CN111774761B

CN111774761B - U rib internal elevation welding system based on multi-segment plug-in platform

Info

Publication number: CN111774761B
Application number: CN202010569724.3A
Authority: CN
Inventors: 陈金州; 吴大健; 余顺新; 冯鹏程; 夏飞; 王志刚; 庄稼丰; 高兴
Original assignee: Wuhan Lixin Automation Technology Co ltd; CCCC Second Highway Consultants Co Ltd
Current assignee: Wuhan Lixin Automation Technology Co ltd; CCCC Second Highway Consultants Co Ltd
Priority date: 2020-06-20
Filing date: 2020-06-20
Publication date: 2022-03-29
Anticipated expiration: 2040-06-20
Also published as: CN111774761A

Abstract

The invention relates to the technical field of bridge maintenance, and discloses a U rib internal elevation welding system based on a multi-section plug-in platform.A mobile platform comprises at least two platform sections and a plug-in mechanism, wherein adjacent platform sections are connected through the plug-in mechanism; each platform section comprises a platform body and a travelling mechanism arranged below the platform body; a radar sensor for detecting the raised barrier is arranged on the platform body; the walking mechanism comprises a plurality of walking feet and a walking foot synchronizing mechanism, the walking feet are arranged below the platform body along the length direction of the platform body at intervals, and the walking foot synchronizing mechanism synchronizes the movement of the walking feet to the adjacent walking feet. In the U rib interior elevation welding system based on the multi-section plug-in platform, the mobile platform is divided into at least two platform sections and is connected by the plug-in mechanism, and the U rib can be placed into the U rib without forming a longer inlet on the U rib; the mobile platform is divided into at least two platform segments, which are segmentable through the curved section, so that a U-rib with a larger angle, which can be more easily adapted to the curved section as well, is passed through.

Description

U rib internal elevation welding system based on multi-segment plug-in platform

Technical Field

The invention relates to the technical field of bridge maintenance, in particular to a U-rib internal elevation welding system based on a multi-segment plug-in platform.

Background

The steel structure bridge has a history of more than 200 years, and the development of the steel structure bridge is closely related to material technology, manufacturing technology and structural design. In terms of structural design, the early stage adopted steel truss or steel plate girder forms. Beginning in the middle of the 20 th century, with the level of orthotropic thin steel box girder structure design becoming mature and the improvement of welding technology, the steel box girder structure has become the main structural form of the steel bridge deck slab due to the characteristics of low height, light dead weight, high rigidity, high ultimate bearing capacity, easiness in processing and manufacturing, good structural continuity and the like.

The orthotropic bridge deck is mainly composed of a steel structure deck and a transverse beam and a longitudinal beam which are welded with the steel structure deck, wherein the transverse beam is mainly a transverse clapboard, and the longitudinal beam is mainly of a U-rib structure. The U-shaped rib can provide larger torsional rigidity and bending rigidity, and can improve the stress state of the whole bridge deck, so that the U-shaped rib is the most common cross section form of the modern orthotropic bridge deck.

However, in the constructed steel structure bridge, because the U rib is positioned below the top plate, the connection between the U rib and the face plate is welded on the outer side and the single side before the U rib inner welding technology is developed, so that a large number of cracks are generated at the connection between the face plate and the U rib after the constructed bridge for the general vehicle runs for a period of time. In order to change the current situation, increase the fatigue resistance of the steel bridge with the orthotropic plate structure and prolong the service life of the steel bridge, repair welding is needed to be carried out on the welding seam between the panel and the U rib. Considering that the constructed bridge cannot be disassembled to a factory for maintenance and reinforcement due to the problems of structure and safety, the inner welding seam is additionally arranged on the connecting inner side of the U rib and the top plate in the constructed bridge.

During the welding process of the U-shaped rib interior in the inverted position, a platform capable of moving along the length direction of the U-shaped rib is needed. In the process of welding a solid bridge, on the one hand, the bridge structure can deform or rust sundries exist in the U-shaped rib, so that the moving platform can shake, the position of a welding gun shakes, the welding gun is easy to deviate to be welded, and the welding effect is influenced. On the other hand, the length of the movable platform capable of welding the U rib at the upward position exceeds 1 meter, and in order to place the U rib welding device at the upward position inside the U rib of the solid bridge, a long inlet needs to be formed in the U rib, but the influence on the bridge structure is large due to the fact that the formed inlet is too long. Furthermore, when the U rib is a curved section, the mobile platform with a length of 1 meter cannot walk around the curved section, so that the U rib of the curved section cannot be welded. Therefore, a U-rib internal elevation welding system based on a multi-segment plugging platform is needed to complete stable and reliable internal weld supplement.

Disclosure of Invention

The invention aims to provide a U-rib internal elevation welding system based on a multi-segment plug-in platform, which is suitable for welding U ribs with bent segments.

