Internal maintenance device for u-rib of in-service steel bridge

Abstract

The present invention relates to an internal maintenance device for a U-rib of an in-service steel bridge, comprising: a traveling mechanism; a side grinding mechanism rotatably connected to the rear portion of the traveling mechanism, comprising a pair of inclined plates capable of swinging up and down and arranged opposite to each other, side grinding discs respectively connected to the corresponding inclined plates, and first power mechanisms drivingly connected to the side grinding discs; and an upper and lower grinding mechanism rotatably connected to the front portion of the traveling mechanism, comprising an upper transverse plate and a lower transverse plate capable of swinging left and right along the arrangement direction and arranged opposite each other vertically, a top grinding disc rotatably connected to the upper transverse plate, a second power mechanism drivingly connected to the top grinding disc, a bottom grinding disc arranged on the lower transverse plate, and a third power mechanism drivingly connected to the bottom grinding disc. The maintenance device of the present invention can extend into the interior of the U-rib, grind off rust on the inner surface of the U-rib, and can also grind off welding slag formed in the U-rib in the welding process, thereby cleaning the interior of the U-rib.

Description

Internal maintenance equipment for U-shaped ribs of active steel bridges Technical Field

[0001] The present invention relates to the technical field of component maintenance equipment, in particular to an internal maintenance equipment for a U-shaped rib of an existing steel bridge. Background Art

[0002] After a period of service, existing orthotropic plate bridges begin to experience fatigue cracks, such as cracks in the deck, U-ribs, and welds. Rainwater penetrates through these cracks into the U-ribs, often causing severe internal corrosion and rusting due to the low corrosion resistance of the shop primer used during fabrication. This degrades the steel's mechanical properties and impacts the bridge's service life. However, existing technology lacks equipment to address internal corrosion and rusting of U-ribs in existing steel bridges. Therefore, a solution is urgently needed to address these safety hazards and fill this gap in the existing technology.

[0003] Summary of the Invention

[0004] The present invention aims to overcome the shortcomings of the prior art by providing a device for maintaining the interior of U-shaped ribs on existing steel bridges. This device addresses the problem of fatigue cracks forming on existing steel bridges over time, allowing water to penetrate the ribs, leading to corrosion and rust within the ribs, which in turn affects component rigidity and shortens the service life of the bridge. The device also allows for polishing and cleaning welds within the U-shaped ribs before the bridge is completed, thus achieving effective maintenance of the ribs.

[0005] The technical solution to achieve the above purpose is:

[0006] The present invention provides an internal maintenance device for a U-shaped rib of an existing steel bridge, which can be inserted into the interior of the U-shaped rib. The maintenance device includes:

[0007] A walking mechanism capable of walking along the U-shaped rib comprises a plurality of rotatable walking wheels and a first driving assembly drivingly connected to the walking wheels, wherein the first driving assembly is capable of driving the walking wheels to rotate;

[0008] A side grinding mechanism rotatably connected to the rear part of the walking mechanism includes a pair of inclined plates that can swing up and down and are arranged opposite to each other, a side grinding disc connected to the corresponding inclined plates, and a first power mechanism drivingly connected to the side grinding disc, wherein the first power mechanism can drive the side grinding disc to rotate. The side grinding disc is a flexible grinding disc, and the side grinding disc can grind the side plate of the U-shaped rib up and down through the up and down swinging of the inclined plates;

[0009] The upper and lower grinding mechanisms rotatably connected to the front part of the walking mechanism include an upper horizontal plate and a lower horizontal plate that can swing left and right along the setting direction and are arranged opposite to each other up and down, a top grinding disc rotatably connected to the upper horizontal plate, a second power mechanism drivingly connected to the top grinding disc, a bottom grinding disc arranged on the lower horizontal plate, and a third power mechanism drivingly connected to the bottom grinding disc, the top grinding disc can be rotatably adjusted to an upward setting, and can also be rotatably adjusted to a forward setting, the second power mechanism can drive the top grinding disc to rotate, and the third power mechanism can drive the bottom grinding disc to rotate, and the top grinding disc and the bottom grinding disc are flexible grinding discs.

[0010] The maintenance equipment of the present invention can extend into the interior of the U-shaped rib and can move along the U-shaped rib through the provided walking mechanism. During the walking process, the provided side grinding mechanism is used to grind the two side plates of the U-shaped rib, and the upper and lower grinding mechanisms are used to grind the top of the U-shaped rib, that is, the corresponding part on the bridge deck, and also to grind the bottom plate of the U-shaped rib. Rust on the inner surface of the U-shaped rib can be polished clean, and welding slag formed inside the U-shaped rib during the welding process can also be polished clean, thereby realizing the cleaning of the inside of the U-shaped rib.

[0011] A further improvement of the internal maintenance equipment of the U-shaped rib of an in-service steel bridge of the present invention is that the side grinding mechanism further includes a base, a first motor provided on the base, a first bevel gear provided on a motor shaft of the first motor, second bevel gears provided on both sides of the first bevel gear and meshing with the first bevel gear, a drive shaft connected to the second bevel gear, and a drive connecting rod connected to the drive shaft;

[0012] The base is rotatably connected to the rear of the walking mechanism;

[0013] The driving connecting rod is connected to the corresponding inclined plate;

[0014] The first motor can drive the first bevel gear to rotate, and then drive the inclined plate to swing through the second bevel gear, the drive shaft and the drive connecting rod.

[0015] A further improvement of the internal maintenance equipment for the U-shaped ribs of an in-service steel bridge of the present invention is that the upper and lower grinding mechanisms further include a base, seat plates rotatably connected to upper and lower sides of the base, and an angle adjustment drive member drivingly connected to the seat plates;

[0016] The base is rotatably connected to the front of the walking mechanism;

[0017] The upper transverse plate and the lower transverse plate are arranged horizontally, and the upper transverse plate and the lower transverse plate are rotatably connected to the corresponding seat plate;

[0018] The seat plate is arranged vertically;

[0019] One end of the angle adjustment driving member is connected to the corresponding seat plate, and the other end is connected to the corresponding upper horizontal plate and lower horizontal plate. The angle adjustment driving member is telescopically adjustable, and the seat plate can be driven to rotate relative to the base through telescopic adjustment, thereby making the corresponding upper horizontal plate and lower horizontal plate inclined.

[0020] A further improvement of the internal maintenance equipment for U-shaped ribs of in-service steel bridges of the present invention is that the upper and lower grinding mechanisms further include a second motor connected to the base, a first conical tooth provided on a motor shaft of the second motor, second conical teeth provided on upper and lower sides of the first conical tooth and meshing with the first conical tooth, a first universal shaft connected to the second conical tooth, and a swinging rod connected to the first universal shaft;

[0021] The swing rod is connected to the corresponding upper horizontal plate and lower horizontal plate;

[0022] The second motor can drive the first conical gear to rotate, and then drive the corresponding upper and lower transverse plates to swing left and right along the set direction through the second conical gear, the first universal shaft and the swing rod.

