A steel pipe concrete arch bridge arch rib robot welding device

Abstract

The utility model discloses a kind of steel pipe concrete arch bridge arch rib robot welding device, belong to arch welding equipment technical field.The application includes: walking assembly and the clamping assembly for clamping welding torch;Clamping assembly is set on walking assembly;Walking assembly includes base and walking structure;Walking structure is set on base;Clamping assembly includes: control module, motor, rotating seat, connecting rod, adjusting rod and clamping piece;Rotating seat rotation is set on walking assembly;One end of connecting rod is hinged with rotating seat, and the other end is hinged with one end of adjusting rod;The end of adjusting rod away from connecting rod is connected with clamping piece;Motor is connected with rotating seat, connecting rod respectively;Control module is connected with walking structure, motor circuit.The application can change the orientation of clamping piece by the rotation of rotating seat under the condition that walking structure does not move, simultaneously change the position of clamping piece by the rotation of connecting rod and adjusting rod, and then adjust the distance between welding torch and weld, and the flexibility is high.

Description

Technical Field

[0001] This utility model belongs to the technical field of arch welding equipment, specifically relating to a robotic welding device for the arch ribs of a steel-concrete arch bridge. Background Technology

[0002] Steel-concrete composite arch bridges are a type of modern bridge that combines steel pipes and concrete in an arch structure, offering advantages such as large span capacity and beautiful design. The arch supports of a steel-concrete composite arch bridge are assembled and welded on-site from many prefabricated steel pipe segments. However, due to site limitations, the arch supports are mostly welded manually, which is not only labor-intensive but also poses health risks to the workers due to prolonged welding work.

[0003] Therefore, current arch-assisted welding processes include the use of mobile welding trolleys. For arch-assisted welding of steel-concrete composite arch bridges, the mobile welding trolley is stabilized on the steel pipe segment by magnetic attraction and travels along the arch-assisted welding route, performing welding during its movement. For example, patent publication number CN110666285B discloses an automatic mobile welding system for arch bridges. This system includes a welding power cabinet, a wire feeder, an automatic mobile welding trolley, and a control system. The automatic mobile welding trolley includes a trolley body, an adjustable-pitch permanent magnetic wheel module, a longitudinal movement module, a lateral movement module, a welding torch, and a wire feed tube. The lateral movement module is located on the trolley body, and the longitudinal movement module is located on the lateral movement module. The adjustable-pitch permanent magnetic wheel module is located at the bottom of the trolley body. The welding power cabinet, wire feeder, adjustable-pitch permanent magnetic wheel module, longitudinal movement module, and lateral movement module are all connected to the control system.

[0004] The automated walking welding trolley in the aforementioned system is lightweight, compact, and easy to operate. However, the control system restricts the welding torch's movement in the longitudinal and lateral modules to only vertical and horizontal motion; it cannot turn. The torch can only adjust the distance between itself and the weld seam as it moves along with the trolley, resulting in limited flexibility. Therefore, a highly flexible robotic welding device for the arch ribs of steel-concrete composite arch bridges needs to be designed. Utility Model Content

[0005] This invention provides a robotic welding device for the arch ribs of a steel-concrete composite arch bridge to solve the technical problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A robotic welding device for the arch ribs of a steel-concrete composite arch bridge includes a walking assembly and a clamping assembly for holding a welding torch. The clamping assembly is mounted on the walking assembly. The walking assembly includes a base and a walking structure. The walking structure is mounted on the base. The clamping assembly includes a control module, a motor, a rotating seat, a connecting rod, an adjusting rod, and a clamping element. The rotating seat is rotatably mounted on the walking assembly. One end of the connecting rod is hinged to the rotating seat, and the other end is hinged to one end of the adjusting rod. The end of the adjusting rod away from the connecting rod is connected to the clamping element. The motor is connected to the rotating seat, the connecting rod, and the adjusting rod respectively, driving the rotating seat, the connecting rod, and the adjusting rod to rotate. The control module is connected to the walking structure and the motor circuit.

[0008] As a further improvement to the technical solution, the motor includes a first motor, a second motor, and a third motor; the first motor is mounted on the base, and its output end is mechanically connected to the rotating seat to drive the rotating seat to rotate; the second motor and the third motor are both mounted on the rotating seat; the output end of the second motor is mechanically connected to the end of the connecting rod near the rotating seat; the output end of the third motor is mechanically connected to the end of the adjusting rod near the rotating seat.