In order to achieve the purpose, the U-rib internal elevation welding system based on the multi-segment plug-in platform is used for carrying out elevation welding on a region to be welded between a U rib and a panel from the inside of the U rib, and comprises a welding mechanism (10) and a moving platform (20), wherein the welding mechanism (10) is arranged on the moving platform (20), the moving platform (20) moves in the U rib, the moving platform (20) comprises at least two platform segments (21) and a plug-in mechanism (22), and the adjacent platform segments (21) are connected through the plug-in mechanism (22); each platform segment (21) comprises a platform body (211) and a walking mechanism (212) arranged below the platform body (211);

a radar sensor (2111) for detecting a raised obstacle is arranged on the platform body (211); the walking mechanism (212) comprises a plurality of walking feet (2121) and a walking foot synchronizing mechanism, the walking feet (2121) are arranged below the platform body (211) at intervals along the length direction of the platform body (211), and the walking foot synchronizing mechanism synchronizes the movement of the walking feet (2121) to the adjacent walking feet (2121).

Preferably, the welding mechanism (10) comprises a welding mechanical arm (11) and a welding mechanical arm (12) rotatably mounted at the tail end of the welding mechanical arm (11), the welding mechanical arm (12) comprises a welding gun (121), a welding gun rotation angle adjusting piece (122) and a welding gun extending position adjusting piece (123), and the welding gun (121) is fixedly mounted through the welding gun rotation angle adjusting piece (122) and the welding gun extending position adjusting piece (123) to adjust the initial position of the welding gun (121).

Preferably, a smoke exhaust device is arranged in the welding manipulator (12), a smoke exhaust channel of the smoke exhaust device is arranged in the length direction of a shell of the platform body (211), a smoke inlet end of the smoke exhaust channel is located at the end of a welding gun (121) of the welding manipulator (12), and a smoke outlet end of the smoke exhaust channel is arranged at the top of the platform body (211) and is far away from the welding gun (121).

Preferably, the smoke exhaust device further comprises a smoke treatment device connected with the smoke outlet end.

Preferably, the platform body (211) is provided with a plurality of walking feet (2121), and the tail ends of the walking feet (2121) are attached to the panel above the U-shaped ribs.

Preferably, the lower end of each walking foot (2121) is provided with a walking wheel (2121a), an electric cylinder and a bracket are arranged in each walking wheel (2121a), and the electric cylinder pushes out and supports the bracket on the bottom surface when the walking feet (2121) are fixed.

Preferably, the upper end of the walking wheel (2121a) is connected to a foot (2121c) through a walking foot rotating mechanism (2121b), the foot (2121c) is connected to a walking foot mounting section (2121e) through a walking foot steering mechanism (2121d), and the upper end of the walking foot mounting section (2121e) is fixed below the platform body (211).

Preferably, the walking foot synchronizing mechanism is a walking foot connecting mechanism (2122) for connecting two adjacent walking feet (2121) along the length direction of the platform segment (21), and the walking foot connecting mechanism (2122) comprises a crank slider mechanism (2122a), a helical gear (2122b), an intermediate beam (2122c), an upper guide rod (2122d) and a lower guide rod (2122 e); a plurality of bevel gears (2122a) are arranged on the middle cross beam (2122c) at intervals, and two adjacent bevel gears (2122b) are connected by adopting the crank slider mechanism (2122 a);

in each crank slider mechanism (2122a), two connecting rods hinged with the slider are respectively connected to two adjacent bevel gears (2122b), and the connecting rods are eccentrically hinged with the bevel gears (2122 b); the slider of each crank slider mechanism (2122a) can slide along the upper guide rod (2122d) or the lower guide rod (2122e), and the middle cross beam (2122c), the upper guide rod (2122d) and the lower guide rod (2122e) are arranged longitudinally and parallel to each other.

Preferably, the walking foot synchronizing mechanism includes a horizontal potential sensor mounted on the platform body (211) and a control module for adjusting the height of the walking foot (2121) according to a detection result of the horizontal potential sensor, or the walking foot synchronizing mechanism includes a distance sensor mounted on each walking foot (2121) for detecting the height of the platform body (211) and a control module for adjusting the height of the walking foot (2121) according to a detection result of the distance sensor.

Preferably, the plug-in mechanism (22) comprises a flexible shell (221) connected with the platform body (211), a buffer shell (222) is arranged at the tail end of the flexible shell (211), a mechanical chuck (223) and a threaded guide rod (224) are arranged in the flexible shell (221), the mechanical chuck (223) is in threaded fit connection with the threaded guide rod (224), and a plurality of buckles (2231) capable of being buckled with each other are arranged on the mechanical chuck (223).

Preferably, the plug-in mechanism (22) further comprises a tension controller (225), and the tension controller (225) comprises a coupling thimble (2251), a coupling motor (2252), a mechanical stop (2253) and a spring (2254); the coupling ejector pin (2252) protrudes out of the end face of the buffer shell (222) and triggers the coupling motor (2252), and the mechanical stopper (2253) is arranged on one side of the threaded guide rod (224) and is driven by the coupling motor (2252) to move in the length direction perpendicular to the threaded guide rod (224); the spring (2254) is sleeved on the threaded guide rod (224), one end of the spring is fixedly connected with the threaded guide rod (224), and the other end of the spring is connected to the mechanical chuck (223).

