Intelligent mounting device for high-altitude air pipe flange rivets

Abstract

The invention provides a high-altitude air pipe flange rivet intelligent installation device which comprises a base with universal wheels installed at the bottom, a vertical telescopic arm controlled by a hydraulic rod to stretch out and draw back is installed on the base, a steering knuckle is installed on the top of the vertical telescopic arm, a horizontal telescopic device is installed on the steering knuckle, and an impact device is installed on the top of the horizontal telescopic device. And a main air pipe of the impact device is connected with an air pump on the base. The steering knuckle adjusts the horizontal telescopic device to be in a horizontal state so that rivets on the air pipe can be conveniently installed, the horizontal telescopic device is used for achieving horizontal stretching and retracting of the impact device when the rivets on the upper portion of the air pipe are installed, and the impact device achieves binding connection of the child nail and the mother nail on the air pipe through pneumatic impact. According to the air pipe flange rivet screwing device, all-directional screwing of air pipe flange rivets at the bottom, the side faces and the top face of an air pipe is achieved, efficient and batch installation of the rivets is achieved in a pneumatic impact mode, and the problems that high-altitude air pipe flange connection is high in danger, low in operation efficiency, low in connection quality and the like are solved.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent construction of ventilation and air conditioning, and in particular relates to an intelligent installation device for high-altitude air duct flange rivets. Background Art

[0002] As an important functional center of public buildings, the ventilation system has long and large pipelines, and most of them are laid along the lower part of the floor. At present, there is a relative lack of automated devices for efficient connection of high-altitude air ducts, and they are mainly installed using manual impact tools. The installation process is high-altitude work, which requires long-term head-up work, especially the rivet connection on the upper part of the air duct, which has a small space, is difficult to operate, has low operating efficiency, and is highly dangerous. Therefore, it is urgent to conduct relevant device research on the installation of rivets for high-altitude air ducts to reduce high-altitude work scenes, reduce safety risks, improve operating efficiency, and ensure process quality. Summary of the invention

[0003] In view of the shortcomings in the prior art, the present invention provides an intelligent installation device for high-altitude air duct flange rivets, which reduces high-altitude operation scenes, reduces safety risks, improves the efficiency of high-altitude air duct flange rivet installation operations, and ensures process quality.

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

[0005] A high-altitude air duct flange rivet intelligent installation device includes a control system for realizing comprehensive motion control, and also includes a base, a universal wheel is installed at the bottom of the base, an air pump and a vertical telescopic arm driven by a hydraulic rod are installed on the base, a steering knuckle is installed on the top of the vertical telescopic arm, a horizontal telescopic device is installed on the steering knuckle, an impact device is installed on the horizontal telescopic device for binding sub-nails and mother nails on the air duct through pneumatic impact, and the main air pipe of the impact device is connected to the air pump.

[0006] Furthermore, the impact device comprises an impact device base installed on the top of the horizontal telescopic device, one end of the main air pipe is connected to the air pump, and the other end is divided into two branches, which extend into the sub-nail storage bin shell and the mother nail storage bin shell respectively, and are aligned with the corresponding sub-nail storage bin and the mother nail storage bin; a rotating shaft is movably installed between the two support plates on the impact device base, and a rotating adjustment fan is fixed at both ends of the rotating shaft, and the rotating shaft is a structure with a regular hexagonal or gear-shaped cross section, and the sub-nail storage bin and the mother nail storage bin are installed on the rotating shaft located on the inner side of the support plate by meshing installation, and the bronchus is a branch air pipe on the main air pipe, and its air outlet is aligned with the rotating adjustment fan; The sub-nail storage bin and the mother nail storage bin store sub-nails and mother nails respectively, and the sub-nail storage bin and the mother nail storage bin are respectively located inside the sub-nail storage bin shell and the mother nail storage bin shell; the sub-nail storage bin shell and the mother nail storage bin shell make axial movement along the rotating shaft under the action of low-pressure gas, and a spring B is also installed on the rotating shaft between the sub-nail storage bin shell and the mother nail storage bin shell; an X-shaped nozzle made of rubber is fixedly installed on the sub-nail storage bin shell and the mother nail storage bin shell, and the X-shaped nozzle is at the outlet of the main air pipe, and the sub-nail and the mother nail pass through the X-shaped nozzle under the action of high-pressure gas and are stapled to the air duct flange.