[0009] As a further improvement to the technical solution, the connecting rod includes a first connecting rod, a second connecting rod, and a connecting plate; the first connecting rod and the second connecting rod are distributed in parallel at intervals; both ends of the connecting plate are respectively connected to the middle parts of the first connecting rod and the second connecting rod; the output end of the second motor is mechanically connected to the first connecting rod; and the second connecting rod is hinged to the rotating seat.

[0010] As a further improvement to the technical solution, the adjusting rod includes a first adjusting rod, a second adjusting rod, and a third adjusting rod; the first adjusting rod and the second adjusting rod are spaced apart; one end of the first adjusting rod is hinged to one end of the connecting rod, and the other end is connected to the clamping member; one end of the third adjusting rod is mechanically connected to the output end of the third motor, and the other end is hinged to one end of the second adjusting rod; the end of the second adjusting rod away from the third adjusting rod is connected to the clamping member, and the end closer to the third adjusting rod is hinged to the connecting rod.

[0011] As a further improvement to the technical solution, the adjusting rod also includes a fourth adjusting rod; the third adjusting rod is mechanically connected to the third motor through the fourth adjusting rod; the length of the fourth adjusting rod is less than the length of the third adjusting rod; one end of the fourth adjusting rod is connected to the output end of the third motor, and the other end is hinged to the end of the third adjusting rod near the third motor.

[0012] As a further improvement to the technical solution, the adjusting rod further includes a fifth adjusting rod, a sixth adjusting rod, and a connecting rod; one end of the fifth adjusting rod is hinged to the rotating seat, and the other end is hinged to one end of the connecting rod; the end of the connecting rod away from the fifth adjusting rod is hinged to the end of the first adjusting rod near the connecting rod; one end of the sixth adjusting rod is hinged to the end of the connecting rod away from the fifth adjusting rod, and the other end is connected to the clamping member.

[0013] As a further improvement to the technical solution, the length of the connecting rod is less than the length of the sixth adjusting rod.

[0014] As a further improvement to the technical solution, the length of the sixth adjusting rod is parallel to the length of the first adjusting rod; the sixth adjusting rod is located above the first adjusting rod; and the connecting rod is located between the fifth adjusting rod and the sixth adjusting rod.

[0015] As a further improvement to the technical solution, the walking component also includes a camera; the camera is disposed on one end of the rotating base near the clamping member; the camera is circuitically connected to the control module.

[0016] As a further improvement to the technical solution, the clamping assembly also includes a remote controller; the remote controller is electrically connected to the control module.

[0017] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0018] This application allows for the adjustment of the welding torch's position by rotating the rotating seat to change the orientation of the clamping component without moving the walking structure. Simultaneously, the rotation of the connecting rod and adjusting rod alters the lifting, lowering, and forward / backward movement of the clamping component, thereby adjusting the distance between the welding torch and the weld. This offers high flexibility and multiple adjustment methods. In use, the welding power cabinet and wire feeder are placed on an aerial work platform, while the walking structure is placed on the arch support of a steel-concrete arch bridge. The wire feeding speed of the wire feeder and the current and voltage of the welding power cabinet are adjusted according to the pipe diameter. The welding torch is placed on the clamping component. The walking structure is controlled by a control module, maintaining a magnetic attraction to the steel pipe throughout its movement. When a change of direction is needed, the control module controls the first motor to rotate, which in turn rotates the rotating seat, adjusting the direction of the connecting rod, adjusting rod, and clamping component, thus changing the position of the welding torch. When the clamping component needs to move forward or backward, the control module controls the second motor to rotate. The motor drives the first connecting rod to rotate, and the first connecting rod rotates clockwise or counterclockwise with the output end of the motor. During the rotation, the second connecting rod and the connecting plate rotate together. The rotating first and second connecting rods drive the first and second adjusting rods to move forward or backward, thereby moving the clamping component and welding torch forward or backward. At the same time, the first and second connecting rods drive the clamping component and welding torch to rise or fall slightly. When the clamping component needs to be lowered or raised, the control module controls the third motor to rotate. The third motor drives the fourth adjusting rod to rotate, and the fourth adjusting rod rotates clockwise or counterclockwise along the output end of the third motor. During the rotation of the fourth adjusting rod, the hinge point between the third and fourth adjusting rods rotates around the output end of the third motor, thereby increasing or decreasing the distance between the end of the second adjusting rod closest to the third adjusting rod and the output end of the third motor, so that the end of the second adjusting rod away from the third adjusting rod rises or falls, completing the rise or fall of the clamping component. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A schematic diagram of the structure of a robotic welding device for the arch ribs of a steel-concrete composite arch bridge provided by this utility model. Figure 1 ;