[0023] A further improvement of the internal maintenance equipment for U-shaped ribs of in-service steel bridges of the present invention is that it further comprises a telescopically adjustable spraying mechanism provided at the side grinding mechanism and the upper and lower grinding mechanism, the spraying mechanism comprising a telescopically adjustable spraying frame, a spray head provided on the spraying frame, and a protective cover provided at the corresponding side grinding mechanism and the upper and lower grinding mechanism and covering the spray head;

[0024] The spraying frame is retractably arranged on the corresponding side grinding mechanism and upper and lower grinding mechanism;

[0025] The opening of the protective cover is blocked with a plurality of fan-shaped end covers.

[0026] The present invention is a further improvement of the internal maintenance equipment of the U-shaped rib of an in-service steel bridge, which further comprises telescopically adjustable cameras arranged at the side grinding mechanism and the upper and lower grinding mechanisms, and a shield covering the cameras;

[0027] An openable and closable baffle is provided at the opening of the shield.

[0028] A further improvement of the internal maintenance equipment for U-shaped ribs of an in-service steel bridge of the present invention is that the traveling mechanism includes connecting plates arranged opposite to each other, wheel frames rotatably connected to the corresponding connecting plates, a driving rod hinged to the corresponding wheel frame, a positioning plate arranged opposite to the corresponding connecting plate, a guide rod supported and connected between the positioning plate and the connecting plate, a movable plate sleeved on the guide rod, and a second driving assembly mounted on one of the connecting plates;

[0029] The other end of the driving rod is hinged to the movable disk;

[0030] The second driving assembly can drive the movable disk to move and adjust along the guide rod, thereby causing the driving rod to push or pull the wheel frame so that the wheel frame is in an open state or a folded state;

[0031] The traveling wheel is rotatably arranged at the end of the wheel frame.

[0032] A further improvement of the internal maintenance device for the U-shaped rib of an in-service steel bridge of the present invention is that the second drive assembly includes a drive screw rotatably provided between the positioning plate and the connecting plate, a threaded cylinder connected to the movable plate, a drive gear connected to the drive screw, a transmission gear rotatably provided on the connecting plate and meshing with the drive gear, a transmission universal shaft connecting the two transmission gears, and a third motor provided on one connecting plate;

[0033] The third motor is drivingly connected to the corresponding driving screw;

[0034] The threaded barrel is threadably connected to the corresponding driving screw.

[0035] A further improvement of the internal maintenance equipment of the U-shaped rib of the current steel bridge of the present invention is that a second universal joint and a protective cover sleeved on the second universal joint are supported and connected between the connecting plates, the protective cover is connected between the two connecting plates and a flexible connecting part is provided in the middle of the protective cover.

[0036] A further improvement of the internal maintenance equipment of the U-shaped ribs of the existing steel bridges of the present invention is that it also includes a collecting mechanism arranged below the traveling mechanism and connected to the traveling mechanism, the collecting mechanism includes a telescopically adjustable collecting box and a rotatable cleaning wheel arranged at the mouth of the collecting box; a connecting port is provided at the rear of the collecting box.

[0037] The beneficial effects of the U-shaped rib internal maintenance equipment for in-service steel bridges of the present invention are:

[0038] The walking mechanism of the internal maintenance equipment of the U-shaped rib of the current steel bridge can be in an open state or a folded state, and the interior of the U-shaped rib can be easily entered through the skylight to achieve grinding, cleaning and spraying of the interior of the U-shaped rib.

[0039] The walking mechanism of the internal maintenance equipment of the U-shaped rib of the current steel bridge of the present invention is supported in an open state inside the U-shaped rib for walking, with high stability. The two connecting plates are connected by a second universal shaft, which can adapt to the situation where the U-shaped rib is not straight.

[0040] The side grinding discs of the internal maintenance equipment of the U-shaped ribs of the steel bridges in service according to the present invention can swing up and down for grinding, and the top grinding disc and the bottom grinding disc can swing left and right along the setting direction of the upper cross plate and the lower cross plate for grinding, so that the welding slag at the corners of the U-shaped ribs can be polished cleanly, and the grinding effect is good. The grinding discs are flexible grinding discs and can adapt to the non-straight plane of the U-shaped ribs.

[0041] The bottom grinding disc of the internal maintenance equipment of the U-shaped rib of the current steel bridge can be rotated and adjusted together with the base, and can grind and clean the partitions and the periphery of the inclined partitions.

[0042] The collecting mechanism of the internal maintenance equipment of the U-shaped rib of the steel bridge in service of the present invention is provided with a cleaning wheel, which can clean the polished welding slag and rust into the collecting box. The telescopic adjustment of the collecting box can clean the welding slag near the partition. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] FIG1 is a schematic diagram of the three-dimensional structure of the internal maintenance equipment of the U-shaped rib of an in-service steel bridge according to the present invention.

[0044] FIG2 is a schematic structural diagram of the internal maintenance equipment of the U-shaped rib of an existing steel bridge according to the present invention, which is arranged inside the U-shaped rib and viewed downward from the top surface of the bridge deck.

[0045] FIG3 is a side view of the internal maintenance equipment of the U-shaped rib of an existing steel bridge according to the present invention, which is arranged inside the U-shaped rib.

[0046] FIG4 is a schematic structural diagram of the walking mechanism of the internal maintenance equipment for the U-shaped ribs of an in-service steel bridge according to the present invention, without the protective cover and the cover shell.

[0047] FIG5 is a schematic diagram of the three-dimensional structure of the walking mechanism in the internal maintenance equipment of the U-shaped rib of the steel bridge in service according to the present invention.

[0048] FIG6 is a schematic structural diagram of the protective cover on the walking mechanism of the internal maintenance equipment of the U-shaped rib of the steel bridge in service according to the present invention.

[0049] FIG7 is a schematic structural diagram of the side grinding mechanism of the internal maintenance equipment for the U-shaped ribs of an in-service steel bridge according to the present invention.

[0050] FIG8 is a schematic structural diagram of FIG7 without the spraying mechanism.

[0051] FIG9 is a front view of the rear end of the side grinding mechanism shown in FIG7 .

[0052] FIG10 is a schematic structural diagram of the upper and lower grinding mechanisms in the internal maintenance equipment for the U-shaped ribs of an in-service steel bridge according to the present invention.

[0053] FIG11 is a structural schematic diagram of the upper and lower grinding mechanisms of the internal maintenance equipment for the U-shaped ribs of an in-service steel bridge according to the present invention from another perspective.

[0054] FIG12 is a schematic structural diagram of FIG11 without the camera, the protective cover, the spraying mechanism and the rotating frame.

