A self-adsorption type air duct flange bolt tightening main body device and control method

Abstract

The present invention provides a main body device and control method for self-adsorption air duct flange bolt tightening, and the device includes a capture module, a drive module, an identification module, an adsorption module, and a centralized control platform. Under the comprehensive control of the centralized control platform, the device is fixed on the surface of the air duct by adsorption through the adsorption module, and the capture module drives the hydraulic rod through the drive motor to realize the movement control of the upper and lower clamps, and the clamps clamp the air duct flange, further improving the overall stability of the device. The identification module collects the relative position information of the device and the flange bolt hole in real time through the camera, and uses the ultrasonic transmitting device to accurately detect the distance between the bolt hole and the device, and then cooperates with the driving module to dynamically adjust the moving distance of the device. The present invention realizes automatic walking, precise positioning, and stable tightening of the device on the surface of the air duct through the assembly combination installation of multiple functional modules, without the need for a mechanical arm, and can be flexibly applied to vertical air duct flanges of different heights, and occupies a small space and has good scene applicability.

Description

Technical Field

[0001] The present invention belongs to the technical field of air duct assembly construction, and in particular relates to a self-adsorption air duct flange bolt tightening main body device and a control method. Background Art

[0002] After the ventilation duct is led out from the equipment room, it gradually extends to each functional room through the shaft; the duct in the shaft is the main pipe, with a square cross-section and a large area (the long side of some ducts reaches 2m). In order to ensure the tightness of the duct system, angle steel flanges are required to connect adjacent pipes. According to the construction process, the civil structure of the vertical pipe shaft is generally constructed first, and then the duct is installed; however, due to the small space, it is difficult for the operator to extend the arm to tighten the bolts far away, resulting in low work efficiency and poor workmanship quality; at the same time, the bolt tightening is done at the edge of the hole, the light is dim, and the safety of the personnel is difficult to ensure; in addition, the number of duct flange bolts is huge, and the traditional operation method is inefficient, which seriously affects the overall construction progress of the project. This has become a common industry problem faced by angle steel flange ducts. At present, although the existing technology also proposes solutions for tightening the angle steel flange bolts of air ducts in narrow spaces, most of them adopt the type of mechanical arms, which include vertical and horizontal mechanical arms. Since the height of the air duct flange is random and some are located under the floor, it is necessary to increase the size of the vertical mechanical arm to meet the tightening requirements of the high-altitude air duct flange bolts. This greatly increases the structural size of the device, puts forward higher requirements for the structural safety of the device, and is inconvenient to transport and operate in the situation where the construction site is small and there are many obstacles. In order to solve the above technical problems, the present invention designs a self-adsorption air duct flange bolt tightening main body device and control method. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a self-adsorption duct flange bolt tightening main device and a control method, which solves the problems of operating efficiency, poor process quality, high safety risks, etc. caused by the small space in the prior art.

[0004] The present invention achieves the above technical objectives through the following technical means.

[0005] A self-adsorption type air duct flange bolt tightening main body device comprises a centralized control platform and two capture modules, each capture module is equipped with an adsorption module, and a driving module and an identification module are installed between the two capture modules; the centralized control platform is used for comprehensive control, the capture module is used for clamping and installing with the air duct flange, the adsorption module is used for adsorption connection with the metal air duct, and the driving module is used for providing power for the horizontal movement of the device; the identification module obtains the working status of the device in real time through a camera, and detects whether the horizontal movement of the device is in place through an ultrasonic transmitting device.

[0006] Furthermore, the capture module includes an upper clamping plate and a lower clamping plate, and a plurality of rollers are installed in the roller groove on the lower clamping plate. The upper clamping plate is L-shaped as a whole, and the vertical section of the upper clamping plate is provided with a protrusion and a slide groove for clamping and fixing with the adsorption module. A clamping slot is opened near the top of the vertical section of the upper clamping plate for connecting with the identification module, and a plurality of grooves are provided on the side of the vertical section of the upper clamping plate for clamping and fixing with the driving module.

[0007] Furthermore, the capture module also includes two light rods that pass through the holes on the upper splint and the lower splint and are limited by nuts. A spring is provided on the outer periphery of the light rod between the upper splint and the lower splint, and the tops of the light rods are connected by a connecting plate. A first drive motor is installed on the upper splint, and the first drive motor drives the first hydraulic rod through an oil pump. The telescopic end of the first hydraulic rod is connected to the connecting plate.