[0021] Figure 2 Structural schematic diagram provided for this utility model Figure 2 ;

[0022] Figure 3 Structural schematic diagram provided for this utility model Figure 3 ;

[0023] Figure 4 Structural schematic diagram provided for this utility model Figure 4 ;

[0024] Figure 5 Structural schematic diagram provided for this utility model Figure 5 ;

[0025] Reference numerals: 1-Walking assembly, 11-Base, 12-Walking structure, 13-Camera, 2-Clamping assembly, 21-Control module, 22-Motor, 221-First motor, 222-Second motor, 223-Third motor, 23-Rotating seat, 24-Connecting rod, 241-First connecting rod, 242-Second connecting rod, 243-Connecting plate, 25-Adjusting rod, 251-First adjusting rod, 252-Second adjusting rod, 253-Third adjusting rod, 254-Fourth adjusting rod, 255-Fifth adjusting rod, 256-Sixth adjusting rod, 257-Connecting rod, 26-Clamping component. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of this utility model without creative effort are within the scope of protection of this utility model. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art to which this utility model pertains.

[0027] The terms "first," "second," and similar words used in this utility model application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, unless the context clearly indicates otherwise, the singular forms of "an," "a," or "the," etc., do not indicate a quantity limitation, but rather indicate the presence of at least one. Terms such as "comprising" or "including" indicate that the element or object preceding "comprising" encompasses the features, integrals, steps, operations, elements, and / or components listed following "comprising" or "including," and do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or collections thereof. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0028] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0029] Example 1:

[0030] like Figures 1 to 3 As shown, a robotic welding device for the arch ribs of a steel-concrete composite arch bridge includes a walking component 1 and a clamping component 2 for holding a welding torch. The clamping component 2 is mounted on the walking component 1. The walking component 2 includes a base 11 and a walking structure 12. The walking structure 12 is mounted on the base 11. The walking structure 12 can be a permanent magnetic wheel or a magnetic track. The magnetic track is equipped with a permanent magnet to attract the steel material. The walking structure 12 is equipped with a drive motor for movement. The permanent magnetic wheel and magnetic track are existing technologies and not improvements of this application, so they will not be discussed. Detailed Description: The clamping assembly 2 includes a control module, a motor 22, a rotating base 23, a connecting rod 24, an adjusting rod 25, and a clamping member 26. The rotating base 23 is rotatably mounted on the walking assembly 1. One end of the connecting rod 24 is hinged to the rotating base 23, and the other end is hinged to one end of the adjusting rod 25. The end of the adjusting rod 25 away from the connecting rod 24 is connected to the clamping member 26. The motor 22 is connected to both the rotating base 23 and the connecting rod 24, driving them to rotate. The control module 21 is electrically connected to the walking structure 12 and the motor 22. It should be noted that the connection method between the control module and the walking structure and motor is a conventional connection; the specific model of the control module is not an improvement point of this application and will not be elaborated here.

[0031] like Figures 2 to 5As shown, preferably, motor 22 includes a first motor 221, a second motor 222, and a third motor 223; the first motor 221 is mounted on the base 11, and its output end is mechanically connected to the rotating seat 23, driving the rotating seat 23 to rotate; the output end of the first motor 223 can be directly connected to the rotating seat 23; the second motor 222 and the third motor 223 are both mounted on the rotating seat 23 and rotate with the rotating seat 23; the output end of the second motor 222 is mechanically connected to the end of the connecting rod 24 near the rotating seat 23, driving the connecting rod 24 to rotate; the output end of the second motor 222 can be directly connected to the connecting rod 24; the output end of the third motor 223 is mechanically connected to the end of the adjusting rod 25 near the rotating seat 23, driving the adjusting rod 25 to rotate; the first motor 221, the second motor 222, and the third motor 223 are all small servo motors; the first motor 221, the second motor 222, and the third motor 223 are all cable-connected to the control module 21. It should also be noted that the connection between the first motor and the rotating base, and the connection between the second motor and the connecting rod are conventional connections, which will not be elaborated here.

