An assembly and positioning structure for riveting and welding of building steel structures

Abstract

This invention discloses an assembly and positioning structure for riveting and welding of building steel structures, including a base and multiple casters at the bottom of the base. A turntable rotating around a vertical axis is provided at the upper end of the base. A robotic arm is mounted on the turntable, and an electric gripper is installed at the end of the robotic arm. The electric gripper is capable of gripping steel components. Beneficial effects: The assembly and positioning structure for riveting and welding of building steel structures of this invention is compact in size and can use a robotic arm and electric gripper to grip steel components to complete the assembly and positioning work of building steel structure riveting and welding. The robotic arm has a lifting device that can lift the steel components to a high position to complete the assembly and positioning work. It is multifunctional, effectively replacing cranes for the assembly and positioning work of building steel structure riveting and welding, while occupying a small area and working area, and not affecting pedestrian traffic.

Description

Technical Field

[0001] This invention relates to the field of riveting and welding of building steel structures, and particularly to an assembly and positioning structure for riveting and welding of building steel structures. Background Technology

[0002] Currently, for riveting and welding of large and heavy steel structures, one or more cranes are typically used to lift the steel components to be riveted and welded, move them to the assembly position, and then keep the steel components stationary until the workers complete the welding before removing the cranes. While this method of riveting, welding, fabrication, assembly, and positioning of steel structures is highly versatile and applicable to steel components of various sizes and weights, it requires a large area for the lifting operation. In mature commercial areas of cities, finding a large, open, flat area for crane lifting operations is undoubtedly very difficult. Moreover, with high pedestrian traffic in urban areas, crane lifting operations can easily obstruct pedestrian and vehicular traffic, leading to complaints and criticisms from citizens.

[0003] Therefore, it is necessary to design an assembly and positioning structure for riveting and welding of building steel structures with a smaller working area to replace conventional cranes for completing the assembly and positioning work of riveting and welding of building steel structures. Summary of the Invention

[0004] The main objective of this invention is to propose an assembly and positioning structure for riveting and welding of building steel structures, aiming to solve the problem that the current use of cranes for riveting, welding, assembly, and positioning of building steel structures requires a large working space and easily affects the passage of citizens in busy urban areas.

[0005] To address the aforementioned problems, this invention proposes an assembly and positioning structure for riveting and welding of building steel structures, comprising a base and multiple casters located at the bottom of the base. The upper end of the base is provided with a turntable that rotates around a vertical axis. A robotic arm is mounted on the turntable, and an electric gripper is mounted at the end of the robotic arm. The electric gripper is capable of gripping steel components.

[0006] In one embodiment, the robotic arm includes a lifting device, a first rotating arm, and a second rotating arm. The lifting device is vertically fixed on a turntable. A rotating frame is provided at the movable end of the upper end of the lifting device. One end of the first rotating arm is hinged to the rotating frame. A third motor is provided on the rotating frame and is driven to rotate the first rotating arm around the rotating frame. The other end of the first rotating arm is hinged to the second rotating arm. A fourth motor is fixed on the first rotating arm and is driven to rotate the second rotating arm around the other end of the first rotating arm. A fifth motor is provided at the end of the second rotating arm away from the first rotating arm and is driven to rotate the electric gripper.

[0007] In one embodiment, the upper end of the base is provided with a mounting block that rotates around a vertical axis, and the upper end of the mounting block is provided with a turntable that rotates around a vertical axis. The base is provided with a motor 1 that is driven to rotate around the mounting block. The mounting block is driven to rotate around the vertical axis by the motor 1. The mounting block is provided with a motor 2 that is driven to rotate around the turntable. The rotation axes of the turntable and the mounting block coincide.

[0008] In one embodiment, the lower surface of the base is provided with mounting hole one and mounting hole two. There are multiple mounting holes one, which are centrally symmetrically distributed with mounting hole two as the center. The central axis of mounting hole two coincides with the rotation axis of the mounting block.

[0009] Each mounting hole is equipped with a pressure sensor, which is connected to the caster wheel and can detect the downward pressure of the base on the caster wheel.

[0010] A rotating shaft is rotatably installed in the second mounting hole. The upper end of the rotating shaft is fixedly connected to the mounting block, and the lower end of the rotating shaft extends into the second mounting hole and is fixedly connected to the first positioning ring. The first positioning ring prevents the rotating shaft from moving axially.