[0008] Furthermore, the driving module includes a first base, a connector for plugging and fixing with the identification module is installed at the rear end of the first base, a second driving motor is installed on the connector, the second driving motor is connected to the first transmission shaft, a first turbine is fixed at the other end of the first transmission shaft, the first turbine is meshed and transmitted with the second turbine at one end of the two second transmission shafts, the second turbine at the other end of the second transmission shaft is respectively meshed and transmitted with the corresponding third turbine, the third turbine is fixed on the shaft rod, the shaft rod is installed on the shaft seat, the shaft rod and the magnetic wheel shaft are connected by meshing and transmission belt, and magnetic wheels are installed at both ends of the magnetic wheel shaft; protrusions for cooperating with the side grooves of the capture module are arranged on both sides of the first base.

[0009] Furthermore, the identification module includes a second base, which is provided with a drive module socket and a capture module socket; a lighting fixture and a camera are installed on the lower surface of the second base, and a third drive motor is installed on the upper surface of the second base, whose power output end is connected to the first screw rod, a moving part is installed on the first screw rod, and the lower part of the moving part is slidably installed in a slide groove opened inside the second base; a fourth drive motor is installed on the moving part, and the fourth drive motor drives the second hydraulic rod through an oil pump, and a nut tightening assembly and a bolt tightening assembly are installed at the telescopic end of the second hydraulic rod; a fifth drive motor is also installed on the upper surface of the second base, whose power output end is connected to the second screw rod, and an ultrasonic transmitting device is installed on the lower surface of the second base and is embedded in the thread of the second screw rod through a retaining ring.

[0010] Furthermore, the adsorption module includes an adsorption module shell, on which are provided two clamps respectively connected and fixed with the slide groove and the protrusion of the capture module, and a controller, a main battery and an electromagnet module are installed inside the adsorption module shell.

[0011] A construction control method for the above-mentioned self-adsorption type air duct flange bolt tightening main body device includes the following process:

[0012] Step 1: Turn on the camera switch through the centralized control platform; disconnect the power supply of the first drive motor, the second drive motor, the third drive motor, the fourth drive motor, and the fifth drive motor, at which time the upper clamping plate and the lower clamping plate are separated under the action of the spring force; then place the device on the duct flange, the magnetic wheel is adsorbed on the surface of the metal duct based on ferromagnetism, and the upper clamping plate and the lower clamping plate are respectively located on the upper and lower sides of the duct flange; finally, start the first drive motor through the centralized control platform, the first drive motor drives the first hydraulic rod to extend, and the upper clamping plate and the lower clamping plate are moved closer to each other under the action of the first hydraulic rod until the upper clamping plate and the roller are in close contact with the duct flange;

[0013] Step 2: Regulate the controller on the adsorption module through the centralized control platform to charge the electromagnet and adsorb it on the surface of the metal duct, then start the first drive motor to reverse, so that the roller contacts the duct flange;

[0014] Step 3: Start the fifth drive motor through the centralized control platform to drive the second screw to rotate, thereby driving the ultrasonic transmitter on the second screw to adjust the position until the ultrasonic transmitter is located directly above the straight line where the duct flange hole is located. During this process, the camera collects video data in real time for the staff to view;

[0015] Step 4: Start the third drive motor through the centralized control platform, the third starter motor drives the first screw to rotate, and then drives the moving part on the first screw to move horizontally, the moving part drives the second hydraulic rod below it to move horizontally, and the second hydraulic rod drives the nut tightening assembly and the bolt tightening assembly at its telescopic end to move horizontally, so that the bolts and nuts of the bolt tightening assembly and the nut tightening assembly are aligned with the straight line where the duct flange hole is located; then control the fourth drive motor to start through the centralized control platform, the fourth drive motor controls the telescopic movement of the second hydraulic rod, and then adjusts the relative positions of the nut tightening assembly and the bolt tightening assembly above and below the duct flange, and then tightens the bolts. During this process, the camera collects video data in real time for the staff to view;

[0016] Step 5: After the bolts and nuts at the first duct flange hole are tightened, the centralized control platform adjusts the controller to cut off the power to the electromagnet, thereby releasing the connection between the adsorption module and the metal duct; then the centralized control platform controls the second drive motor to start, driving the first transmission shaft connected thereto to rotate, the first transmission shaft drives the first turbine to rotate, the first turbine meshes with the second turbine for transmission, driving the second transmission shaft to rotate, the second turbine at the end of the second transmission shaft meshes with the third turbine for transmission, the third turbine drives the magnetic wheel to move through the transmission belt, and the control device as a whole moves horizontally along the duct flange;

[0017] During the horizontal movement of the device, the camera dynamically collects image information of the part to be tightened. The operator observes the relative position between the device and the duct flange hole and the position information of the bolt tightening process in real time through the centralized control platform. The operator can manually adjust the horizontal position of the device through the centralized control platform and manually control the start and stop of the nut tightening component and the bolt tightening component.