[0032] like Figures 3 to 5 As shown, preferably, the connecting rod 24 includes a first connecting rod 241, a second connecting rod 242, and a connecting plate 243; the first connecting rod 241 and the second connecting rod 242 are distributed in parallel at intervals, with a gap between them to facilitate hinged installation of the first connecting rod 241 and the second connecting rod 242; both ends of the connecting plate 243 are connected to the middle of the first connecting rod 241 and the second connecting rod 242, respectively; the output end of the second motor 222 is mechanically connected to the first connecting rod 241, optionally, the output end of the second motor 222 is directly connected to the first connecting rod 241, driving the first connecting rod 241 to rotate; the second connecting rod 242 is hinged to the rotating seat 23, and the first connecting rod 241 and the second connecting rod 242 are connected as one unit through the connecting plate 243, so that the second connecting rod 242 rotates with the first connecting rod 241.

[0033] like Figures 3 to 5As shown, preferably, the adjusting rod 25 includes a first adjusting rod 251, a second adjusting rod 252, and a third adjusting rod 253; the first adjusting rod 251 and the second adjusting rod 252 are spaced apart, and the length direction of the first adjusting rod 251 is parallel to the length direction of the second adjusting rod 252; one end of the first adjusting rod 251 is hinged to one end of the connecting rod 24, and the other end is connected to the clamping member 26, that is, one end of the first adjusting rod 251 is hinged to the first connecting rod 241, and the other end is connected to the clamping member 26; one end of the third adjusting rod 253 is connected to the output end of the third motor 223. The mechanical transmission connection is such that one end of the first adjustment rod 251 is hinged to one end of the second adjustment rod 252, and the output end of the third motor 223 can be directly connected to the third adjustment rod 253. The end of the second adjustment rod 252 away from the third adjustment rod 253 is connected to the clamping member 26, and the end closer to the third adjustment rod 253 is hinged to the connecting rod 24. The third motor 223 drives the third adjustment rod 253 to rotate, and the second adjustment rod 252 rotates with the rotation of the third adjustment rod 253, thereby driving the clamping member 26 to rotate. The first adjustment rod 251 then rotates with the clamping member 26, completing the position adjustment of the clamping member 26.

[0034] like Figure 4 and Figure 5 As shown, preferably, the adjusting rod 25 further includes a fourth adjusting rod 254; the third adjusting rod 253 is mechanically connected to the third motor 223 via the fourth adjusting rod 254; the length of the fourth adjusting rod 254 is less than the length of the third adjusting rod 253; one end of the fourth adjusting rod 254 is connected to the output end of the third motor 223, and the other end is hinged to the end of the third adjusting rod 253 near the third motor 223; the output end of the third motor 223 is directly connected to the fourth adjusting rod 254, driving the fourth adjusting rod 254 to rotate, which in turn drives the third adjusting rod 253 to rotate, so as to adjust the distance between the end of the second adjusting rod 252 near the third adjusting rod 253 and the third motor 223.

[0035] like Figures 3 to 5As shown, preferably, the adjusting rod 25 further includes a fifth adjusting rod 255, a sixth adjusting rod 256, and a connecting rod 257; one end of the fifth adjusting rod 255 is hinged to the rotating seat 23, and the other end is hinged to one end of the connecting rod 257; the end of the connecting rod 257 away from the fifth adjusting rod 255 is hinged to the end of the first adjusting rod 251 near the first connecting rod 241, and the hinge points of the connecting rod 257 and the first adjusting rod 251 and the first adjusting rod 251 and the first connecting rod 241 are on the same straight line; one end of the sixth adjusting rod 256 is hinged to the end of the connecting rod 257 away from the fifth adjusting rod 255, and the other end is connected to the clamping member 26, and the hinge point of the sixth adjusting rod 256 and the clamping member 26 is located above the hinge point of the first adjusting rod 251 and the clamping member 26. That is, the hinge point between the sixth adjusting rod 256 and the clamping member 26 is not on the same straight line as the hinge point between the first adjusting rod 251 and the clamping member 26. The first adjusting rod 251, the second adjusting rod 252, and the sixth adjusting rod 256 jointly support the clamping member 26, so that the clamping member 26 remains stable. Preferably, the length of the connecting rod 257 is less than the length of the sixth adjusting rod 256, so that the fifth adjusting rod can drive the first adjusting rod 251 and the sixth adjusting rod 256 to rotate. Preferably, the length of the sixth adjusting rod 256 is parallel to the length of the first adjusting rod 251, so as to realize the synchronous rotation of the first adjusting rod 256 and the sixth adjusting rod 256. The sixth adjusting rod 256 is located above the first adjusting rod 251. The connecting rod 24 is located between the fifth adjusting rod 255 and the sixth adjusting rod 256.