[0055] FIG13 is a schematic structural diagram of the spraying mechanism in the internal maintenance equipment of the U-shaped rib of an in-service steel bridge according to the present invention.

[0056] FIG14 is a schematic diagram of the structure of FIG13 without the protective cover.

[0057] FIG15 is a side view of the structure shown in FIG14.

[0058] FIG16 is a schematic diagram of the three-dimensional structure of the collecting mechanism in the internal maintenance equipment of the U-shaped rib of the steel bridge in service according to the present invention.

[0059] FIG17 is a schematic diagram of the structure of FIG16 without the guide rail frame.

[0060] FIG18 is a side view of the structure shown in FIG16.

[0061] Figure 19 is a structural schematic diagram of the collection mechanism in the internal maintenance equipment of the U-shaped rib of the current steel bridge of the present invention without the cleaning wheel. DETAILED DESCRIPTION

[0062] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0063] Referring to Figure 1, the present invention provides a device for maintaining the interior of a U-shaped rib on an in-service steel bridge. The device can extend into the interior of the U-shaped rib, polish the inner surface of the rib, collect welding slag, rust, and other debris, and apply an anti-corrosion spray to the inner surface of the rib, thereby maintaining the rib and improving its mechanical properties, thereby extending the service life of the bridge. The present invention's device for maintaining the interior of a U-shaped rib on an in-service steel bridge is described below with reference to the accompanying drawings.

[0064] Referring to Figure 1, a schematic perspective view of the structure of the U-shaped rib internal maintenance device for an in-service steel bridge according to the present invention is shown. Referring to Figure 2, a schematic view of the structure of the U-shaped rib internal maintenance device for an in-service steel bridge according to the present invention, positioned within the U-shaped rib, is shown as viewed from the top of the bridge deck. The structure of the U-shaped rib internal maintenance device for an in-service steel bridge according to the present invention will be described below in conjunction with Figures 1 and 2.

[0065] As shown in Figures 1 and 2, the internal maintenance equipment of the U-shaped rib of the in-service steel bridge of the present invention can be extended into the interior of the U-shaped rib 10, wherein the U-shaped rib 10 is installed on the in-service steel bridge, and the maintenance equipment includes a walking mechanism 21, a side grinding mechanism 22, and an upper and lower grinding mechanism 23; wherein the walking mechanism 21 can walk along the U-shaped rib 10, and the walking mechanism 21 includes a plurality of rotatable walking wheels 211 and a first driving assembly 212 driven by the walking wheels 211, and the first driving assembly 212 can drive the walking wheels 211 to rotate, thereby realizing walking along the U-shaped rib 10. The side grinding mechanism 22 is rotatably connected to the rear part of the walking mechanism 21. The side grinding mechanism 22 includes a pair of inclined plates 221 that can swing up and down and are arranged opposite to each other, a side grinding disc 222 connected to the corresponding inclined plate 221, and a first power mechanism 223 that is driven and connected to the side grinding disc 222. The first power mechanism 223 can drive the side grinding disc 222 to rotate. The side grinding disc 222 is a flexible grinding disc. As shown in Figure 3, the side grinding disc 222 can grind the side plate 101 of the U-shaped rib 10 up and down through the up and down swinging of the inclined plate 221, thereby realizing the grinding of the upper and lower connections of the side plate 101 of the U-shaped rib 10, which can ensure the effect of grinding and cleaning. The upper and lower grinding mechanisms 23 are rotatably connected to the front part of the walking mechanism 21. As shown in FIG11 , the upper and lower grinding mechanisms 23 include an upper horizontal plate 231 and a lower horizontal plate 232 which can swing left and right along the setting direction and are arranged relatively to each other, a top grinding disc 233 rotatably connected to the upper horizontal plate 231, a second power mechanism 234 drivingly connected to the top grinding disc 233, a bottom grinding disc 235 arranged on the lower horizontal plate 232, and a third power mechanism 236 drivingly connected to the bottom grinding disc 235. The top grinding disc 233 can be rotatably adjusted to an upward setting and can also be rotatably adjusted to a forward setting. The second power mechanism 234 can drive the top grinding disc 233 to rotate, and the third power mechanism 236 can drive the bottom grinding disc 235 to rotate. The top grinding disc 233 and the bottom grinding disc 235 are flexible grinding discs.

[0066] As shown in FIG3 , the U-shaped rib 10 of the present invention includes two side panels 101 and a bottom panel 102 connected to the bottoms of the two side panels 101. The two side panels 101 are inclined, with the tops of the two side panels 101 spaced apart from each other, such that the distance between the tops of the two side panels 101 is greater than the width of the bottom panel 102. The tops of the side panels 101 are attached to the bottom surface of the bridge deck 11 and are welded to the bottom surface of the bridge deck 11.

[0067] During use, a skylight can be opened in the bottom plate 102 of the U-shaped rib 10, through which the maintenance equipment of the present invention can be inserted into the interior of the U-shaped rib 10. When the top grinding disc 233 of the present invention is rotated and adjusted to face upward, it can grind the corresponding portion of the bridge deck 11 at the top of the U-shaped rib 10. When the top grinding disc 233 is rotated and adjusted to face forward, it can grind the partition located in front of the running mechanism 21. When the bottom grinding disc 235 is positioned downward, it can grind the surface of the bottom plate 102 of the U-shaped rib 10. The upper transverse plate 231 and the lower transverse plate 232 can swing left and right along the set direction, and then when the top grinding disc 233 and the bottom grinding disc 235 are grinding, the top grinding disc 233 and the bottom grinding disc 235 can be driven to swing left and right, thereby achieving comprehensive grinding of the corresponding parts of the bridge deck 11 and the bottom plate 102 of the U-shaped rib 10, especially the connection between the bridge deck 11 and the side plate 101 of the U-shaped rib 10 and the connection between the bottom plate 102 and the side plate 101. The connection can be ground by the swing of the grinding disc, ensuring the grinding and cleaning effect. As the walking mechanism 21 moves, the upper and lower grinding mechanisms 23 can grind the corresponding parts of the bottom plate 102 and the bottom of the bridge deck 11, and can also grind the partitions and inclined partitions. The side grinding structure 22 can grind the inner surfaces of the two side plates 101, thereby achieving a comprehensive grinding and cleaning of the interior of the U-shaped rib 10, and can clean the welding scars, welding slag splash points, rust, etc. inside the U-shaped rib, ensuring that the inner surface of the U-shaped rib is in a good cleanliness and smoothness, and the cleaning effect is good.