[0018] Step 6: Repeat steps 4 and 5 until all the bolts and nuts of the duct flange holes are installed.

[0019] Furthermore, in step 5, before the device moves horizontally, the horizontal movement distance is manually input in advance through the centralized control platform based on the actual spacing of the duct flange holes, and then the centralized control platform controls the overall horizontal movement of the device; during the horizontal movement, ultrasonic waves are emitted by the ultrasonic emitting device, and the relative distance between the duct flange hole and the nut tightening assembly is dynamically calculated based on the ultrasonic wave, so as to ensure that the device moves accurately to the next construction position:

[0020]

[0021] in, Indicates the vertical distance from the ultrasonic transmitter to the duct flange. Indicates the distance from the ultrasonic transmitter to the duct flange hole. Indicates the distance the device moves.

[0022] The present invention has the following beneficial effects:

[0023] The present invention realizes automatic movement, precise positioning and stable tightening of the device on the surface of the air duct through the assembly combination installation of multiple functional modules; the device is adsorbed on the surface of the air duct and moves through the adsorption module, without the need for a mechanical arm, and can be flexibly applied to vertical air duct flanges of different heights, solving the problems of large space occupation and poor scene applicability of traditional mechanical arm type flange bolt tightening devices; the device is embedded in the air duct flange through the driving module and the capturing module, and the flange is used as a support to improve the stability of the device, avoiding the problem of device slipping caused by relying solely on magnetic attraction; the recognition module can realize real-time monitoring of the working status of the device through the camera, and can use the ultrasonic transmitting device to accurately detect the distance between it and the air duct flange hole and the air duct flange, and then judge whether the device has moved into place, assist in adjusting the moving distance of the device, improve the operating efficiency and walking accuracy of the device, and realize precise tightening. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the use of the main device for tightening the self-adsorption type air duct flange bolts of the present invention;

[0025] Figure 2 This is a schematic diagram of the structure of the capture module of the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of the driving module of the present invention;

[0027] Figure 4 This is a schematic diagram of the specific principle of the third turbine driving the magnetic wheel of the present invention;

[0028] Figure 5 This is a schematic diagram of the identification module of the present invention;

[0029] Figure 6 This is a schematic diagram of the identification module of the present invention;

[0030] Figure 7 This is a schematic diagram of the arrangement of the main batteries of the adsorption module of the present invention;

[0031] Figure 8 This is a schematic diagram of the arrangement of the electromagnet module of the present invention;

[0032] Figure 9 This is a schematic diagram of the structure of the electromagnet module of the present invention;

[0033] Figure 10 This is a schematic diagram of the horizontal movement distance control principle of the present invention;

[0034] Figure 11 The present invention is a flow chart of the control method of the main device for tightening the bolts of the self-adsorption type air duct flange.

[0035] In the figure: 1-capture module; 101-lower clamping plate; 102-upper clamping plate; 103-light rod; 104-nut; 105-spring; 106-first drive motor; 107-first hydraulic rod; 108-roller; 109-slide; 110-bump; 111-bayonet;

[0036] 2-driving module; 201-first base; 202-connector; 203-second driving motor; 204-first turbine; 205-second turbine; 206-third turbine; 207-bearing; 208-first transmission shaft; 209-second transmission shaft; 210-protrusion; 211-magnetic wheel; 212-transmission belt; 214-shaft rod;

[0037] 3-identification module; 301-second base; 302-lighting lamp; 303-camera; 304-ultrasonic transmitting device; 305-third driving motor; 306-fourth driving motor; 307-fifth driving motor; 308-moving part; 309-first screw rod; 310-second screw rod; 311-second hydraulic rod; 312-nut tightening assembly; 313-bolt tightening assembly; 314-driving module socket; 315-capture module socket;

[0038] 4-adsorption module; 401-adsorption module housing; 402-card; 403-main battery; 404-controller; 405-bracket; 406-electromagnet module; 4061-electromagnet housing; 4062-sub-battery; 4063-coil; 4064-socket;

[0039] 5-Duct flange; 6-Metal duct; DETAILED DESCRIPTION

[0040] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0041] In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, because they cannot be understood as limitations on the present invention; the terms "installation", "connection", "fixed", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a direct connection, it can be an indirect connection through an intermediate medium, or it can be the internal connection of two elements; for ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0042] like Figure 1 As shown, the self-adsorption type air duct flange bolt tightening main body device of the present invention is a prefabricated structure, which can be quickly disassembled and assembled, and is convenient for carrying and on-site installation of the device, and includes a capture module 1, a drive module 2, an identification module 3, an adsorption module 4, and a centralized control platform.