[0011] A gear ring is coaxially fixed on the positioning ring, and a motor is fixed in the mounting hole. The motor is connected to the gear ring in a transmission manner.

[0012] In one embodiment, the pressure sensor is connected to a universal wheel;

[0013] A thrust bearing is provided between the mounting block and the base, and the thrust bearing is sleeved on the outside of the rotating shaft.

[0014] In one embodiment, a sliding rod and a push-pull device are horizontally fixedly mounted on the mounting block. A weight is slidably mounted on the sliding rod and connected to the push-pull device. The push-pull device drives the weight to slide along the sliding rod closer to or away from the mounting block.

[0015] In one embodiment, the end of the slide bar furthest from the mounting block is provided with a support wheel that contacts the ground;

[0016] The mounting block is equipped with a handrail.

[0017] In one embodiment, the upper surface of the mounting block is provided with a mounting hole three, and a positioning ring two is rotatably installed in the mounting hole three. The positioning ring two is tightly fitted on the lower end of the drive shaft. An end cover is detachably and fixedly installed on the upper surface of the mounting block. The turntable is located on the upper surface of the end cover, and the upper end of the rotating shaft passes through the end cover and is fixedly connected to the turntable.

[0018] A gear ring two is fixed on the outer circumference of the turntable, and a motor two is fixed on the side wall of the end cover. The motor two is connected to the gear ring two in a transmission manner.

[0019] In one embodiment, the weight and the electric gripper are always located on both sides of the base, so that the pressure of the multiple casters on the ground remains the same.

[0020] Beneficial effects: The assembly and positioning structure for riveting and welding of building steel structures of the present invention is small in size and can use a robotic arm and electric grippers to pick up steel components to complete the assembly and positioning of building steel structure riveting and welding. The robotic arm has a lifting device that can lift the steel components to a high place to complete the assembly and positioning of building steel structure riveting and welding. It has many functions and effectively replaces the crane to complete the assembly and positioning of building steel structure riveting and welding. At the same time, it occupies a small area and has a small working area, and does not affect the passage of citizens.

[0021] The assembly and positioning structure for riveting and welding of building steel structures of the present invention is equipped with a weight. The assembly and positioning structure for riveting and welding of building steel structures of the present invention can automatically adjust the position and orientation of the weight according to the weight and orientation of the steel component gripped by the electric gripper, so that the assembly and positioning structure for riveting and welding of building steel structures of the present invention can always remain stable and undisturbed on the ground, ensuring the safe operation of riveting and welding of building steel structures. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the assembly and positioning structure for riveting and welding of building steel structures according to the present invention. Figure 1 ;

[0024] Figure 2 This is a schematic diagram of the assembly and positioning structure for riveting and welding of building steel structures according to the present invention. Figure 2 ;

[0025] Figure 3 This is an internal structural diagram of the mounting block and base of the present invention;

[0026] Figure 4 This is a stress analysis diagram of an assembly and positioning structure for riveting and welding of building steel structures according to the present invention;

[0027] Figure 5This is a control principle diagram of an assembly and positioning structure for riveting and welding of building steel structures according to the present invention.

[0028] The annotations in the attached figures are explained as follows:

[0029] 1. Base; 2. Mounting Hole 1; 3. Pressure Sensor; 4. Caster Wheel; 5. Thrust Bearing; 6. Mounting Block; 7. Rotating Shaft; 8. Mounting Hole 2; 9. Motor 1; 10. Gear Ring 1; 11. Positioning Ring 1; 12. Slide Rod; 13. Weight; 14. Support Wheel; 15. Push-Pull Device; 16. Mounting Hole 3; 17. Positioning Ring 2; 18. Drive Shaft; 19. Turntable; 20. End Cover; 21. Gear Ring 2; 22. Motor 2; 23. Handrail; 24. Lifting Device; 25. Rotating Frame; 26. Motor 3; 27. Rotating Arm 1; 28. Motor 4; 29. ​​Rotating Arm 2; 30. Motor 5; 31. Electric Gripper; 32. Steel Components. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0031] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0032] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0033] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0034] This invention proposes an assembly and positioning structure for riveting and welding of building steel structures. This assembly and positioning structure for riveting and welding of building steel structures is compact in size and can use a robotic arm and an electric gripper 31 to grip steel components 32 to complete the assembly and positioning work of building steel structure riveting and welding. The robotic arm has a lifting device 24, which can lift the steel components 32 to a high place to complete the assembly and positioning work of building steel structure riveting and welding. It has many functions and effectively replaces the crane to complete the assembly and positioning work of building steel structure riveting and welding. At the same time, it occupies a small area and has a small working area, and does not affect the passage of citizens.