[0068] In a specific embodiment of the present invention, as shown in Figure 4, the walking mechanism 21 includes relatively arranged connecting plates 213, wheel frames 214 rotatably connected to the corresponding connecting plates 213, a driving rod 2141 hinged to the corresponding wheel frame 214, a positioning plate 215 arranged opposite to the corresponding connecting plate 213, a guide rod 2151 supported and connected between the positioning plate 215 and the connecting plate 213, a movable plate 216 sleeved on the guide rod 2151, and a second driving assembly 217 installed on a connecting plate 213; the other end of the driving rod 2141 is hinged to the movable plate 216; the second driving assembly 217 can drive the movable plate 216 to move and adjust along the guide rod 2151, so that the driving rod 2141 pushes or pulls the wheel frame 214 so that the wheel frame 214 is in an open state or a folded state; the walking wheel 211 is rotatably arranged at the end of the wheel frame 214.

[0069] The second drive component 217 drives the movable disk 216 to move and adjust along the guide rod 2151. When the movable disk 216 moves toward the direction close to the corresponding connecting disk 213, the drive rod 2141 pushes the wheel frame 214 outward so that the wheel frame 214 rotates outward around the end connected to the connecting disk 213 and is in an open state. At this time, if the maintenance equipment is located inside the U-shaped rib 10, the wheel frame 214 is in an open state, so that the walking wheel 211 connected to the wheel frame 214 can be attached to the corresponding structure inside the U-shaped rib 10, and then the first drive component 212 drives the walking wheel 211 to rotate, thereby realizing the walking mechanism 21 to move along the U-shaped rib 10. When the second drive assembly 217 drives the movable disk 216 to move toward the direction close to the corresponding positioning disk 215, the drive rod 2141 pulls the wheel frame 214 inward so that the wheel frame 214 rotates inward around the end connected to the connecting disk 213 to be in a folded state, allowing the walking wheel 211 to move closer to the position of the positioning disk 215, so that the maintenance equipment can be placed into the interior of the U-shaped rib 10 or taken out from the interior of the U-shaped rib 10.

[0070] Furthermore, the second drive assembly 217 includes a rotatable drive screw 2171 arranged between the positioning plate 215 and the connecting plate 213, a threaded cylinder 2172 connected to the movable plate 216, a drive gear 2173 connected to the drive screw 2171, a rotatable transmission gear 2174 arranged on the connecting plate 213 and meshing with the drive gear 2173, a transmission universal joint 2175 connecting the two transmission gears 2174, and a third motor 2176 arranged on a connecting plate 213; the third motor 2176 is drivingly connected to the corresponding drive screw 2171; the threaded cylinder 2172 is threadedly connected to the corresponding drive screw 2171. In this way, the third motor 2176 drives the corresponding drive screw 2171 to rotate, and the drive screw 2171 can rotate with the drive gear 2173 while rotating. The drive gear 2173 drives the transmission gear 2174 to rotate, and the transmission gear 2174 rotates with another transmission gear 2174 through the transmission universal shaft 2175. The transmission gear 2174 drives the corresponding drive screw 2171 to rotate, so that the third motor 2176 synchronously drives the two drive screws 2171 to rotate, and the threaded barrel 2172 can be moved and adjusted along the corresponding drive screw 2171, and then drives the corresponding movable disk 216 to move and adjust along the drive screw 2171. The thread directions of the two drive screws 2171 are opposite, so that the two movable disks 216 can move toward or in opposite directions synchronously.

[0071] Furthermore, the driving screw 2171 is disposed in the middle of the positioning plate 215, and a plurality of guide rods 2151 are provided, evenly distributed on the outside of the driving screw 2171. The guide rods 2151 are disposed parallel to the corresponding driving screws 2171.

[0072] Furthermore, as shown in Figures 4 and 5, a second universal joint 2131 and a protective cover 2132 sleeved on the second universal joint 2131 are supported and connected between the two connecting plates 213. As shown in Figure 6, the protective cover 2132 is connected between the two connecting plates 213, and a flexible connection portion 2132a is provided in the middle of the protective cover 2132. Preferably, the protective cover 2132 also includes rigid connection portions 2132b located at both ends. The rigid connection portions 2132b are connected to the two ends of the flexible connection portion 2132a. The rigid connection portions 2132b are used to connect to the corresponding connecting plates 213, and the flexible connection portion 2132a can be bent and deformed to accommodate the situation where the U-shaped ribs are not straight. The rigid connection portion 2132b is preferably a metal protective shell, and the flexible connection portion 2132a is preferably an accordion shield.

[0073] The second universal joint 2131 is preferably connected between two opposite guide rods 2151 .

[0074] A cover shell 2152 is provided between the corresponding connecting disk 213 and the positioning disk 215, and the cover shell 2152 covers the guide rod 2151, the driving screw 2171, the driving gear 2173 and the transmission gear 2174. A strip groove is provided on the cover shell 2152 corresponding to the driving rod 2141 to facilitate the driving rod 2141 to extend to the outside of the cover shell 2152.

[0075] Furthermore, as shown in Figures 4 and 5 , there are multiple running wheels 211, and correspondingly, multiple wheel frames 214. Preferably, three wheel frames 214 are connected to a connecting plate 213, with a running wheel 211 rotatably connected to the end of each wheel frame 214. When the maintenance device of the present invention is placed within the U-shaped rib 10, one running wheel 211 is aligned with the bridge deck, and the other two running wheels 211 are aligned with the side panels 101 of the U-shaped rib 10. When the wheel frames 214 of the running mechanism 21 are in the extended state, the running wheels 211 can contact the bridge deck and the side panels of the U-shaped rib.

[0076] The first drive assembly 212 is arranged on the wheel frame 214. The first drive assembly 212 includes a fourth motor 2121 arranged on the wheel frame 214 and a right-angle bevel gear 2122 transmission-connected between the fourth motor 2121 and the travel wheel 211. The fourth motor 2121 drives the right-angle bevel gear 2122 to rotate, and then the right-angle bevel gear 2122 drives the travel wheel 211 to rotate.

[0077] In a specific embodiment of the present invention, as shown in Figures 7 to 9, the side grinding mechanism 22 also includes a base 224, a first motor 225 provided on the base 224, a first bevel gear 2261 provided on the motor shaft of the first motor 225, a second bevel gear 2262 provided on both sides of the first bevel gear 2261 and meshing with the first bevel gear 2261, a drive shaft 2263 connected to the second bevel gear 2262, and a drive connecting rod 2264 connected to the drive shaft 2263; the base 224 is rotatably connected to the rear of the walking mechanism 21; the drive connecting rod 2264 is connected to the corresponding inclined plate 221; the first motor 225 can drive the first bevel gear 2261 to rotate, and then drive the inclined plate 221 to swing through the second bevel gear 2262, the drive shaft 2263 and the drive connecting rod 2264.

[0078] Furthermore, a vertically arranged end plate 2241 is connected to the rear end of the base 224. One end of a pair of inclined plates 221 is rotatably connected to the end plate 2241 via a first rotating shaft, and the other end of the inclined plate 221 can be rotated and adjusted around the first rotating shaft.