[0043] like Figure 1 , 2As shown, the capture module 1 is used to install the device as a whole on the vertical air duct, including a lower clamping plate 101, an upper clamping plate 102, a bare rod 103, a nut 104, a spring 105, a first drive motor 106, a first hydraulic rod 107, a roller 108, a slide groove 109, a protrusion 110, and a bayonet 111. The lower clamping plate 101 is located at the lower part of the air duct flange 5 and is close to the lower surface of the air duct flange 5. A cross-shaped roller groove is opened on the lower clamping plate 101, and a plurality of rollers 108 are embedded in the roller groove through a roller shaft. When the capture module 1 moves horizontally along the air duct flange 5, the rolling friction between the rollers 108 and the air duct flange 5 can keep the capture module 1 and the air duct flange 5 relatively stable. The upper clamping plate 102 is located on the upper part of the air duct flange 5 and is L-shaped as a whole; the vertical section of the upper clamping plate 102 is provided with a protrusion 110 and a slide groove 109 for clamping and fixing with the adsorption module 4; the vertical section of the upper clamping plate 102 is provided with a bayonet 111 near the top position for connecting and fixing with the identification module 3; the vertical section of the upper clamping plate 102 is provided with multiple grooves at the side position for clamping and fixing with the driving module 2.

[0044] like Figure 2 As shown, two parallel light rods 103 pass through the holes on the upper clamping plate 102 and the lower clamping plate 101, serving as tracks for the clamping plates to move up and down, and the bottoms are limited by nuts 104 to prevent the clamping plates from falling off; springs 105 are sleeved on the outer periphery of the light rods 103 between the upper clamping plate 102 and the lower clamping plate 101; the tops of the light rods 103 are connected by a connecting plate and limited by nuts 104. The first drive motor 106 is fixed to the upper surface of the horizontal section of the upper clamping plate 102, and is used to drive the first hydraulic rod 107 to perform telescopic movement; the telescopic end of the first hydraulic rod 107 is connected to the connecting plate. When the plates need to be clamped, the first driving motor 106 extends the first hydraulic rod 107, thereby compressing the spring 105, and the upper plate 102 and the lower plate 101 move closer to each other; when the plates need to be separated, the first driving motor 106 drives the oil pump to retract the first hydraulic rod 107, and the elastic force of the spring 105 restores the upper plate 102 and the lower plate 101 to their initial positions, and the two are separated.

[0045] like Figure 1 , 3 As shown in FIG. 4 , the driving module 2 includes a first base 201, a connector 202, a second driving motor 203, a first turbine 204, a second turbine 205, a third turbine 206, a magnetic wheel shaft 207, a first transmission shaft 208, a second transmission shaft 209, a protrusion 210, a magnetic wheel 211, a transmission belt 212, and a shaft 214. The first base 201 serves as the foundation for other components to take root. Figure 1 , 3As shown in the figure, the connector 202 has slots on both sides for plugging and fixing with the identification module 3. The second driving motor 203 is fixed on the connector 202 and is used to drive the first transmission shaft 208 to rotate. At the other end of the first transmission shaft 208, a first turbine 204 is fixed. The first turbine 204 is in meshing transmission with the second turbines 205 at one end of two second transmission shafts 209 to drive the second transmission shafts 209 to rotate. The second turbines 205 at the other ends of the second transmission shafts 209 are respectively in meshing transmission with the corresponding third turbines 206. The third turbines 206 are fixed on the shaft rod 214. The shaft rod 214 is installed on the shaft seat on the first base 201 through bearings. A ratchet is also fixedly installed on the shaft rod 214, and a ratchet is also installed on the magnetic wheel shaft 207. The transmission belt 212 is installed between the ratchets. The third turbine 206 can drive the shaft rod 214 to rotate, and then drive the transmission belt 212 to rotate through the ratchet. The transmission belt 212 drives the magnetic wheel shaft 207 to rotate through the ratchet, thereby realizing the rotation control of the magnetic wheel 211. On both sides of the first base 201, there are protrusions 210, and the protrusions 210 are used to cooperate with the side grooves of the capture module 1 to achieve embedded fixation. The magnetic wheel 211 is a permanent magnet. In addition to driving the device to move by rotating under the drive of the second driving motor 203, it is also attached to the surface of the metal air duct 6 through its own adsorption force.