[0035] Furthermore, the assembly and positioning structure for riveting and welding of building steel structures of the present invention is provided with a weight 13. The assembly and positioning structure for riveting and welding of building steel structures of the present invention can automatically adjust the position and orientation of the weight 13 according to the weight and orientation of the steel component 32 gripped by the electric gripper 31, so that the assembly and positioning structure for riveting and welding of building steel structures of the present invention can always remain stable and not shake on the ground, ensuring the safe operation of the assembly and positioning structure for riveting and welding of building steel structures.

[0036] Specifically, in one embodiment of the invention, such as Figure 1 and Figure 2As shown, the assembly and positioning structure for riveting and welding of building steel structures includes a base 1 and multiple casters 4 located at the bottom of the base 1. This design allows the assembly and positioning structure for riveting and welding of building steel structures in this embodiment to move freely on the ground. Of course, the casters 4 have a braking function. When the assembly and positioning structure for riveting and welding of building steel structures in this embodiment moves to the working position on flat ground, the braking function of the casters 4 can be used to fix the assembly and positioning structure for riveting and welding of building steel structures in this embodiment to the flat ground, preventing the assembly and positioning structure for riveting and welding of building steel structures in this embodiment from shaking during the assembly and positioning operation of building steel structures, which would affect the safe operation of the assembly and positioning operation of building steel structures.

[0037] In this embodiment, as Figure 1 and Figure 2 As shown, the upper end of the base 1 is provided with a turntable 19 that rotates around a vertical axis. A robotic arm is installed on the turntable 19. The robotic arm can rotate around the vertical axis under the drive of the turntable 19. An electric gripper 31 is installed at the end of the robotic arm. The electric gripper 31 can grip the steel component 32. The steel component 32 can be moved to various positions in space under the combined action of the turntable 19, the robotic arm, and the electric gripper 31. Therefore, the turntable 19, the robotic arm, and the electric gripper 31 can work together to pick up the steel component 32 on the ground and move it to the assembly and positioning position, waiting for manual welding to complete the riveting of the building steel structure.

[0038] Specifically, in this embodiment, such as Figure 1 and Figure 2As shown, the robotic arm includes a lifting device 24, a first rotating arm 27, and a second rotating arm 29. The lifting device 24 is vertically fixed on a turntable 19. The turntable 19 rotates around a vertical axis, causing the lifting device 24 to rotate synchronously. A rotating frame 25 is provided at the movable end of the upper end of the lifting device 24. The rotating frame 25 is raised and lowered by the lifting device 24 to adjust the height of the electric gripper 31 to adapt to the positioning height of the riveting and welding assembly of the building steel structure. One end of the first rotating arm 27 is hinged to the rotating frame 25. A third motor 26 is provided on the rotating frame 25 and is driven by one end of the first rotating arm 27. The third motor 26 drives the first rotating arm 27 to rotate around the rotating frame 25. The other end of the rotating arm 27 is hinged to a rotating arm 29. A motor 4 28 is fixed on the rotating arm 27. The motor 4 28 is connected to the rotating arm 29. The rotating arm 29 is driven to rotate around the other end of the rotating arm 27 by the motor 4 28. A motor 5 30 is provided on the end of the rotating arm 29 away from the rotating arm 27. The motor 5 30 is connected to the electric gripper 31. The electric gripper 31 is driven to rotate by the motor 5 30. With this design, the turntable 19, the robotic arm and the electric gripper 31 can work together to pick up the steel component 32 on the ground and move it to the assembly positioning position and maintain the assembly positioning accuracy of the steel component 32, waiting for manual welding to complete the riveting of the building steel structure.