Preferably, the plugging mechanism (22) further comprises a retracting mechanism (226), the retracting mechanism (226) comprises a retracting motor (2261) and a pull wire (2262), one end of the pull wire (2262) is connected with the power output end of the retracting motor (2261), and the other end of the pull wire is connected with the mechanical chuck (223).

Preferably, an adjusting device (13) is arranged at the mounting position of the welding mechanism (10) in the platform body (211), the adjusting device (13) comprises a first adjusting mechanism (131) for adjusting the transverse position of the two welding mechanisms (10) and a second adjusting mechanism (132) for adjusting the height position, the first adjusting mechanism (131) is mounted on the second adjusting mechanism (132), the first adjusting mechanism (131) comprises an adjusting motor (1311), a first gear (1312), a second gear (1313), a first sliding rail (1314), a second sliding rail (1315) and a base (1316), the adjusting motor (1311) is fixed on the base (1316), the first gear (1312) is mounted on the base (1316) and connected with the output end of the adjusting motor (1311), and the first gear (1312) and the second gear (1313) are meshed with each other, the first sliding rail (1314) and the second sliding rail (1315) are mounted on the base (1316) in a transversely-movable manner, the first gear (1312) is matched with the first sliding rail (1314), the second gear (1313) is matched with the second sliding rail (1315), the first sliding rail (1314) and the second sliding rail (1315) are transversely arranged, and the two welding mechanisms (10) are respectively fixedly connected with the first sliding rail (1314) and the second sliding rail (1315).

Preferably, the first sliding rail (1314) and the second sliding rail (1315) are racks respectively engaged with the first gear and the second gear.

Preferably, the second adjusting mechanism (132) comprises a cylinder (1321) and a solenoid valve (1322) for controlling the expansion and contraction of the cylinder (1321), and a piston rod of the cylinder (1321) is arranged in a vertical direction and connected to the base (1316).

The invention has the beneficial effects that: in the U rib interior elevation welding system based on the multi-section splicing platform, the mobile platform is divided into at least two platform sections and is connected by the splicing mechanism, and the U rib can be placed into the U rib without forming a longer inlet on the U rib, so that the influence of the overlong inlet on a bridge structure is avoided, and the placing operation is easier; the mobile platform is divided into at least two platform sections, so that when the U rib is internally provided with a bending section, the movable platform can be divided into sections to pass through the bending section, and the U rib with a larger complete angle can be more easily applied to the bending section; the radar sensor is arranged on the platform body, so that the detection of the raised obstacles in the U rib is realized, walking avoidance is provided for the mobile platform, and the mobile platform moves more stably; a plurality of walking feet of the walking mechanism are synchronous with the walking foot synchronizing mechanism, so that the moving platform operates more stably, and the effect of the welding gun is ensured.

Drawings

Fig. 1 is a front view of a U-rib internal elevation welding system based on a multi-segment plugging platform according to a preferred embodiment of the present invention.

Fig. 2 is a perspective view of a welding robot of the welding mechanism of fig. 1.

Fig. 3 is a front view of the platform segment of fig. 1.

Fig. 4 is a front view of the travel mechanism of fig. 3.

Fig. 5 is a perspective view of the walking foot in fig. 4.

Fig. 6 is a perspective view of another angle of the walking foot of fig. 4.

Fig. 7 is a structural schematic of the walking foot connecting mechanism in fig. 4.

Fig. 8 is a side view of the bevel gear of fig. 7 assembled with the connecting rod of the crank block mechanism.

Fig. 9 is a schematic structural diagram of the plugging mechanism in fig. 1 after plugging.

Fig. 10 is an enlarged view of the plugging mechanism in fig. 9.

Fig. 11 is a front view of the mechanical chuck of fig. 10.

Fig. 12 is a schematic view of the adjustment device and welding mechanism within the cart of fig. 1.

Fig. 13 is a schematic structural view of the adjusting device in fig. 12.

The components in the figures are numbered as follows:

the welding mechanism 10 (wherein, the welding mechanical arm 11, the welding mechanical arm 12, the adjusting device 13; the welding gun 121, the welding gun rotation angle adjusting piece 122, and the welding gun extending position adjusting piece 123);

the first adjustment mechanism 131 (wherein the adjustment motor 1311, the first gear 1312, the second gear 1313, the first slide rail 1314, the second slide rail 1315, the base 1316);

the second adjustment mechanism 132 (among them, the air cylinder 1321 and the solenoid valve 1322);

a mobile platform 20;

the platform segment 21 (among them, the platform body 211, the walking mechanism 212, the radar sensor 2111, the walking foot 2121, the walking foot connecting mechanism 2122, the walking wheel 2121a, the walking foot rotating mechanism 2121b, the foot 2121c, the walking foot steering mechanism 2121d, the walking foot mounting section 2121e, the crank slider mechanism 2122a, the helical gear 2122b, the middle cross beam 2122c, the upper guide rod 2122d, and the lower guide rod 2122 e);

the plugging mechanism 22 (among others, flexible housing 221, buffer housing 222, mechanical chuck 223, threaded guide rod 224, tension controller 225, retraction mechanism 226; coupling pin 2251, coupling motor 2252, mechanical stop 2253, spring 2254; retraction motor 2261, pull wire 2262).

