of the pipe, has high flexibility, and effectively improves the welding efficiency.

[0020] As a technical optimization solution of the utility model, four cylinders 8 are installed inside the shell 1. The four cylinders 8 are respectively located on the four diagonals of the cross-section of the shell 1. The output ends of the four cylinders 8 extend to the outside of the shell 1 and are rotatably connected to a rotating wheel 9.

[0021] In this embodiment: when the four cylinders 8 are started, the four wheels 9 are driven to extend outward until the four wheels 9 abut against the inner wall of the pipe, thereby driving the device to rotate circumferentially.

[0022] As a technical optimization solution of the utility model, a first motor 10 is installed on the outer wall of one of the wheel frames 5, and the output end of the first motor 10 is fixedly connected to the roller 6, and a second motor 11 is installed on the outer wall of one of the rotating wheels 9.

[0023] In this embodiment: the first motor 10 and the second motor 11 drive the roller 6 and the rotating wheel 9 to rotate respectively, so as to provide driving force for the position adjustment of the device.

[0024] As a technical optimization solution of the present invention, a distance measuring sensor 12 , an ultrasonic sensor 13 and a camera 14 are arranged on the front end surface of the housing 1 .

[0025] In this embodiment: the ultrasonic sensor 13 can send the metal pipe wall thickness information to the single-chip microcomputer for processing, to help the inspection personnel detect the corrosion of the inner wall of the pipeline, or detect the tolerance and remaining working life of the vulnerable section of the pipeline. The ranging sensor 12 is used as an auxiliary detection sensor of the camera 14. If there are obstacles that the camera 14 cannot detect, the ranging sensor 12 can provide auxiliary information. The camera 14 is used to detect the situation inside the pipeline and in front of the robot. Since real-time graphic information can transmit a larger amount of information, the inspection personnel can observe the obstacles in front of the robot very well.

[0026] As a technical optimization solution of the utility model, a single chip microcomputer and a battery are installed inside the housing 1.

[0027] In this embodiment, the single chip microcomputer is used to control the operation of multiple electric push rods 7, cylinders 8, the first motor 10 and the second motor 11.

[0028] As a technical optimization solution of the present utility model, the roller 6 and the rotating wheel 9 are both rubber wheels.

[0029] In this embodiment, the roller 6 and the rotating wheel 9 are both rubber wheels, which increase the friction with the inner wall of the pipe.

[0030] Working principle: the shell 1 is supported by four support rods 4 and rollers. When welding, the equipment is installed inside the pipe, and the four rollers 6 are in contact with the inner wall of the pipe. The rolling direction of the four rollers 6 is the same as the axial direction of the pipe. Therefore, when the first motor 10 is started, one of the rollers 6 is driven to rotate, which can drive the entire equipment to move inside the pipe. When the four cylinders 8 are started, the four rotating wheels 9 are driven to extend outward until the four rotating wheels 9 are in contact with the inner wall of the pipe. At the same time, the four electric push rods 7 are started to contract, thereby driving the four support rods 4 to move around the hinge seat 3, so that the support rods 4 are close to the shell 1, so that the four rollers 6 are separated from the inner wall of the pipe. At this time, the entire equipment is only supported by the four rotating wheels 9, and the rolling direction of the four rotating wheels 9 is the same as the circumference of the pipe, thereby driving the entire equipment to rotate circumferentially, which is easy to adjust. Through flexible adjustment in the axial and circumferential directions, the welding assembly 2 can weld various positions of the inner wall of the pipe. This equipment is suitable for welding the inner wall of the pipe, has high flexibility, and effectively improves the welding efficiency.

[0031] The above are only preferred embodiments of the present invention and are 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 in the protection scope of the present invention.

Claims

1. A crawling robot for on-site welding of steel structure bridges, comprising a housing (1) and a welding assembly (2) mounted on the front end surface of the housing (1), characterized in that: The shell (1) has a square cross-section and is fixedly connected to hinge seats (3) on all four sides of the outer wall; the outer walls of the four hinge seats (3) are movably connected to support rods (4); the other ends of the four support rods (4) are fixedly connected to wheel frames (5); the inner sides of the four wheel frames (5) are rotatably connected to rollers (6); the outer wall of the shell (1) is movably connected to electric push rods (7); the four electric push rods (7) are respectively located in front of the four support rods (4); the other ends of the four electric push rods (7) are respectively movably connected to the outer walls of the four support rods (4).

2. A crawling robot for on-site welding of steel structure bridges according to claim 1, characterized in that: Four cylinders (8) are installed inside the shell (1), and the four cylinders (8) are respectively located on four diagonal lines of the cross section of the shell (1). The output ends of the four cylinders (8) extend to the outside of the shell (1) and are rotatably connected to a rotating wheel (9).

3. A crawling robot for on-site welding of steel structure bridges according to claim 2, characterized in that: A first motor (10) is installed on the outer wall of one of the wheel frames (5), the output end of the first motor (10) is fixedly connected to the roller (6), and a second motor (11) is installed on the outer wall of one of the rotating wheels (9).

4. A crawling robot for on-site welding of steel structure bridges according to claim 1, characterized in that: The front end surface of the housing (1) is provided with a distance measuring sensor (12), an ultrasonic sensor (13) and a camera (14).

5. The crawling robot for on-site welding of steel structure bridges according to claim 1, characterized in that: A single-chip microcomputer and a battery are installed inside the housing (1).

6. A crawling robot for on-site welding of steel structure bridges according to claim 2, characterized in that: The roller (6) and the rotating wheel (9) are both rubber wheels.

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