[0079] Furthermore, one end of the driving connecting rod 2264 is connected to the end of the inclined plate 221 away from the first rotating shaft, and the other end of the driving connecting rod 2264 is connected to the driving shaft 2263. The first motor 225 drives the first bevel gear 2261 to rotate, and the first bevel gear 2261 drives the second bevel gear 2262 to rotate. The second bevel gear 2262 drives the driving connecting rod 2264 to rotate around the driving shaft 2263 through the driving shaft 2263, thereby enabling the driving connecting rod 2264 to swing up and down, and then the driving connecting rod 2264 drives the inclined plate 221 to swing up and down. During the swinging process, the side plate of the U-shaped rib is polished clean by the side grinding disk 222. Preferably, the first motor 225 drives the first bevel gear 2261 to rotate back and forth at a set rotation angle.

[0080] Furthermore, the drive shaft 2263 is fixedly connected to the end of the drive link 2264, and the other end of the drive link 2264 is movably connected to the slide groove set on the inclined plate 221. When the drive shaft 2263 is driven to rotate by the second bevel gear 2262, the drive shaft 2263 can drive the other end of the drive link 2264 to rotate around the end connected to the drive link 2264 and the drive shaft 2263, and then when the other end of the drive link 2264 rotates upward or downward, it can lift the end of the inclined plate 221 upward or pull the end of the inclined plate 221 downward, thereby realizing the up and down swing adjustment of the inclined plate 221.

[0081] As shown in Figures 9 and 3 , the inclination angle of the inclined plate 221 matches the inclination angle of the side plate 101 of the U-shaped rib 10. A first drive mechanism 223 is connected to the inclined plate 221. The first drive mechanism 223 includes a motor and a transmission mechanism. The motor is connected to the corresponding side grinding disc 222 through the transmission mechanism to drive the side grinding disc 222 to rotate. The transmission mechanism can be a right-angle bevel gear or a transmission structure consisting of a drive wheel and a transmission belt.

[0082] Furthermore, as shown in Figures 7 and 8, a distance sensor 2211 is provided at one end of the inclined plate 221 away from the first rotating shaft, which is used to detect the corresponding distance between the end of the inclined plate 221 and the partition in the U-shaped rib 10, and the walking mechanism 21 can stop walking when the inclined plate 221 approaches the corresponding partition.

[0083] As shown in Figures 7 and 8, the side grinding mechanism 22 also includes a mounting frame 227 and a fifth motor 2271 disposed on the mounting frame 227. As shown in Figure 1, one end of the mounting frame 227 is fixedly connected to the corresponding positioning plate 215 on the walking mechanism 21. The fifth motor 2271 is driven and connected to the end plate 2241, and the fifth motor 2271 can drive the end plate 2241 to rotate. During use, the fifth motor 2271 drives the end plate 2241 to rotate, and the end plate 2241 rotates with the base 224, allowing the side grinding disc 222 to be arranged up and down, so that maintenance equipment can enter through the skylight opened on the bottom plate 102 of the U-shaped rib 10. After entering the interior of the U-shaped rib 10, the fifth motor 2271 drives the end plate 2241 to rotate and reset, allowing the side grinding disc 222 to adhere to the side plate 101 of the U-shaped rib 10.

[0084] In a specific embodiment of the present invention, as shown in Figures 10 to 12, the upper and lower grinding mechanisms 23 also include a base 237, a seat plate 2371 rotatably connected to the upper and lower sides of the base 237, and an angle adjustment driving member 2372 driven by the seat plate 2371; the base 237 is rotatably connected to the front of the walking mechanism 21; the upper cross plate 231 and the lower cross plate 232 are arranged horizontally, and the upper cross plate 231 and the lower cross plate 232 are rotatably connected to the corresponding seat plates 2371; the seat plate 2371 is arranged vertically; one end of the angle adjustment driving member 2372 is connected to the corresponding seat plate 2371, and the other end is connected to the corresponding upper cross plate 231 and the lower cross plate 232. The angle adjustment driving member 2372 is telescopically adjustable, and the seat plate 2371 can be driven to rotate relative to the base 237 through telescopic adjustment, thereby making the corresponding upper cross plate 231 and the lower cross plate 232 inclined. In this way, the top grinding disc 233 can adapt to the situation of grinding the inclined partition. Preferably, the angle adjustment driving member 2372 is an electric cylinder or a driving cylinder.

[0085] When grinding the inclined partition at the end of the U-shaped rib 10, the top grinding disc 233 is adjusted to a forward setting so that the top grinding disc 233 faces the inclined partition, and then the angle adjustment drive 2372 is telescopically adjusted to adjust the angle of the top grinding disc 233 so that the top grinding disc 233 can grind the inner surface of the inclined partition.

[0086] When grinding the vertically arranged partition at the end of the U-shaped rib 10, it is only necessary to adjust the top grinding disc 233 to face forward, so that the top grinding disc 233 faces the partition, and there is no need to adjust the angle of the top grinding disc 233.

[0087] As shown in Figures 1 to 3, when the walking mechanism 21 moves to the end of the U-shaped rib 10, the side grinding disc 222 cannot grind the side plate 101 at the end of the U-shaped rib 10. At this time, the bottom grinding disc 235 can complete the grinding of the side plate 101 at the end of the U-shaped rib 10. Start the bottom grinding disc 235, and then cooperate with the rotation adjustment base 237 to allow the bottom grinding disc 235 to grind the bottom plate 102, the position where the bottom plate 102 and the side plate 101 are connected, the side plate 101, the position where the side plate 101 and the bridge deck 11 are connected, and the position around the partition. This solves the problem that the side grinding disc 222 at the rear cannot grind the side plate 101 at the end of the U-shaped rib 10 due to the length limitation of the maintenance equipment.

[0088] Furthermore, as shown in Figure 12, the upper and lower grinding mechanisms 23 also include a second motor 2381 connected to the base 237, a first conical tooth 2382 provided on the motor shaft of the second motor 2381, a second conical tooth 2383 provided on the upper and lower sides of the first conical tooth 2382 and meshing with the first conical tooth 2382, a first universal shaft 2384 connected to the second conical tooth 2383, and a swing rod 2385 connected to the first universal shaft 2384; the swing rod 2385 is connected to the corresponding upper horizontal plate 231 and lower horizontal plate 232; the second motor 2381 can drive the first conical tooth 2382 to rotate, and then drive the corresponding upper horizontal plate 231 and lower horizontal plate 232 to swing left and right along the set direction through the second conical tooth 2382, the first universal shaft 2384 and the swing rod 2385.

[0089] Furthermore, one end of the upper transverse plate 231 and the lower transverse plate 232 is rotatably connected to the corresponding seat plate 2371 through a second rotating shaft, and the other end of the upper transverse plate 231 and the lower transverse plate 232 can be rotated and adjusted around the second rotating shaft.