Detailed Description

The invention is described in further detail below with reference to the figures and the specific embodiments.

Referring to fig. 1, a schematic structural diagram of a U-rib internal elevation welding system based on a multi-segment plugging platform according to a preferred embodiment of the present invention is shown. The U rib internal elevation welding system based on the multi-segment plug-in platform is used for welding an area to be welded between a U rib and a panel from the inside of the U rib, comprises a welding mechanism 10 and a moving platform 20, wherein the welding mechanism 10 is arranged on the moving platform 20, and the moving platform 20 moves in the U rib, so that the welding mechanism 10 is driven to perform welding.

The welding mechanism 10 includes a welding robot arm 11 and a welding robot 12 rotatably mounted on a distal end of the welding robot arm 11.

The welding manipulator arm 11 is provided with a transverse adjusting screw and an angle adjusting screw at the extending position of the welding manipulator 12, and the position of the welding manipulator 12 can be manually or automatically adjusted. The welding mechanical arm 11 has a structure principle similar to that of the walking foot 2121 described below, and the welding mechanical arm 11 can perform 360-degree three-dimensional space welding without dead angles.

The welding robot 12 is provided with a fume extractor for processing fumes generated during the welding process. The fume extractor includes a fume extraction duct and an air extractor, and the fume extraction duct is provided on the housing of the welding robot (the platform body 211). The smoke exhaust channel is provided with a smoke inlet end and a smoke outlet end, and smoke generated by the welding robot during welding can be sucked from the smoke inlet end (the end part of the welding gun) through the exhaust device and discharged from the smoke outlet end. The fume extractor of this kind of mode structure is compacter, does not need extra occupation space, has solved the narrow and small smoke and dust exhaust problem of U rib inner space, has ensured welding robot monitoring devices's normal work.

For better smoke exhaust, the smoke exhaust passage is arranged along the length direction of the casing of the welding robot (the platform body 211), the smoke inlet end is arranged at one end of the casing close to the work of the welding gun 121, and the smoke outlet end is arranged at one end of the casing far from the work of the welding gun 121. Since the smoke floats up in the air, the smoke exhaust passage can be arranged at the top of the shell of the welding robot.

In addition, in order to treat the discharged smoke and dust and prevent the direct discharge from causing air pollution, the smoke exhaust device also comprises a smoke and dust treatment device, wherein a smoke and dust outlet end of the smoke exhaust channel is connected with the smoke and dust treatment device, and the smoke and dust enters the smoke and dust treatment device through the smoke and dust outlet end to be treated.

Referring to fig. 2, the welding robot 12 includes a welding torch 121, a torch rotation angle adjuster 122, and a torch extending position adjuster 123, and the torch rotation angle adjuster 122 and the torch extending position adjuster 123 may manually or automatically adjust an initial position of the welding torch 121.

In the illustrated embodiment, two sets of welding mechanisms 10 are provided in the U-rib internal elevation welding system based on the multi-segment plug-in platform, so as to weld the welding seams on two sides of the U-rib at the same time, thereby improving the repair welding efficiency by times.

The mobile platform 20 includes a platform segment 21 and an insertion mechanism 22, and at least two platform segments 21 are connected by the insertion mechanism 22. In the illustrated embodiment, two platform segments are illustrated as an example. It should be noted that in other embodiments, the number of platform segments 21 of the moving platform 20 can be adjusted according to actual needs, and every two adjacent platform segments 21 are connected by the plugging mechanism 22.

Referring to fig. 3, each platform segment 21 includes a platform body 211 and a traveling mechanism 212 installed below the platform body 211.

The platform body 211 is a welding robot body, in which a welding power device, an electric power device, a dust removing device, a camera device and the like are arranged. The platform body 211 is also provided with a radar sensor 2111 for detecting a protruding obstacle in front.

The walking mechanism 212 includes a plurality of walking feet 2121 and a walking foot connecting mechanism 2122, and the walking foot connecting mechanism 2122 is provided along the longitudinal direction of the platform segment 21 and connects the plurality of walking feet 2121 in this direction into an integrated mechanism. The plurality of walking feet 2121 realize synchronous movement by the walking foot connecting mechanism 2122.