[0036] Work style:

[0037] In use, the welding power cabinet and wire feeder are placed on an aerial work platform, and the walking structure 12 is placed on the arch support of a steel-concrete arch bridge. The wire feeding speed of the wire feeder and the current and voltage of the welding power cabinet are adjusted according to the pipe diameter. The welding torch is placed on the clamping piece 26. The walking structure 12 is controlled to move via the control module 21. During movement, the walking structure 12 maintains a magnetic attraction to the steel pipe, adhering to it. When a turn is needed, the control module 21 controls the first motor 221 to rotate, which in turn drives the rotating base 23 to rotate, adjusting the connection... The rotation of rod 24, adjusting rod 25, and clamping member 26 changes the position of the welding torch. When clamping member 26 needs to move forward or backward, control module 21 controls second motor 222 to rotate. Second motor 222 drives first connecting rod 241 to rotate. First connecting rod 241 rotates clockwise or counterclockwise with the output end of motor 222. During rotation, second connecting rod 242 and connecting plate 243 rotate together. The rotating first connecting rod 241 and second connecting rod 242 drive first adjusting rod 251 and second adjusting rod 252 to move forward or backward, thereby moving the welding torch. The clamping member 26 and the welding torch move forward or backward. Simultaneously, the first connecting rod 241 and the second connecting rod 242 cause the clamping member 26 and the welding torch to rise or fall slightly. When the clamping member 26 needs to rise or fall, the control module 21 controls the third motor 223 to rotate. The third motor 223 drives the fourth adjusting rod 254 to rotate. The fourth adjusting rod 254 rotates clockwise or counterclockwise around the output end of the third motor 223. During the rotation of the fourth adjusting rod 254, the hinge point between the third adjusting rod 253 and the fourth adjusting rod 254 rotates around the output end of the third motor 223. The rotation increases or decreases the distance between the end of the second adjusting rod 252 closest to the third adjusting rod 253 and the output end of the third motor 223, causing the end of the second adjusting rod 252 away from the third adjusting rod 253 to rise or fall, thus completing the rise or fall of the clamping member 26. This application can change the orientation of the clamping member 26 by rotating the rotating seat 23 without moving the walking structure 21, and at the same time change the lifting and lowering and forward and backward movement of the clamping member 26 by rotating the connecting rod and the adjusting rod, thereby adjusting the distance between the welding torch and the weld seam. It has high flexibility and multiple adjustment methods.

[0038] like Figure 2 and Figure 3As shown, preferably, the walking assembly 1 further includes a camera 13; the camera 13 is disposed on the end of the rotating base 23 near the clamping member 26; the camera 13 is electrically connected to the control module 21; the clamping assembly 2 also includes a remote controller; the remote controller is electrically connected to the control module 21, and the connection between the remote controller and the control module 21 is a circuit connection; the remote controller has a display screen, and the camera 13 transmits the camera image to the display screen on the remote controller through the control module 21. The operator then controls the operation of the walking structure 12, the first motor 221, the second motor 222, and the third motor 223 through the remote controller based on the camera image. It should also be noted that the connection between the camera and the control module, and the connection between the remote controller and the control module, is a conventional connection. The specific models of the camera and the remote controller are not improvements of this application and will not be described in detail here.

[0039] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robotic welding device for the arch ribs of a steel-concrete composite arch bridge, comprising a walking assembly (1) and a clamping assembly (2) for clamping a welding torch; the clamping assembly (2) is disposed on the walking assembly (1); the walking assembly (1) comprises a base (11) and a walking structure (12); the walking structure (12) is disposed on the base (11); characterized in that, The clamping assembly (2) includes: a control module (21), a motor (22), a rotating seat (23), a connecting rod (24), an adjusting rod (25), and a clamping member (26); the rotating seat (23) is rotatably mounted on the walking assembly (1); one end of the connecting rod (24) is hinged to the rotating seat (23), and the other end is hinged to one end of the adjusting rod (25); the end of the adjusting rod (25) away from the connecting rod (24) is connected to the clamping member (26); the motor (22) is connected to the rotating seat (23), the connecting rod (24), and the adjusting rod (25) respectively, driving the rotating seat (23), the connecting rod (24), and the adjusting rod (25) to rotate; the control module (21) is electrically connected to the walking structure (12) and the motor (22).