[0039] In this embodiment, as Figures 1-3 As shown, the upper end of the base 1 is provided with a mounting block 6 that rotates around a vertical axis, and the upper end of the mounting block 6 is provided with a turntable 19 that rotates around a vertical axis. With this design, when the mounting block 6 rotates, the turntable 19 is controlled to rotate as well, so that the position of the robotic arm relative to the ground remains unchanged. In this way, when adjusting the position of the weight block 13, the steel component 32 remains unchanged relative to the ground, which does not affect the assembly and positioning accuracy of the steel component 32 and the assembly and positioning operation of the riveting and welding of the building steel structure.

[0040] In this embodiment, the base 1 is provided with a motor 9 that is connected to the mounting block 6 in a transmission manner. The mounting block 6 is driven to rotate around the vertical axis by the motor 9. The mounting block 6 is provided with a motor 22 that is connected to the turntable 19 in a transmission manner. The turntable 19 is driven to rotate around the vertical axis by the motor 22. The rotation axis 7 of the turntable 19 and the mounting block 6 are coincident.

[0041] Specifically, in this embodiment, such as Figures 1-3As shown, the lower surface of the base 1 is provided with mounting holes 1-2 and 2-8. There are multiple mounting holes 1-2, which are centrally symmetrically distributed around mounting hole 2-8. The central axis of mounting hole 2-8 coincides with the rotation axis 7 of the mounting block 6. A pressure sensor 3 is installed in each mounting hole 1-2. The pressure sensor 3 is connected to the caster wheel 4. The pressure sensor 3 can detect the downward pressure exerted by the base 1 on the caster wheel 4. When the base 1 tilts, the downward pressure exerted by the base 1 on all caster wheels 4 is no longer the same. Figure 4 As shown, after the electric gripper 31 grips the heavier steel component 32, the entire assembly and positioning structure for riveting and welding of the building steel structure becomes unbalanced. The entire assembly and positioning structure is subjected to the ground support force F3 and the downward pull force F2 from the steel component 32. These two forces constitute a torque, which can easily cause the base 1 and mounting block 6 to tilt or even collapse. To prevent the assembly and positioning structure for riveting and welding of the building steel structure in this embodiment from tilting, the orientation of the weight block 13 can be adjusted, such as... Figure 4 As shown, after the addition of the weight 13, the entire assembly and positioning structure for riveting and welding of the building steel structure is also subjected to the downward pressure F1 of the weight 13. The three forces can be balanced, thereby preventing the base 1 and the mounting block 6 from tilting. This ensures that the assembly and positioning structure for riveting and welding of the building steel structure of the present invention can always remain stable and not shake on the ground, thus ensuring the safe operation of the assembly and positioning of the building steel structure for riveting and welding.

[0042] In this embodiment, when the three forces F1, F2, and F3 are balanced, the downward pressure from the base 1 on all the casters 4 is restored to equal. Therefore, by judging whether the detection data of the pressure sensors 3 in all the mounting holes 2 are equal, it can be determined whether the assembly and positioning structure for riveting and welding of the building steel structure in this embodiment has tilted, so as to adjust the reset of the weight 13 in time, so that the downward pressure from the base 1 on all the casters 4 is quickly restored to equal, thereby ensuring that the assembly and positioning structure for riveting and welding of the building steel structure of the present invention can always remain stable and not shake on the ground, ensuring that the assembly and positioning structure for riveting and welding of the building steel structure of the present invention can safely carry out the assembly and positioning operation of the building steel structure riveting and welding.

[0043] In this embodiment, as Figure 3As shown, a rotating shaft 7 is rotatably installed in the second mounting hole 8. The upper end of the rotating shaft 7 is fixedly connected to the mounting block 6, and the lower end of the rotating shaft 7 extends into the second mounting hole 8 and is fixedly connected to the positioning ring 11. The positioning ring 11 prevents the rotating shaft 7 from moving axially out of the second mounting hole 8. A gear ring 10 is coaxially fixed on the positioning ring. A motor 9 is fixed in the second mounting hole 8. The motor 9 is connected to the gear ring 10 for transmission. Preferably, in order to enable the mounting block 6 to rotate quickly, multiple motors 9 can be set in the second mounting hole 8 to increase the torque and speed up the rotation of the mounting block 6, so that the mounting block 6 can still rotate reliably and smoothly under heavy load.