[0007] Furthermore, a stabilizing rod is installed between the mother nail storage bin shell and the sub-nail storage bin shell, so that the mother nail storage bin shell and the sub-nail storage bin shell have only one degree of freedom during axial movement.

[0008] Furthermore, the main air pipe is provided with a section of bellows near the sub-nail storage bin shell and the mother nail storage bin shell, so as to accommodate the axial movement of the sub-nail storage bin shell and the mother nail storage bin shell.

[0009] Furthermore, a bellows is provided on a section of the vertical pipe body of the main air pipe to adapt to the extension and retraction of the vertical telescopic arm and the bending change of the steering knuckle.

[0010] Furthermore, the vertical telescopic arm is divided into two sections, the upper and lower sections are respectively divided into two parts, the four parts are nested and combined; the vertical telescopic arm includes an upper section left plate, an upper section right plate, a lower section left plate, and a lower section right plate; The upper left plate is a short plate, the top of which is connected to the telescopic end of the hydraulic rod fixed on the base. Grooves are arranged inside the side plates of the upper left plate, and blocks are arranged at the bottom of the grooves. The upper right plate is a long plate, and blocks are also arranged at the top of the side plates of the upper right plate. The upper left plate and the upper right plate are nested for use, and the upper right plate serves as a support for the sliding lifting of the upper left plate. When the upper left plate is lifted to the top of the upper right plate under the action of the hydraulic rod, the bottom block of the upper left plate contacts the top block of the upper right plate, and the upper right plate starts to lift. Grooves are arranged inside the side plates of the lower half of the right plate of the upper section, and blocks are arranged at the bottom of the grooves. The left plate of the lower section is a long plate, and a block is arranged at the top of the upper half of the left plate of the lower section. The upper half of the left plate of the lower section is nested with the lower half of the right plate of the upper section. When the bottom of the right plate of the upper section is lifted to the top of the left plate of the lower section, the interaction between the block blocks prevents the right plate of the upper section from further moving upward, and at the same time drives the left plate of the lower section to be lifted upward; a block is arranged at the bottom of the lower half of the left plate of the lower section, and a block is arranged at the top of the right plate of the lower section. The bottom of the right plate of the lower section is fixedly connected to the base, and the bottom of the left plate of the lower section is not connected to the base. When the left plate of the lower section is lifted to the top of the right plate of the lower section, the block contacts to prevent the left plate of the lower section from further lifting.

[0011] Furthermore, the vertical telescopic arm also includes a stiffening plate, which is a solid triangular prism structure. Two right-angled sides of the stiffening plate are respectively welded and fixed to the base and the lower right plate to improve the stability between the vertical telescopic arm and the base.

[0012] Furthermore, the steering knuckle includes a steering knuckle base fastened to the vertical telescopic arm, and the steering knuckle housing is installed on the steering knuckle base to accommodate an internal rotating device and reserve movable space for the internal rotating device; the internal rotating device includes an electric motor, a driving gear is installed on the power output shaft of the electric motor, the driving gear is meshed with a follower gear for transmission, the follower gear is fixedly installed on the follower shaft, and two steering supports are also fixedly installed on the follower shaft; the two steering supports are both extended to the outside of the steering knuckle housing through holes opened on the steering knuckle housing, and the steering supports are both connected to the horizontal telescopic device.

[0013] Furthermore, the horizontal telescopic device adopts an integrated sleeve structure, which realizes the telescopic movement of the sleeve through the telescopic joint, and is installed on the steering knuckle by welding; when the steering knuckle rotates the horizontal telescopic device to a horizontal state, the telescopic movement of the horizontal telescopic device in the horizontal direction is realized through the telescopic joint, thereby driving the impact device on the horizontal telescopic device to realize horizontal telescopic movement, so as to facilitate rivet installation.