As shown in fig. 5 and 6, each walking foot 2121 includes a walking wheel 2121a, a walking foot rotating mechanism 2121b, a foot 2121c, a walking foot steering mechanism 2121d, and a walking foot mounting section 2121e, which are sequentially connected from bottom to top, an upper end of the walking wheel 2121a is connected to the foot 2121c through the walking foot rotating mechanism 2121b, the foot 2121c is connected to the walking foot mounting section 2121e through the walking foot steering mechanism 2121d, and an upper end of the walking foot mounting section 2121e is fixed below the platform body 211. The walking wheels 2121a can rotate to walk, and when the walking stops, electric cylinders are arranged inside the walking wheels 2121a to push out the support, so that the position of the walking feet 2121 is fixed by the support.

As shown in fig. 7, the walking foot connecting mechanism 2122 includes a crank slider mechanism 2122a, a helical gear 2122b, a middle cross member 2122c, an upper guide rod 2122d, and a lower guide rod 2122 e. Each bevel gear 2122a is mounted on the middle cross beam 2122c at intervals, and two adjacent bevel gears 2122b are connected by a crank-slider mechanism 2122 a. In each crank slider mechanism 2122a, two connecting rods hinged to the slider are respectively connected to two adjacent bevel gears 2122b, and the connecting rods are hinged to the eccentric of the bevel gears 2122b, as shown in fig. 8. The slider of each crank slider mechanism 2122a can slide along an upper guide rod 2122d or a lower guide rod 2122e, and the middle cross beam 2122c, the upper guide rod 2122d, and the lower guide rod 2122e are disposed parallel to each other. The middle cross member 2122c is used to fix the rotation center of the bevel gear 2122b, and ensure that the position of the bevel gear 2122b is not changed, so as to accurately transmit the displacement.

The driving force and displacement are transmitted between the driving foot connecting mechanism 2122 and the driving foot 2121 by means of engaged helical gears. Specifically, the first helical gear 2122b of the walking foot link mechanism 2122 meshes with a helical gear provided at the walking foot steering mechanism 2121 d. The walking foot connecting mechanism 2122 and the walking foot 2121 adopt the engaged helical gears to transmit the motive power, and have the advantages of compact structure, large contact area and small stress, thereby ensuring more stable transmission and further reducing the walking shake. The movement process of the traveling mechanism 212 is as follows: when one of the links of the first slider-crank mechanism 2122a receives a rotational displacement from the first walking foot 2121, the geared bevel gear 2122b rotates relatively to push the slider to move, thereby driving the second link to rotate, and the second link rotates relatively to the first bevel gear 2122b eccentrically hinged thereto. The displacement continues to be transmitted to the next mating bevel gear 2122b through the other side of the crank slider mechanism 2122a on the first bevel gear 2122b until it is transmitted to the next walking foot 2121. The helical gear of the first walking foot 2121 rotates by a certain angle to rotate the helical gear engaged with the helical gear in the walking foot connecting mechanism 2122, and the displacement of the first walking foot 212 is transmitted backward step by the multi-stage crank block mechanism 2122a, and the rotational displacement of the last stage crank block mechanism 2122a is fed back to the second walking foot 212 to generate a relative displacement of the second walking foot 212. In this way, the interval between two adjacent walking feet 2121 can be adjusted by the number of steps of the crank-slider mechanism. Through the transmission of the displacement, the generated time difference can effectively form the alternate motion of the plurality of walking feet 2121, thereby ensuring the stability of the equipment, for example, when the first walking foot 2121 reaches the position, the displacement is transmitted to the next walking foot 2121 through the multi-stage crank slider mechanism, in the transmission process, the first and subsequent walking feet 2121 continue to keep the original state, and the stability of the movement of the robot body is not influenced by the movement of one walking foot 2121 when the platform crosses obstacles such as a front bulge, a pit, or deformation, and the like, thereby improving the quality of the upward welding.

The walking foot connection mechanism 2122 can instead be an electrically controlled horizontal potential sensor installed inside the trolley, or a distance sensor installed on the walking foot 2121 to detect the height, and then feed back the height to the control center to adjust the other walking feet 2121 with position difference.

As shown in fig. 9, the plug mechanisms 22 are respectively disposed on the opposite faces of the adjacent platform bodies 211, and the structures of the plug mechanisms 22 that the two platform bodies 211 are mutually connected and matched are the same.

As shown in fig. 10, the structure of the one-side plug mechanism 22 will be described as an example. The plugging mechanism 22 comprises a flexible shell 221 connected with the platform body 211, and a buffer shell 222 is arranged at the tail end of the flexible shell 211. Within the flexible housing 221 are a mechanical chuck 223, a threaded guide rod 224, a tension controller 225, and a retraction mechanism 226. The mechanical chuck 223 is connected with the threaded guide rod 224 in a threaded fit manner, a plurality of buckles 2231 are fixedly arranged on the mechanical chuck 223, and the mechanical chuck 223 can rotate with the buckles when moving horizontally along the threaded guide rod 224. The mechanical chuck 223 is configured as shown in fig. 11, with a plurality of snaps 2231 cooperatively engaged with one another.