[0046] As Figure 1 , 5 , and 6 show, the identification module 3 includes a second base 301, a lighting fixture 302, a camera 303, an ultrasonic transmitter 304, a third driving motor 305, a fourth driving motor 306, a fifth driving motor 307, a moving part 308, a first lead screw 309, a second lead screw 310, a second hydraulic rod 311, a nut tightening assembly 312, and a bolt tightening assembly 313. As Figure 1 , 4 , and 5 show, the second base 301 serves as the rooting foundation for other components in the identification module 3. It is integrally L-shaped and is provided with a driving module socket 314 and a capture module socket 315. The driving module socket 314 is in a strip-shaped structure for plugging and fixing with the driving module 2, and the capture module socket 315 is in a toothed structure for plugging and fixing with the capture module 1. The lighting fixture 302 is installed on the lower surface of the second base 301 to provide light for working in a narrow space. The camera 303 is installed on the lower surface of the second base 301 to transmit the collected data to the centralized control platform so that relevant personnel can intuitively understand the construction status of the device in a timely manner. The third driving motor 305 is installed on the upper surface of the second base 301, and its power output end is connected to the first lead screw 309. A moving part 308 is installed on the first lead screw 309. Under the drive of the third driving motor 305, the first lead screw 309 can pull the moving part 308 to move back and forth.

[0047] As Figure 5 , 6As shown, the moving part 308 is composed of a groove structure and a cross structure; the groove structure is provided with an internal thread and is embedded and installed on the first screw rod 309; the cross structure is embedded in the cross-shaped slide groove inside the second base 301. The fourth drive motor 306 is installed on the moving part 308, and drives and adjusts the movement of the oil pump through forward / reverse rotation. The oil pump drives the movement of the second hydraulic rod 311. The telescopic end of the second hydraulic rod 311 is installed with a nut tightening assembly 312 and a bolt tightening assembly 313. Under the drive of the fourth drive motor 306, the telescopic end of the second hydraulic rod 311 moves up and down, thereby realizing the position adjustment of the nut tightening assembly 312 and the bolt tightening assembly 313. The fifth driving motor 307 is installed on the upper surface of the second base 301, and its power output end is connected to the second screw rod 310. The ultrasonic transmitting device 304 is installed on the lower surface of the second base 301 and is threadedly embedded with the second screw rod 310 through a retaining ring. Driven by the fifth driving motor 307, the second screw rod 310 rotates, thereby driving the ultrasonic transmitting device 304 to adjust its position; the ultrasonic transmitting device 304 is used to emit ultrasonic waves to detect the relative positions between the nut tightening assembly 312, the bolt tightening assembly 313 and the duct flange hole.

[0048] like Figure 1 , 7 As shown in Figures 8 and 9, the adsorption module 4 includes an adsorption module housing 401, a clamp 402, a main battery 403, a controller 404, a bracket 405, and an electromagnet module 406. The adsorption module housing 401 is the main part of the adsorption module 4, and serves as the rooting foundation for other components in the adsorption module 4. Two clamps 402 are both arranged on the adsorption module housing 401, one is a T-shaped structure with a protrusion in the middle, and the other is a T-shaped structure with a depression in the middle, which are respectively used to be clamped and fixed with the slide groove 109 and the protrusion 110 of the capture module 1. The main battery 403 is charged by an external power supply, and its power supply circuit is wrapped around the surface of the main battery 403. The bracket 405 is a fin structure, which is installed on the adsorption module housing 401 and serves as a fixed support for the electromagnet module 406. The electromagnet module 406 is a modular structure, including an electromagnet housing 4061, a sub-battery 4062, a coil 4063, and a socket 4064; the electromagnet housing 4061 is used as a container for the sub-battery 4062, the coil 4063, the iron core 4065, etc. The sub-battery 4062 is charged by the main battery 403 and supplies power to the electromagnet composed of the coil 4063 and the iron core 4065. The socket 4064 is used to plug and fix the electromagnet module 406 to the adsorption module housing 401. The controller 404 is used to receive control signals and adjust the on / off and size of the current of the four electromagnet modules 406.