[0044] Preferred, such as Figure 3 As shown, the pressure sensor 3 is rotatably connected to the caster wheel 4. This design does not affect the movement direction of the caster wheel 4 in adjusting the assembly and positioning structure used for riveting and welding of the building steel structure.

[0045] Furthermore, such as Figure 3 As shown, a thrust bearing 5 is provided between the mounting block 6 and the base 1. The thrust bearing 5 is sleeved on the outside of the rotating shaft 7. This design facilitates the smooth rotation of the mounting block 6 and helps to reduce the friction between the mounting block 6 and the base 1.

[0046] In this embodiment, as Figures 1-3 As shown, a sliding rod 12 and a push-pull device 15 are horizontally fixedly installed on the mounting block 6. A weight 13 is slidably installed on the sliding rod 12. The weight 13 is connected to the push-pull device 15. The push-pull device 15 drives the weight 13 to slide along the sliding rod 12 closer to or away from the mounting block 6. Figure 5 As shown, the detection data from multiple pressure sensors 3 are transmitted to the controller in real time. Under normal circumstances, the assembly and positioning structure for riveting and welding of the building steel structure of this invention can always remain stable and without shaking on the ground, and the detection pressure values ​​of multiple pressure sensors 3 are equal. When the assembly and positioning structure for riveting and welding of the building steel structure tilts during the assembly and positioning operation, the detection values ​​of all pressure sensors 3 are no longer equal. At this time, the controller analyzes and processes the detection values ​​of each pressure sensor 3, and determines the appropriate value based on the detection data of each pressure sensor 3. The data determines the direction of tilt of the base 1 and the mounting block 6, and then controls the motor 9 to drive the slide rod 12 to rotate around the base 1. At the same time, the push-pull device 15 is controlled to adjust the position of the weight 13 on the slide rod 12, so that the assembly and positioning structure for riveting and welding of the building steel structure of the present invention is balanced by force. That is, the weight 13 and the electric gripper 31 are always located on both sides of the base 1, so that the pressure of the multiple casters 4 on the ground is kept the same. In this way, the assembly and positioning structure for riveting and welding of the building steel structure of the present invention can be restored to stability on the ground without shaking, and the assembly and positioning operation of riveting and welding of the building steel structure can be carried out safely.

[0047] In addition, while the controller controls motor 19 to drive slide bar 12 to rotate around base 1, the controller simultaneously controls motor 22 to drive turntable 19 to rotate, so that the robotic arm and electric gripper 31 do not rotate relative to the ground, thus not affecting the assembly and positioning accuracy of steel component 32 and the riveting and welding assembly and positioning of building steel structure.

[0048] In this embodiment, further, such as Figure 3 As shown, the end of the slide rod 12 away from the mounting block 6 is provided with a support wheel 14 that contacts the ground. The design of the support wheel 14 can enhance the stability of the slide rod 12 and make the slide rod 12 less likely to bend under its own weight for a long time, thus affecting the smooth sliding of the weight block 13.

[0049] In this embodiment, as Figures 1-3 As shown, a handrail 23 is provided on the mounting block 6. The design of the handrail 23 facilitates manual pushing of the assembly and positioning structure for riveting and welding of the building steel structure in this embodiment on the ground.

[0050] In this embodiment, as Figure 3 As shown, the upper surface of the mounting block 6 is provided with mounting hole three 16, in which a positioning ring two 17 is rotatably installed. The positioning ring two 17 is tightly fitted around the lower end of the drive shaft 18. An end cover 20 is detachably and fixedly installed on the upper surface of the mounting block 6. The turntable 19 is located on the upper surface of the end cover 20. The upper end of the rotating shaft 7 passes through the end cover 20 and is fixedly connected to the turntable 19. The design of the positioning ring two 17 can ensure that the drive shaft 18 rotates smoothly and that the axial movement of the drive shaft 18 will not affect the stability of the rotation of the turntable 19. Figures 1-3 As shown, a gear ring 21 is fixed on the outer circumference of the turntable 19, and a motor 22 is fixed on the side wall of the end cover 20. The motor 22 is connected to the gear ring 21 for transmission, and drives the turntable 19 to rotate.

[0051] In this embodiment, motor 1 (9), motor 2 (22), motor 3 (26), motor 4 (28), and motor 5 (30) are all brake stepper motors.