The tension controller 225 includes a coupling pin 2251, a coupling motor 2252, a mechanical stop 2253, and a spring 2254. The coupling pin 2252 protrudes from an end surface of the buffer housing 222 and triggers the coupling motor 2252, and the mechanical stopper 2253 is disposed at one side of the screw guide 224 and is driven by the coupling motor 2252 to move in a direction perpendicular to the length of the screw guide 224. One end of the spring 2254 is connected to the mechanical chuck 223, and the other end is fixedly connected to the threaded guide rod 224, when the left and right sides contact each other, the coupling pins 2251 on both sides contact each other, the coupling motor 2252 will release the mechanical stopper 2253, and under the elastic force of the spring 2254, the mechanical chuck 223 is driven to move horizontally along the threaded guide rod 224, and at the same time, the buckle 2231 on the mechanical chuck 223 is driven to rotate, so that the buckles 2231 on the mechanical chucks 223 on both sides are fastened and locked with each other, and the connection operation of the platform bodies 211 on both sides is simpler, faster and more reliable.

The retracting mechanism 226 comprises a retracting motor 2261 and a pull wire 2262, wherein one end of the pull wire 2262 is connected with the output end of the retracting motor 2261, and the other end is connected with the mechanical chuck 223; when the platform bodies 211 on the left side and the right side need to be disconnected, the recovery motor 2261 recovers the pull wire 2262, the driving chuck 223 horizontally moves along the threaded guide rod 224, and meanwhile, the mechanical chuck 223 is driven to reversely rotate, so that the buckles 2231 on the platform bodies 211 on the left side and the right side are staggered and separated, and the separation operation of the platform bodies 211 on the left side and the right side is simpler, more convenient, quicker and more reliable.

Referring to fig. 12 and 13, in the platform body 211, the mounting position of the welding mechanism 10 is provided with an adjusting device 13 including a first adjusting mechanism 131 for adjusting the horizontal transverse position and a second adjusting mechanism 132 for adjusting the height position. The first adjustment mechanism 131 is a lateral movement adjustment mechanism of the welding gun 121 for moving the position of the welding robot arm 11 in the lateral direction. The first adjustment mechanism 131 is integrally mounted on the second adjustment mechanism 132. The second adjusting mechanism 132 is a height adjusting mechanism of the welding gun 121, is disposed below the first adjusting mechanism 131, and corresponds to a lifting base of the first adjusting mechanism 131.

The first adjusting mechanism 131 includes an adjusting motor 1311, a first gear 1312, a second gear 1313, a first sliding rail 1314, a second sliding rail 1315 and a base 1316, the adjusting motor 1311 is fixed on the base 1316, the first gear 1312 is installed on the base 1316 and connected with an output end of the adjusting motor 1311, the first gear 1312 and the second gear 1313 are engaged with each other, and the first sliding rail 1314 and the second sliding rail 1315 are installed on the base 1316 in a manner of moving along a transverse direction. The first gear 1312 is matched with the first slide rail 1314, the second gear 1313 is matched with the second slide rail 1315, the first slide rail 1314 and the second slide rail 1315 are transversely arranged along the horizontal direction, the two mechanical arms 11 of the welding mechanism 10 are respectively fixed on the first slide rail 1314 and the second slide rail 1315, and the first slide rail 1314 and the second slide rail 1315 slide to drive the two mechanical arms 11 to move transversely in an opening and closing manner. In the illustrated embodiment, the first and

second slides

1314, 1315 can be rack structures.

The second adjusting mechanism 132 includes a cylinder 1321 and a solenoid valve 1322, the solenoid valve 1322 controls the expansion and contraction of the cylinder 1321, and a piston rod of the cylinder 1321 is disposed in a vertical direction and connected to the base 1316, so as to lift and lower the base 1316.

The output end of the adjusting motor 1311 is in transmission connection with the first gear 1311, the first gear 1311 and the second gear 1312 are meshed with each other, and the first gear 1312 and the second gear 1313 are two identical gears. The first gear 1312 is rotated by the adjustment motor 1311, and the second gear 1313 is rotated by the first gear 1312. The first gear 1312 and the second gear 1313 rotate in opposite directions, so as to symmetrically drive the first sliding rail 1314 and the second sliding rail 1315 to move in opposite directions, and finally drive the left and right welding guns 121 to symmetrically move in a horizontal direction. The adjusting device 13 is more compact in structure, can adjust the height of the two construction heads and the distance between the two construction heads in the horizontal direction, and can guarantee the adjusting precision of the angle and the position of the welding gun 121.

The working process of the U rib internal elevation welding system based on the multi-segment plug-in platform is as follows:

when the radar sensor 2111 of the mobile platform 20 detects that there is a protruding obstacle in front of the inside of the U-rib, the first walking foot 2121 under the platform body 211 in front is lifted up by the connection of the output shaft of the servo motor and the walking foot steering mechanism 2121d in the rotation direction of the walking foot steering mechanism 2121d in the vertical plane, and the walking wheel 2121a and the foot 2121c move forward continuously after directly crossing the obstacle. The walking foot steering mechanism 2121d of the subsequent walking foot 2121 is sequentially driven by the walking foot connecting mechanism 2122 to rotate by the same angle until the obstacle is smoothly crossed, so that the stability of the height of the mobile platform 20 is guaranteed, the shaking caused by local deformation or sundries in the walking process is reduced, the shaking is reduced, and the upward welding quality inside the U rib is improved.