[0090] Furthermore, one end of the swing arm 2385 is connected to the corresponding upper cross plate 231 and lower cross plate 232, and the other end of the swing arm 2385 is connected to the first universal shaft 2384. The second motor 2381 drives the first conical tooth 2382 to rotate, and the first conical tooth 2382 drives the second conical tooth 2383 to rotate, and the second conical tooth 2383 drives the swing arm 2385 to rotate around the first universal shaft 2384 through the first universal shaft 2384, so that the swing arm 2385 can swing left and right along the setting direction of the upper cross plate 231 and the lower cross plate 232. The swing arm 2385 then drives the corresponding upper cross plate 231 and the lower cross plate 232 to swing left and right. During the swinging process, the corresponding parts of the bridge deck and the surface of the bottom plate 102 of the U-shaped rib 10 are polished clean by the top grinding disc 233 and the bottom grinding disc 235. Preferably, the second motor 2381 drives the first conical teeth 2382 to rotate back and forth at a set rotation angle.

[0091] Furthermore, the swing rod 2385 is fixedly connected to the end of the first universal joint 2384, and the other end of the swing rod 2385 is movably connected to the connecting groove set on the corresponding upper horizontal plate 231 and the lower horizontal plate 232. When the first universal joint 2384 rotates under the drive of the second conical tooth 2382, the first universal joint 2384 can drive the other end of the swing rod 2385 to rotate around the end connected to the swing rod 2385 and the first universal joint 2384, and then the other end of the swing rod 2385 swings left and right along the setting direction of the corresponding upper horizontal plate 231 and the lower horizontal plate 232, thereby realizing the left and right swinging of the upper horizontal plate 231 and the lower horizontal plate 232 along the setting direction.

[0092] The first cardan shaft 2384 can automatically adjust its direction to accommodate the tilt angle adjustment of the upper and lower transverse plates 231 and 232 driven by the angle adjustment driver 2372. The first cardan shaft 2384 can also transmit the rotation of the second conical teeth 2383, thereby driving the swing lever 2385 to rotate. Furthermore, as shown in FIG10 , the top grinding disc 233 is rotatably connected to the end of the upper transverse plate 231 via a bracket 2331. A sixth telescopic driver 2332 is connected to the base 237. The end of the sixth telescopic driver 2332 is connected to the bracket 2331 via a pin. The sixth telescopic driver 2332 is telescopically adjustable, and the bracket 2331 can be rotated by the telescopic adjustment, so that the top grinding disc 233 can be rotated to an upward or forward position.

[0093] Furthermore, as shown in Figures 10 to 12, the upper and lower grinding mechanism 23 also includes a rotating frame 239 and a sixth motor 2391 disposed on the rotating frame 239. As shown in Figure 1, one end of the rotating frame 239 is fixedly connected to the corresponding positioning plate 215 on the walking mechanism 21; the sixth motor 2391 is drivingly connected to the base 237, and the sixth motor 2391 can drive the base 237 to rotate. During use, the sixth motor 2391 drives the base 237 to rotate, and the base 237 rotates with the upper cross plate 231 and the lower cross plate 232, causing the top grinding disc 233 and the bottom grinding disc 235 to rotate together, thereby adjusting the positions of the top grinding disc 233 and the bottom grinding disc 235.

[0094] In a specific embodiment of the present invention, as shown in Figures 1 and 16 to 19, the maintenance equipment of the present invention also includes a collecting mechanism 26 arranged below the walking mechanism 21 and connected to the walking mechanism 21, and the collecting mechanism 26 includes a telescopically adjustable collecting box 261 and a rotatable cleaning wheel 262 arranged at the mouth of the collecting box 261; a connecting port 2611 is provided at the rear of the collecting box 261.

[0095] A negative pressure tube is connected to connection port 2611, which is connected to an external negative pressure device. The negative pressure device can be installed on the ground. The negative pressure device creates a negative pressure inside the collection box 261 through the negative pressure tube. In conjunction with the rotating cleaning wheel 262 at the mouth of the collection box 261, it can collect debris such as welding slag and rust that has been polished off the inside of the U-shaped rib 10. The arrangement of the negative pressure device and the negative pressure tube gives the collection box 261 the function of a vacuum cleaner.

[0096] After the maintenance device of the present invention is placed within the U-shaped rib 10, the opening of the collection box 261 is placed against the surface of the bottom plate 102 of the U-shaped rib 10. As shown in FIG19 , an inclined scoop 2612 is provided at the opening of the collection box 261. This scoop 2612 contacts the surface of the bottom plate 102, allowing polished debris to enter the collection box 261. This scoop 2612 is preferably made of rubber.

[0097] As shown in Figures 16 to 19, a fixing bracket 2613 is provided at the top of the collection box 261 near the mouth, and a driving motor 2621 corresponding to the cleaning wheel 262 is installed on the fixing bracket 2613. The driving motor 2621 is connected to the cleaning wheel 262 and can drive the cleaning wheel 262 to rotate.

[0098] A limiting guide rail 264 is connected to the fixed frame 2613. As shown in FIG1 , a connecting frame 266 is connected to the bottom of the connecting plate 213 at the front of the traveling mechanism 21. A guide rail seat 265 is provided on the connecting frame 266, corresponding to the limiting guide rail 264. A limiting slideway is provided on the guide rail seat 265, which is adapted to the limiting guide rail 264. A portion of the limiting guide rail 264 extends through the limiting slideway, and the limiting slideway and the limiting guide rail 264 cooperate to provide a limiting guide. A third telescopic driving member 263 is connected to the bottom of the guide rail seat 265. The end of the third telescopic driving member 263 is connected to the fixed frame 2613. The third telescopic driving member 263 can extend and retract the fixed frame 2613 and the collection box 261 together. After the partition of the U-shaped rib 10 is polished, the third telescopic driving member 263 is activated to move the collection box 261 forward, collecting the welding slag on the partition.

[0099] The maintenance device of the present invention moves and grinds inside the U-shaped rib 10 , and the collecting mechanism 26 collects debris such as welding slag at the same time.

[0100] In a specific embodiment of the present invention, as shown in Figures 7, 8, 11, 13 to 15, the maintenance equipment of the present invention also includes a telescopically adjustable spraying mechanism 24 provided at the side grinding mechanism 22 and the upper and lower grinding mechanism 23, and the spraying mechanism 24 includes a telescopically adjustable spraying frame 241, a nozzle 242 provided on the spraying frame 241, and a protective cover 243 provided at the corresponding side grinding mechanism 22 and the upper and lower grinding mechanism 23 and covering the nozzle 242; the spraying frame 241 is telescopically adjustable and provided on the corresponding side grinding mechanism 22 and the upper and lower grinding mechanism 23; the opening of the protective cover 243 is blocked by a plurality of fan-shaped end covers 2431.