[0052] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A building steel structure rivet welding assembly positioning structure, characterized by, The base is provided with a plurality of universal wheels at the bottom, and the upper end of the base is provided with a rotary table that rotates around a vertical axis, and a mechanical arm is installed on the rotary table, and an electric clamp jaw is installed at the end of the mechanical arm, and the electric clamp jaw can clamp a steel member; The upper end of the base is provided with a mounting block that rotates around a vertical axis, and the upper end of the mounting block is provided with a rotary table that rotates around a vertical axis, and the base is provided with a motor one that is in transmission connection with the mounting block, the mounting block is driven to rotate around a vertical axis by the motor one, and the mounting block is provided with a motor two, the motor two is in transmission connection with the rotary table, and the rotary table is driven to rotate around a vertical axis by the motor two, and the rotary axes of the rotary table and the mounting block coincide; The lower surface of the base is provided with a mounting hole one and a mounting hole two, the mounting hole one has a plurality of center-symmetrically distributed mounting holes two as a center, and the center axis of the mounting hole two and the rotary axis of the mounting block coincide; A pressure sensor is installed in each mounting hole one, the pressure sensor is connected with the universal wheel, and the pressure sensor can detect the downward pressure of the base on the universal wheel; A rotating shaft is rotatably installed in the mounting hole two, the upper end of the rotating shaft is fixedly connected with the mounting block, the lower end of the rotating shaft extends into the mounting hole two and is fixedly connected with a positioning ring one, and the rotating shaft is prevented from moving axially by the positioning ring one; A gear ring one is coaxially fixed on the positioning ring, and the motor one is fixed in the mounting hole two and is in transmission connection with the gear ring one.

2. A positioning structure for rivet welding of a building steel structure according to claim 1, wherein The mechanical arm comprises a lifting device, a rotating arm one and a rotating arm two, the lifting device is vertically fixedly installed on the rotary table, the movable end of the upper end of the lifting device is provided with a rotating frame, one end of the rotating arm one is hingedly connected with the rotating frame, the rotating frame is provided with a motor three in transmission connection with one end of the rotating arm one, the rotating arm one is driven to rotate around the rotating frame by the motor three, the other end of the rotating arm one is hingedly connected with the rotating arm two, the rotating arm one is fixedly provided with a motor four, the motor four is in transmission connection with the rotating arm two, the rotating arm two is driven to rotate around the other end of the rotating arm one by the motor four, and the rotating arm two is provided with a motor five at the end away from the rotating arm one, the motor five is in transmission connection with the electric clamp jaw, and the electric clamp jaw is driven to rotate by the motor five.

3. A positioning structure for rivet welding of a building steel structure according to claim 1, wherein The pressure sensor is in rotary connection with the universal wheel; A thrust bearing is arranged between the mounting block and the base, and the thrust bearing is sleeved outside the rotating shaft.

4. A positioning structure for rivet welding of a building steel structure according to claim 1, wherein A slide rod and a push-pull device are horizontally fixedly installed on the mounting block, a weight is slidably installed on the slide rod, the weight is connected with the push-pull device, and the weight is driven to slide along the slide rod to approach or move away from the mounting block by the push-pull device.

5. A positioning structure for rivet welding of a building steel structure according to claim 4, wherein A supporting wheel in contact with the ground is arranged at the end of the slide rod away from the mounting block. An armrest is arranged on the mounting block.

6. A positioning structure for rivet welding of a building steel structure according to claim 1, wherein The upper surface of the mounting block is provided with a mounting hole three, a positioning ring two is rotatably installed in the mounting hole three, the positioning ring two is tightly sleeved on the lower end of the transmission shaft, the upper surface of the mounting block is detachably fixedly provided with an end cover, the rotary table is arranged on the upper surface of the end cover, and the upper end of the rotating shaft penetrates through the end cover and is fixedly connected with the rotary table. The outer circumferential surface of the rotating platform is fixed with a gear ring two, the side wall of the end cover is fixed with a motor two, and the motor two is in transmission connection with the gear ring two.

7. A positioning structure for rivet welding of a building steel structure according to claim 4, wherein The heavy block and the electric clamping jaw are always located on both sides of the base, so that the ground pressure of the plurality of universal wheels remains the same.

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