When the moving platform 20 detects that the U-rib is curved, the upper part of the walking wheel 2121a is connected to the lower part of the support foot 2121c through the walking foot rotating mechanism 2121b, and is connected to the walking foot rotating mechanism 2121b through the output shaft of the servo motor, so as to adjust and control the rotation direction of the walking wheel 2121a in the horizontal plane. When entering the curved U-rib section, the plurality of road wheels 2121a on both sides of the moving platform 20 rotate by the same angle, which is suitable for walking in the curved U-rib section.

When the mobile platform 20 moves to a designated position for fixed-point construction, the multiple walking wheels 2121a on the two sides of the mobile platform 20 can rotate by different angles respectively, rolling friction of the walking wheels 2121a is changed into sliding friction, friction is multiplied, and then the mobile platform 20 is effectively prevented from freely moving.

Also be equipped with a plurality of walking feet 2121 at moving platform 20 upper portion both sides also symmetry, can be with steel bridge panel looks hugging closely the subsides, a plurality of walking feet 2121 provide the support simultaneously about moving platform 20, when one of them walking foot 2121 meets protruding barrier in the lower face, the walking foot 2121 that corresponds the top pastes closely with steel bridge panel mutually, and then prevent moving platform 20 perk upwards, force the walking foot 2121 bending contraction that meets the barrier, and then guarantee moving platform 20 high stability, reduce the rocking that the walking in-process produced because of local deformation or debris, reduce the shake, and then improve the inside upward position welding's of U rib quality.

The mobile platform 20 is respectively provided as platform bodies 211 of more than two sections, and two adjacent platform bodies 211 are connected through the plugging mechanism 22. When two adjacent platform bodies 211 are connected with each other, the coupling ejector pin 2251 collides with another, the mechanical stopper 2253 is ejected, the spring 2254 on the thread guide rod 224 is extended, and the snap 2231 in the mechanical chuck 223 is pushed to connect with each other, thereby rotatably connecting two adjacent platform bodies 211. The flexible casing 221 and the buffer casing 222 may be internally provided with cables and air pipes, so that the adjacent platform bodies 211 may rotate around the connection point by a certain angle.

The above-described embodiments of the present invention only represent some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A U rib internal elevation welding system based on a multi-segment plug-in platform is used for welding an area to be welded between a U rib and a panel from the inside of the U rib, and comprises a welding mechanism (10) and a moving platform (20), wherein the welding mechanism (10) is arranged on the moving platform (20), the moving platform (20) moves in the U rib, and the U rib internal elevation welding system is characterized in that: the mobile platform (20) comprises at least two platform sections (21) and an insertion mechanism (22), and the adjacent platform sections (21) are connected through the insertion mechanism (22); each platform segment (21) comprises a platform body (211) and a walking mechanism (212) arranged below the platform body (211); a radar sensor (2111) for detecting a raised obstacle is arranged on the platform body (211);

the walking mechanism (212) comprises a plurality of walking feet (2121) and a walking foot synchronizing mechanism, the walking feet (2121) are arranged below the platform body (211) at intervals along the length direction of the platform body (211), and the walking foot synchronizing mechanism synchronizes the movement of the walking feet (2121) to the adjacent walking feet (2121);

the lower end of each walking foot (2121) is provided with a walking wheel (2121a), an electric cylinder and a support are arranged in each walking wheel (2121a), and the electric cylinder pushes out the support to be supported on the bottom surface when the walking feet (2121) are fixed;

the upper end of the walking wheel (2121a) is connected to a supporting leg (2121c) through a walking leg rotating mechanism (2121b), the supporting leg (2121c) is connected to a walking leg mounting section (2121e) through a walking leg steering mechanism (2121d), and the upper end of the walking leg mounting section (2121e) is fixed below the platform body (211);

the walking foot synchronizing mechanism is a walking foot connecting mechanism (2122) which is used for connecting two adjacent walking feet (2121) along the length direction of the platform segment (21), and the walking foot connecting mechanism (2122) comprises a crank slider mechanism (2122a), a helical gear (2122b), a middle cross beam (2122c), an upper guide rod (2122d) and a lower guide rod (2122 e); a plurality of bevel gears (2122b) are arranged on the middle cross beam (2122c) at intervals, and two adjacent bevel gears (2122b) are connected by adopting the crank slider mechanism (2122 a);

2. The multi-segment plug-in platform based U-rib internal elevation welding system of claim 1, wherein: welding mechanism (10) are rotationally installed including welding robotic arm (11) welding robotic arm (12) terminal, welding robotic arm (12) include welder (121), welder rotation angle regulating part (122), welder extend position regulating part (123), welder (121) pass through welder rotation angle regulating part (122) welder extend position regulating part (123) installation is fixed in order to adjust welder (121)'s initial position.