[0101] By telescopically adjusting the spray rack 241, the nozzle 242 can be extended from the protective cover 243, and then the nozzle 242 is used to spray the anti-corrosion material on the inside of the U-shaped rib 10. The inner surface of the U-shaped rib 10 is polished and cleaned by the side polishing mechanism 22 and the upper and lower polishing mechanisms 23, and can have a higher degree of cleanliness and smoothness, thereby improving the adhesion and anti-corrosion performance of the spray layer.

[0102] Furthermore, a fourth telescopic drive member 244 is connected to the bottom of the spraying frame 241. This fourth telescopic drive member 244 is connected to the base 224 of the corresponding side grinding mechanism 22 and the base 237 of the upper and lower grinding mechanism 23. The fourth telescopic drive member 244 is telescopically adjustable, thereby being able to extend and retract the spraying frame 241. The spraying mechanism 24 disposed on the side grinding mechanism 22 can extend the nozzle 242 rearward, and the spraying mechanism 24 disposed on the upper and lower grinding mechanism 23 can extend the nozzle 242 forward. Preferably, the fourth telescopic drive member 244 is an electric cylinder or a driving cylinder.

[0103] In order to improve the stability of the telescopic adjustment of the spray rack 241, a limiting guide rod 245 is connected to the upper part of the spray rack 241, and a guide sleeve 246 is provided at the side grinding mechanism 22 and the upper and lower grinding mechanisms 23. The limiting guide rod 245 is inserted into the guide sleeve 246. The limiting guide rod 245 can move along the guide sleeve 246, thereby providing a limiting guide for the telescopic adjustment of the spray rack 241.

[0104] The protective cover 243 is fixed to the corresponding side grinding mechanism 22 and upper and lower grinding mechanism 23. The spraying frame 241 can be mounted on the protective cover 243, so that during telescopic adjustment, the spraying frame 241 can move outside the protective cover 243. The opening of the protective cover 243 is provided with multiple sector-shaped end caps 2431 made of rubber, which facilitates the extension and retraction of the spray head 242. The protective cover 243 protects the spray head 242.

[0105] In a specific embodiment of the present invention, as shown in Figures 7 to 12, the maintenance equipment of the present invention also includes a telescopically adjustable camera 25 provided at the side grinding mechanism 22 and the upper and lower grinding mechanism 23, and a protective cover 251 covering the camera 25; an openable and closable baffle 2511 is provided at the opening of the protective cover 251.

[0106] The protective cover 251 can protect the camera 25, and the baffle 2511 is a rubber baffle.

[0107] Furthermore, the system includes a fifth telescopic drive member 252 connected to the corresponding side grinding mechanism 22 and upper and lower grinding mechanism 23. The end of the fifth telescopic drive member 252 is connected to the camera 25, and can be adjusted telescopically along with the camera 25. After extending from the protective cover 251, the camera 25 can capture the interior of the U-shaped rib, generating video data that is displayed on a monitor to facilitate personnel viewing the interior of the U-shaped rib. The camera 25 on the side grinding mechanism 22 can be extended rearward, while the camera 25 on the upper and lower grinding mechanism 23 can be extended forward. Preferably, the fifth telescopic drive member 252 is an electric cylinder or a pneumatic cylinder.

[0108] In a specific embodiment of the present invention, as shown in Figure 1, a battery 27 is provided on the protective cover 2132 of the walking mechanism 21. The battery 27 is electrically connected to the first drive component 212, the second drive component 217, the first power mechanism 223, the second power mechanism 234, the third power mechanism 236 and the telescopic drive component to provide electrical energy for each power component.

[0109] The working process of the internal maintenance equipment of the U-shaped rib of the current steel bridge of the present invention is described below.

[0110] As shown in Figures 1 to 19, a skylight is opened on the bottom plate 102 of the U-shaped rib 10 that needs maintenance, the wheel frame 214 of the maintenance equipment is folded, the side grinding disc 222 on the side grinding mechanism 22 is adjusted to be arranged up and down, and then the maintenance equipment is placed into the interior of the U-shaped rib 10 through the skylight, and the upper and lower grinding mechanisms 23 are located at the front in the walking direction, and the side grinding mechanism 22 is located at the rear in the walking direction.

[0111] Then, the wheel frame 214 is driven to an open state through the second drive assembly 217, and the running wheel 211 is attached to the side plate 101 of the U-shaped rib 10 and the bottom of the bridge deck 11. The side grinding disc 222 of the side grinding mechanism 22 is adjusted to be in contact with the side plate 101, the top grinding disc 233 is set upward and in contact with the bridge deck 11, and the bottom grinding disc 235 is set downward and in contact with the surface of the bottom plate 102. The side grinding discs 222, top grinding disc 233 and bottom grinding disc 235 are started to grind the corresponding positions, and the first drive assembly 212 is started to drive the running wheel 211 to move, achieving grinding while walking along the U-shaped rib 10. The collection mechanism 26 also collects the grinding residue.

[0112] When the partition at the end of the U-shaped rib is reached, the top grinding disc 233 is adjusted to face forward, allowing it to grind the partition. If the partition is tilted, the angle of the top grinding disc 233 can be adjusted using the angle adjustment drive 2372 to grind the tilted partition. When approaching the end of the U-shaped rib 10, the bottom grinding disc 235 is rotated by the sixth motor 2391 to grind the side plate 101 at the end of the U-shaped rib 10. After the end is polished, the collection box 261 is extended to collect the residue at the partition.

[0113] After the grinding is completed, the walking mechanism 21 returns to the skylight, takes out the maintenance equipment, turns around and puts it into the other side of the U-shaped rib, and repeats the above steps to grind the other side of the U-shaped rib.

[0114] After the grinding is completed, it is left to stand for a while, and then the welding slag inside the U-shaped rib is collected. After the collection is completed, the nozzle 242 is extended during the return process to spray the inside of the U-shaped rib 10. The nozzle 242 can be connected to the external preservative storage device through a delivery pipe. Since the inside of the U-shaped rib 10 is ground and cleaned before painting, the sprayed anti-corrosion coating can adhere firmly, improve the anti-corrosion performance, and effectively protect the U-shaped rib. After the spraying is completed, the maintenance equipment is taken out, turned around and placed on the other side of the U-shaped rib, and the welding slag is collected first, and then spraying and painting are performed when returning. In this way, the maintenance of a U-shaped rib is completed. After completion, the skylight on the bottom plate 102 of the U-shaped rib 10 is sealed.

[0115] The present invention has been described in detail above with reference to the embodiments of the accompanying drawings. A person skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details in the embodiments should not be construed as limiting the present invention. The scope of protection of the present invention shall be determined by the scope defined in the appended claims.