[0049] Reference Figure 10 , 11The construction control method of the self-adsorption type air duct flange bolt tightening main body device of the present invention includes the following process:

[0050] Step 1: Put the device in place;

[0051] First, turn on the camera 303 switch through the centralized control platform; secondly, disconnect the power of the first drive motor 106, the second drive motor 203, the third drive motor 305, the fourth drive motor 306, and the fifth drive motor 307, at which time the upper clamping plate 102 and the lower clamping plate 101 are separated under the elastic force of the spring 105; then, place the device on the duct flange 5, the magnetic wheel 211 is adsorbed on the surface of the metal duct 6 based on ferromagnetism, and the upper clamping plate 102 and the lower clamping plate 101 are respectively located on the upper and lower sides of the duct flange 5; finally, start the first drive motor 106 through the centralized control platform, the first drive motor 106 drives the first hydraulic rod 107 to extend, and the upper clamping plate 102 and the lower clamping plate 101 are close to each other under the action of the first hydraulic rod 107 until the upper clamping plate 102 and the roller 108 are in close contact with the duct flange 5, at which time the first drive motor 106 controls the first hydraulic rod 107 to stop moving, so that the device is in place.

[0052] Step 2: Device startup;

[0053] First, the controller 404 on the adsorption module 4 is adjusted through the centralized control platform to charge the electromagnet and operate it. The number of electromagnets started and the current are adjusted according to the adsorption force of the adsorption module 4 so that it can be stably and reliably adsorbed on the surface of the metal air duct 6. Then, the first drive motor 106 is started and reversed appropriately so that the roller 108 is in slight contact with the air duct flange 5.

[0054] Step 3: Adjust the position of the ultrasonic emitting device 304;

[0055] The fifth drive motor 307 is started through the centralized control platform to drive the second screw rod 310 to rotate, thereby driving the ultrasonic transmitting device 304 on the second screw rod 310 to adjust the position so that the ultrasonic transmitting device 304 is located directly above the straight line where the duct flange hole is located. At this time, the fifth drive motor 307 stops running to facilitate the subsequent accurate calculation of the horizontal movement distance of the device; in this process, the camera 303 collects video data in real time for the staff to view.

[0056] Step 4: The nut tightening assembly 312 and the bolt tightening assembly 313 are in place;

[0057] The third driving motor 305 is started through the centralized control platform, and the third starting motor 305 drives the first screw rod 309 to rotate, thereby driving the moving part 308 on the first screw rod 309 to move horizontally, and the moving part 308 drives the second hydraulic rod 311 below it to move horizontally, and the second hydraulic rod 311 drives the nut tightening assembly 312 and the bolt tightening assembly 313 at its telescopic end to move horizontally, so that the bolt and nut positions of the bolt tightening assembly 313 and the nut tightening assembly 312 are kept aligned with the straight line where the duct flange hole is located; then the fourth driving motor 306 is controlled to start through the centralized control platform, and the fourth driving motor 306 controls the telescopic movement of the second hydraulic rod 311, thereby adjusting the relative positions of the nut tightening assembly 312 and the bolt tightening assembly 313 above and below the duct flange 5, so that it is convenient to achieve the docking of the bolts and nuts; in this process, the camera 303 is used to collect video data in real time for the staff to view.

[0058] Step 5: The device moves horizontally;

[0059] After the bolts and nuts at the first air duct flange hole position are tightened, the centralized control platform adjusts the controller 404 on the adsorption module 4 to cut off the power to the electromagnet, so that the adsorption module 4 is not in contact with the metal air duct 6; then the centralized control platform controls the second drive motor 203 to start, driving the first transmission shaft 208 connected thereto to rotate, the first transmission shaft 208 drives the first turbine 204 to rotate, the first turbine 204 is meshed with the second turbines 205 on the two second transmission shafts 209 for transmission, driving the second transmission shaft 209 to rotate, the second turbine 205 at the end of the second transmission shaft 209 is meshed with the third turbine 206 for transmission, the third turbine 206 drives the magnetic wheel 211 to move through the transmission belt 212, and the control device as a whole moves along the air duct flange 5;

[0060] Horizontal movement distance control: First, based on the actual spacing of the duct flange holes, the horizontal movement distance is manually input in advance through the centralized control platform, and the centralized control platform controls the overall horizontal movement of the device; second, during the horizontal movement, ultrasonic waves are emitted by the ultrasonic emitting device 304. Since the ultrasonic reflection wave of the duct flange hole is different from the ultrasonic emission wave characteristics of the flange part without the duct flange hole, the relative distance between the duct flange hole and the nut tightening component 312 can be dynamically calculated to ensure that the device moves accurately to the next construction position:

[0061]

[0062] in, represents the vertical distance from the ultrasonic transmitting device 304 to the duct flange 5, Indicates the distance from the ultrasonic transmitter 304 to the duct flange hole, Indicates the distance the device moves;

[0063] During the horizontal movement of the device, the camera 303 dynamically collects image information of the part to be tightened. The operator can observe the relative position of the device and the duct flange hole and the position information of the bolt tightening process in real time through the centralized control platform. The operator can also manually adjust the horizontal position of the device through the centralized control platform and manually control the start and stop of the nut tightening assembly 312 and the bolt tightening assembly 313.