3. The multi-segment plug-in platform based U-rib internal elevation welding system of claim 2, wherein: the welding manipulator (12) is internally provided with a smoke exhaust device, a smoke exhaust channel of the smoke exhaust device is arranged in the length direction of a shell of the platform body (211), a smoke inlet end of the smoke exhaust channel is located at the end of a welding gun (121) of the welding manipulator (12), and a smoke outlet end of the smoke exhaust channel is located at the top of the platform body (211) and is far away from the welding gun (121).

4. The multi-segment plug-in platform based U-rib internal elevation welding system of claim 3, wherein: the smoke exhaust device also comprises a smoke treatment device connected with the smoke outlet end.

5. The multi-segment plug-in platform based U-rib internal elevation welding system of claim 1, wherein: the platform body (211) is provided with a plurality of walking feet (2121), and the tail ends of the walking feet (2121) are attached to the panel above the U ribs.

6. The multi-segment plug-in platform based U-rib internal elevation welding system of claim 1, wherein: the walking foot synchronizing mechanism comprises a horizontal potential sensor arranged on the platform body (211) and a control module for adjusting the height of the walking foot (2121) according to the detection result of the horizontal potential sensor, or the walking foot synchronizing mechanism comprises distance sensors arranged on each walking foot (2121) and used for detecting the height of the platform body (211) and a control module for adjusting the height of the walking foot (2121) according to the detection result of the distance sensors.

7. The multi-segment plug-in platform based U-rib internal elevation welding system of claim 1, wherein: grafting mechanism (22) include with flexible casing (221) that platform body (211) are connected, the end of flexible casing (221) is equipped with buffering casing (222), be equipped with mechanical chuck (223) and screw thread guide arm (224) in flexible casing (221), mechanical chuck (223) with screw thread guide arm (224) screw-thread fit is connected, be equipped with a plurality of buckles (2231) that can lock each other on mechanical chuck (223).

8. The multi-segment plug-in platform based U-rib internal elevation welding system of claim 7, wherein: the plugging mechanism (22) further comprises a tension controller (225), wherein the tension controller (225) comprises a coupling thimble (2251), a coupling motor (2252), a mechanical stop (2253) and a spring (2254); the coupling ejector pin (2251) protrudes out of the end face of the buffer shell (222) and triggers the coupling motor (2252), and the mechanical stopper (2253) is arranged on one side of the threaded guide rod (224) and is driven by the coupling motor (2252) to move in a length direction perpendicular to the threaded guide rod (224); the spring (2254) is sleeved on the threaded guide rod (224), one end of the spring is fixedly connected with the threaded guide rod (224), and the other end of the spring is connected to the mechanical chuck (223).

9. The multi-segment plug-in platform based U-rib internal elevation welding system of claim 7, wherein: the plug-in mechanism (22) further comprises a retracting mechanism (226), the retracting mechanism (226) comprises a retracting motor (2261) and a pull wire (2262), one end of the pull wire (2262) is connected with the power output end of the retracting motor (2261), and the other end of the pull wire is connected with the mechanical chuck (223).

10. The multi-segment plug-in platform based U-rib internal elevation welding system of claim 1, wherein: an adjusting device (13) is arranged at the mounting position of the welding mechanism (10) in the platform body (211), the adjusting device (13) comprises a first adjusting mechanism (131) for adjusting the transverse positions of the two welding mechanisms (10) and a second adjusting mechanism (132) for adjusting the height position, the first adjusting mechanism (131) is mounted on the second adjusting mechanism (132), the first adjusting mechanism (131) comprises an adjusting motor (1311), a first gear (1312), a second gear (1313), a first sliding rail (1314), a second sliding rail (1315) and a base (1316), the adjusting motor (1311) is fixed on the base (1316), the first gear (1312) is mounted on the base (1316) and connected with the output end of the adjusting motor (1311), and the first gear (1312) and the second gear (1313) are meshed with each other, the first sliding rail (1314) and the second sliding rail (1315) are mounted on the base (1316) in a transversely-movable manner, the first gear (1312) is matched with the first sliding rail (1314), the second gear (1313) is matched with the second sliding rail (1315), the first sliding rail (1314) and the second sliding rail (1315) are transversely arranged, and the two welding mechanisms (10) are respectively fixedly connected with the first sliding rail (1314) and the second sliding rail (1315).

11. The multi-segment plug-in platform based U-rib internal elevation welding system of claim 10, wherein: the first sliding rail (1314) and the second sliding rail (1315) are racks respectively meshed with the first gear and the second gear.

12. The multi-segment plug-in platform based U-rib internal elevation welding system of claim 10, wherein: the second adjusting mechanism (132) comprises an air cylinder (1321) and a solenoid valve (1322) for controlling the expansion and contraction of the air cylinder (1321), wherein a piston rod of the air cylinder (1321) is arranged in the vertical direction and is connected to the base (1316).