2. The robotic welding device for the arch ribs of a steel-concrete composite arch bridge according to claim 1, characterized in that, The motor (22) includes a first motor (221), a second motor (222), and a third motor (223); the first motor (221) is mounted on the base (11), and its output end is mechanically connected to the rotating seat (23) to drive the rotating seat (23) to rotate; the second motor (222) and the third motor (223) are both mounted on the rotating seat (23); the output end of the second motor (222) is mechanically connected to the end of the connecting rod (24) near the rotating seat (23); the output end of the third motor (223) is mechanically connected to the end of the adjusting rod (25) near the rotating seat (23).

3. The robotic welding device for the arch ribs of a steel-concrete composite arch bridge according to claim 2, characterized in that, The connecting rod (24) includes a first connecting rod (241), a second connecting rod (242), and a connecting plate (243); the first connecting rod (241) and the second connecting rod (242) are distributed in parallel at intervals; the two ends of the connecting plate (243) are respectively connected to the middle of the first connecting rod (241) and the second connecting rod (242); the output end of the second motor (222) is mechanically connected to the first connecting rod (241); the second connecting rod (242) is hinged to the rotating seat (23).

4. The robotic welding device for the arch ribs of a steel-concrete composite arch bridge according to claim 2, characterized in that, The adjusting rod (25) includes a first adjusting rod (251), a second adjusting rod (252), and a third adjusting rod (253); the first adjusting rod (251) and the second adjusting rod (252) are spaced apart; one end of the first adjusting rod (251) is hinged to one end of the connecting rod (24), and the other end is connected to the clamping member (26); one end of the third adjusting rod (253) is mechanically connected to the output end of the third motor (223), and the other end is hinged to one end of the second adjusting rod (252); the end of the second adjusting rod (252) away from the third adjusting rod (253) is connected to the clamping member (26), and the end of the second adjusting rod (252) close to the third adjusting rod (253) is hinged to the connecting rod (24).

5. The robotic welding device for the arch ribs of a steel-concrete composite arch bridge according to claim 4, characterized in that, The adjusting rod (25) also includes a fourth adjusting rod (254); the third adjusting rod (253) is mechanically connected to the third motor (223) through the fourth adjusting rod (254); the length of the fourth adjusting rod (254) is less than the length of the third adjusting rod (253); one end of the fourth adjusting rod (254) is connected to the output end of the third motor (223), and the other end is hinged to the end of the third adjusting rod (253) near the third motor (223).

6. The robotic welding device for the arch ribs of a steel-concrete composite arch bridge according to claim 4, characterized in that, The adjusting rod (25) further includes a fifth adjusting rod (255), a sixth adjusting rod (256), and a connecting rod (257); one end of the fifth adjusting rod (255) is hinged to the rotating seat (23), and the other end is hinged to one end of the connecting rod (257); the end of the connecting rod (257) away from the fifth adjusting rod (255) is hinged to the end of the first adjusting rod (251) near the connecting rod (24); one end of the sixth adjusting rod (256) is hinged to the end of the connecting rod (257) away from the fifth adjusting rod (255), and the other end is connected to the clamping member (26).

7. The robotic welding device for the arch ribs of a steel-concrete composite arch bridge according to claim 6, characterized in that, The length of the connecting rod (257) is less than the length of the sixth adjusting rod (256).

8. The robotic welding device for the arch ribs of a steel-concrete composite arch bridge according to claim 6, characterized in that, The length of the sixth adjusting rod (256) is parallel to the length of the first adjusting rod (251); the sixth adjusting rod (256) is located above the first adjusting rod (251); the connecting rod (24) is located between the fifth adjusting rod (255) and the sixth adjusting rod (256).

9. The robotic welding device for the arch ribs of a steel-concrete composite arch bridge according to claim 1, characterized in that, The walking assembly (1) also includes a camera (13); the camera (13) is disposed on one end of the rotating base (23) near the clamping member (26); the camera (13) is electrically connected to the control module (21).

10. The robotic welding device for the arch ribs of a steel-concrete composite arch bridge according to any one of claims 1-9, characterized in that, The clamping assembly (2) also includes a remote controller; the remote controller is electrically connected to the control module (21).

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