[0064] Step 6: Repeat steps 4 and 5 until all the bolts and nuts of the duct flange holes are installed.

[0065] The embodiments are preferred implementations of the present invention, but the present invention is not limited to the above-mentioned implementations. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essential content of the present invention belong to the protection scope of the present invention.

Claims

1. A self-adsorption type air duct flange bolt tightening main body device, characterized in that: The invention comprises a centralized control platform and two capture modules (1), each capture module (1) is equipped with an adsorption module (4), and a drive module (2) and an identification module (3) are installed between the two capture modules (1); the centralized control platform is used for comprehensive control, the capture module (1) is used for clamping and installation with a duct flange (5), the adsorption module (4) is used for adsorption connection with a metal duct (6), and the drive module (2) is used for providing power for horizontal movement of the device; the identification module (3) obtains the working status of the device in real time through a camera (303), and detects whether the horizontal movement of the device is in place through an ultrasonic emission device (304); The capture module (1) comprises an upper clamping plate (102) and a lower clamping plate (101); a plurality of rollers (108) are installed in the roller groove on the lower clamping plate (101); the upper clamping plate (102) is L-shaped as a whole; a vertical section of the upper clamping plate (102) is provided with a protrusion (110) and a slide groove (109) for being clamped and fixed with the adsorption module (4); a clamping opening (111) is provided near the top of the vertical section of the upper clamping plate (102) for connecting with the identification module (3); a plurality of grooves are provided at the side of the vertical section of the upper clamping plate (102) for being clamped and fixed with the driving module (2); The capture module (1) further comprises two light rods (103) passing through holes on the upper clamping plate (102) and the lower clamping plate (101) and limited by nuts (104); a spring (105) is sleeved on the outer periphery of the light rods (103) between the upper clamping plate (102) and the lower clamping plate (101); the tops of the light rods (103) are connected by a connecting plate; a first drive motor (106) is installed on the upper clamping plate (102); the first drive motor (106) drives a first hydraulic rod (107) through an oil pump; and the telescopic end of the first hydraulic rod (107) is connected to the connecting plate; The driving module (2) comprises a first base (201), a plug-in connector (202) for plugging and fixing with the identification module (3) is installed at the rear end of the first base (201), a second driving motor (203) is installed on the plug-in connector (202), the second driving motor (203) is connected to a first transmission shaft (208), a first turbine (204) is fixed to the other end of the first transmission shaft (208), and the first turbine (204) is meshed with a second turbine (205) at one end of two second transmission shafts (209) for transmission. The second turbine (205) at the other end of the second transmission shaft (209) is respectively meshed with the corresponding third turbine (206) for transmission. The third turbine (206) is fixed on the shaft (214). The shaft (214) is installed on the shaft seat. The shaft (214) and the magnetic wheel shaft (207) are connected by meshing teeth and a transmission belt (212). Magnetic wheels (211) are installed at both ends of the magnetic wheel shaft (207). Protrusions (210) for matching with the side grooves of the capture module (1) are arranged on both sides of the first base (201).

2. The self-adsorption type air duct flange bolt tightening main body device according to claim 1 is characterized in that: The identification module (3) comprises a second base (301), on which a drive module socket (314) and a capture module socket (315) are arranged; a lighting fixture (302) and a camera (303) are installed on the lower surface of the second base (301); a third drive motor (305) is installed on the upper surface of the second base (301), and a power output end of the third drive motor (305) is connected to a first screw rod (309); a moving part (308) is installed on the first screw rod (309), and the lower part of the moving part (308) is slidably installed on a slot opened inside the second base (301). The movable member (308) is provided with a fourth drive motor (306), which drives the second hydraulic rod (311) through an oil pump, and the telescopic end of the second hydraulic rod (311) is provided with a nut tightening assembly (312) and a bolt tightening assembly (313); the upper surface of the second base (301) is also provided with a fifth drive motor (307), whose power output end is connected to the second screw rod (310); the ultrasonic transmitting device (304) is provided on the lower surface of the second base (301) and is embedded with the thread of the second screw rod (310) through a retaining ring.

3. The self-adsorption type air duct flange bolt tightening main body device according to claim 2 is characterized in that: The adsorption module (4) comprises an adsorption module housing (401), on which are disposed two clamping members (402) respectively clamped and fixed to a slide groove (109) and a protrusion (110) of the capture module (1), and a controller (404), a main storage battery (403), and an electromagnet module (406) are installed inside the adsorption module housing (401).