Claims

1. A U-shaped rib internal maintenance device for an existing steel bridge, which can be inserted into the interior of the U-shaped rib, characterized in that: The maintenance equipment includes: A walking mechanism capable of walking along the U-shaped rib comprises a plurality of rotatable walking wheels and a first driving assembly drivingly connected to the walking wheels, wherein the first driving assembly is capable of driving the walking wheels to rotate; A side grinding mechanism rotatably connected to the rear part of the walking mechanism includes a pair of inclined plates that can swing up and down and are arranged opposite to each other, a side grinding disc connected to the corresponding inclined plates, and a first power mechanism drivingly connected to the side grinding disc, wherein the first power mechanism can drive the side grinding disc to rotate. The side grinding disc is a flexible grinding disc, and the side grinding disc can grind the side plate of the U-shaped rib up and down through the up and down swinging of the inclined plates; The upper and lower grinding mechanisms rotatably connected to the front part of the walking mechanism include an upper horizontal plate and a lower horizontal plate that can swing left and right along the setting direction and are arranged opposite to each other up and down, a top grinding disc rotatably connected to the upper horizontal plate, a second power mechanism drivingly connected to the top grinding disc, a bottom grinding disc arranged on the lower horizontal plate, and a third power mechanism drivingly connected to the bottom grinding disc, the top grinding disc can be rotatably adjusted to an upward setting, and can also be rotatably adjusted to a forward setting, the second power mechanism can drive the top grinding disc to rotate, and the third power mechanism can drive the bottom grinding disc to rotate, and the top grinding disc and the bottom grinding disc are flexible grinding discs.

2. The internal maintenance equipment of the U-shaped rib of an in-service steel bridge according to claim 1, characterized in that: The side grinding mechanism also includes a base, a first motor provided on the base, a first bevel gear provided on a motor shaft of the first motor, second bevel gears provided on both sides of the first bevel gear and meshing with the first bevel gear, a drive shaft connected to the second bevel gear, and a drive connecting rod connected to the drive shaft; The base is rotatably connected to the rear of the walking mechanism; The driving connecting rod is connected to the corresponding inclined plate; The first motor can drive the first bevel gear to rotate, and then drive the inclined plate to swing through the second bevel gear, the drive shaft and the drive connecting rod.

3. The internal maintenance equipment of the U-shaped rib of an in-service steel bridge according to claim 1, characterized in that: The upper and lower grinding mechanisms further include a base, a seat plate rotatably connected to the upper and lower sides of the base, and an angle adjustment driving member drivingly connected to the seat plate; The base is rotatably connected to the front of the walking mechanism; The upper transverse plate and the lower transverse plate are arranged horizontally, and the upper transverse plate and the lower transverse plate are rotatably connected to the corresponding seat plate; The seat plate is arranged vertically; One end of the angle adjustment driving member is connected to the corresponding seat plate, and the other end is connected to the corresponding upper horizontal plate and lower horizontal plate. The angle adjustment driving member is telescopically adjustable, and the seat plate can be driven to rotate relative to the base through telescopic adjustment, thereby making the corresponding upper horizontal plate and lower horizontal plate inclined.

4. The internal maintenance equipment of the U-shaped rib of an in-service steel bridge as claimed in claim 3, characterized in that: The upper and lower grinding mechanism further includes a second motor connected to the base, a first conical tooth provided on the motor shaft of the second motor, a second conical tooth provided on the upper and lower sides of the first conical tooth and meshing with the first conical tooth, a first universal joint connected to the second conical tooth, and a swinging rod connected to the first universal joint; The swing rod is connected to the corresponding upper horizontal plate and lower horizontal plate; The second motor can drive the first conical gear to rotate, and then drive the corresponding upper and lower transverse plates to swing left and right along the set direction through the second conical gear, the first universal shaft and the swing rod.

5. The internal maintenance equipment for U-shaped ribs of an in-service steel bridge as claimed in claim 1, characterized in that: It also includes a telescopically adjustable spraying mechanism provided at the side grinding mechanism and the upper and lower grinding mechanism, the spraying mechanism including a telescopically adjustable spraying frame, a spray head provided on the spraying frame, and a protective cover provided at the corresponding side grinding mechanism and the upper and lower grinding mechanism and covering the spray head; The spraying frame is telescopically adjustable and is arranged on the corresponding side grinding mechanism and upper and lower grinding mechanism; The opening of the protective cover is blocked with a plurality of fan-shaped end covers.

6. The internal maintenance equipment of the U-shaped rib of an in-service steel bridge as claimed in claim 1, characterized in that: It also includes telescopically adjustable cameras disposed at the side grinding mechanism and the upper and lower grinding mechanisms, and a shield covering the cameras; An openable and closable baffle is provided at the opening of the shield.

7. The internal maintenance equipment of the U-shaped rib of an in-service steel bridge as claimed in claim 1, characterized in that: The walking mechanism includes connecting plates arranged opposite to each other, wheel frames rotatably connected to the corresponding connecting plates, a driving rod hinged to the corresponding wheel frame, a positioning plate arranged opposite to the corresponding connecting plate, a guide rod supported and connected between the positioning plate and the connecting plate, a movable plate sleeved on the guide rod, and a second driving assembly mounted on one of the connecting plates; The other end of the driving rod is hinged to the movable disk; The second driving assembly can drive the movable disk to move and adjust along the guide rod, thereby causing the driving rod to push or pull the wheel frame so that the wheel frame is in an open state or a folded state; The traveling wheel is rotatably arranged at the end of the wheel frame.

8. The internal maintenance equipment for U-shaped ribs of an in-service steel bridge as claimed in claim 7, characterized in that: The second driving assembly includes a driving screw rotatably provided between the positioning plate and the connecting plate, a threaded cylinder connected to the movable plate, a driving gear connected to the driving screw, a transmission gear rotatably provided on the connecting plate and meshing with the driving gear, a transmission universal shaft connecting the two transmission gears, and a third motor provided on one connecting plate; The third motor is drivingly connected to the corresponding driving screw; The threaded barrel is threadably connected to the corresponding driving screw.

9. The internal maintenance equipment for U-shaped ribs of an in-service steel bridge as claimed in claim 7, characterized in that: A second cardan shaft and a protective cover sleeved on the second cardan shaft are supported and connected between the connecting plates. The protective cover is connected between the two connecting plates and a flexible connecting portion is provided in the middle of the protective cover.

10. The internal maintenance equipment for U-shaped ribs of an in-service steel bridge as claimed in claim 1, characterized in that: It also includes a collecting mechanism arranged below the walking mechanism and connected to the walking mechanism, the collecting mechanism includes a telescopically adjustable collecting box and a rotatable cleaning wheel arranged at the mouth of the collecting box; a connecting port is provided at the rear of the collecting box.