4. A construction control method for the self-adsorption type air duct flange bolt tightening main body device according to claim 3, characterized in that: The process includes the following: Step 1: Turn on the camera (303) through the centralized control platform; disconnect the power supplies of the first drive motor (106), the second drive motor (203), the third drive motor (305), the fourth drive motor (306), and the fifth drive motor (307), at which time the upper clamping plate (102) and the lower clamping plate (101) are separated under the elastic force of the spring (105); then place the device on the air duct flange (5), the magnetic wheel (211) is adsorbed on the surface of the metal air duct (6) based on ferromagnetism, and the upper clamping plate (102) and the lower clamping plate (101) are respectively located on the upper and lower sides of the air duct flange (5); finally, start the first drive motor (106) through the centralized control platform, the first drive motor (106) drives the first hydraulic rod (107) to extend, and the upper clamping plate (102) and the lower clamping plate (101) are moved closer to each other under the action of the first hydraulic rod (107) until the upper clamping plate (102) and the roller (108) are in close contact with the air duct flange (5); Step 2: The controller (404) on the adsorption module (4) is adjusted through the centralized control platform to charge the electromagnet and make it adsorb on the surface of the metal air duct (6), and then the first drive motor (106) is started to reverse, so that the roller (108) contacts the air duct flange (5); Step 3: Start the fifth drive motor (307) through the centralized control platform to drive the second screw rod (310) to rotate, thereby driving the ultrasonic emitting device (304) on the second screw rod (310) to adjust the position until the ultrasonic emitting device (304) is located directly above the straight line where the flange hole of the air duct is located. During this process, the camera (303) collects video data in real time for viewing by the staff; Step 4: Start the third drive motor (305) through the centralized control platform. The third starter motor (305) drives the first screw rod (309) to rotate, thereby driving the moving part (308) on the first screw rod (309) to move horizontally. The moving part (308) drives the second hydraulic rod (311) below it to move horizontally. The second hydraulic rod (311) drives the nut tightening assembly (312) and the bolt tightening assembly (313) at its telescopic end to move horizontally, so that the bolts and nuts of the bolt tightening assembly (313) and the nut tightening assembly (312) are aligned with the straight line where the air duct flange hole is located; then control the fourth drive motor (306) to start through the centralized control platform. The fourth drive motor (306) controls the second hydraulic rod (311) to move telescopically, thereby adjusting the relative positions of the nut tightening assembly (312) and the bolt tightening assembly (313) above and below the air duct flange (5), and then tightening the bolts. During this process, the camera (303) collects video data in real time for the staff to view; Step 5: After the bolts and nuts at the first air duct flange hole position are tightened, the centralized control platform adjusts the controller (404) to cut off the power to the electromagnet, thereby releasing the connection between the adsorption module (4) and the metal air duct (6); then the centralized control platform controls the second drive motor (203) to start, driving the first transmission shaft (208) to rotate, the first transmission shaft (208) drives the first turbine (204) to rotate, the first turbine (204) and the second turbine (205) are meshed and driven, driving the second transmission shaft (209) to rotate, the second turbine (205) at the end of the second transmission shaft (209) is meshed and driven with the third turbine (206), the third turbine (206) drives the magnetic wheel (211) to move through the transmission belt (212), and the control device as a whole moves horizontally along the air duct flange (5) to the next construction position; Step 6: Repeat steps 4 and 5 until all the bolts and nuts of the duct flange holes are installed.

5. The construction control method according to claim 4, characterized in that: In step 5, before the device moves horizontally, the horizontal movement distance is manually input in advance through the centralized control platform based on the actual spacing between the duct flange holes, and then the centralized control platform controls the overall horizontal movement of the device; during the horizontal movement, ultrasonic waves are emitted by the ultrasonic emitting device (304), and the relative distance between the duct flange hole and the nut tightening assembly (312) is dynamically calculated based on the ultrasonic waves, so as to ensure that the device moves accurately to the next construction position: Wherein, a represents the vertical distance from the ultrasonic emitting device (304) to the air duct flange (5), b represents the distance from the ultrasonic emitting device (304) to the air duct flange hole, and c represents the moving distance of the device.

6. The construction control method according to claim 4, characterized in that: In step 5, during the horizontal movement of the device, the camera (303) dynamically collects image information of the part to be tightened, and the operator observes the relative position of the device and the duct flange hole and the position information of the bolt tightening process in real time through the centralized control platform. The operator can manually adjust the horizontal position of the device through the centralized control platform and manually control the start and stop of the nut tightening assembly (312) and the bolt tightening assembly (313).

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