[0014] Furthermore, the universal wheel includes a roller, a four-legged shaft, and an ellipsoidal shell; the roller includes a ball A, a spring A, and a shell; the ball A and the spring A are respectively located in the spherical cavity and the cylindrical cavity of the shell, the shell sides of the four rollers are respectively connected to the four legs of the four-legged shaft, the four-legged shaft is embedded in the ellipsoidal shell and its top is connected and fixed to the base, and the four-legged shaft is also in contact with the shell through balls B on all sides to achieve 360° free rotation in the circumferential direction.

[0015] The present invention has the following beneficial effects: The present invention designs an integrated structure of vertical telescopic, steering and horizontal telescopic, which realizes the all-round tightening of duct flange rivets at the bottom, side and top of the duct; designs an automated impact device, which realizes efficient and batch installation of rivets through pneumatic impact; the present invention solves the problems of high risk, low operating efficiency and low connection quality in high-altitude duct flange connections, and provides an important solution path for the intelligent construction of electromechanical systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is the overall schematic diagram of the intelligent installation device for high-altitude air duct flange rivets; Figure 2 It is a schematic diagram of the external structure of the universal wheel; Figure 3 This is a schematic diagram of the internal structure of the universal wheel; Figure 4 It is a schematic diagram of the left side structure of the vertical telescopic arm; Figure 5 It is a schematic diagram of the right side structure of the vertical telescopic arm; Figure 6 It is the external schematic diagram of the steering knuckle; Figure 7 It is a schematic diagram of the internal structure of the steering knuckle; Figure 8 is a schematic diagram of a horizontal telescopic device; Fig. 9 It is a schematic diagram of the external structure of the impact device; Fig.10 It is a schematic diagram of the internal structure of the impact device; In the figure: 1-universal wheel; 101-roller; 1011-ball A; 1012-spring A; 1013-housing; 1014-ball B; 102-four-legged shaft; 103-ellipsoidal housing; 2- base; 3-vertical telescopic arm; 301-upper section left plate; 302-hydraulic rod; 303-stopper; 304-upper section right plate; 305-lower section left plate; 306-lower section right plate; 307-top plate; 308-groove; 309-stiffening plate; 4-steering knuckle; 401-steering knuckle base; 402-steering knuckle housing; 403-internal rotating device; 4031-motor; 4032-driving gear; 4033-follower gear; 4034-follower shaft; 4035-bearing; 4036-steering support; 5- horizontal telescopic device; 501- telescopic joint; 6-impact device; 601-impact device base; 602-main air pipe; 603-bronchial pipe; 604-main air pipe control valve; 605-bronchial pipe control valve; 606-mother nail storage bin; 608-bellows; 609-mother nail storage bin shell; 610-child nail storage bin shell; 611-X-shaped mouth; 612-rotating adjustment fan; 613-stabilizing rod; 614-spring B; 7-Air pump; DETAILED DESCRIPTION

[0017] 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.

[0018] 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.

[0019] like Figure 1 As shown, the high-altitude air duct flange rivet intelligent installation device of the present invention includes a universal wheel 1, a base 2, a vertical telescopic arm 3, a steering knuckle 4, a horizontal telescopic device 5, an impact device 6, an air pump 7 and a control system for realizing comprehensive motion control.

[0020] like Figure 1 , 2 As shown in Figures 3, the use of the universal wheel 1 enables the installation device to move freely, which includes three parts: a roller 101, a four-legged shaft 102, and an ellipsoidal shell 103; there are four rollers 101, and each roller 101 includes a ball A1011, a spring A1012, and a shell 1013; the ball A1011 and the spring A1012 are respectively located in the spherical cavity and the cylindrical cavity of the shell 1013, and the spring A1012 is used to reduce the rigid collision loss between the ball A1011 and the shell 1013, and improve the rolling performance of the ball A1011; the sides of the shell 1013 of the four rollers 101 are respectively connected to the four legs of the four-legged shaft 102, the four-legged shaft 102 is embedded in the ellipsoidal shell 103 and its top is connected and fixed to the base 2, and the four-legged shaft 102 is also in contact with the shell 1013 through the ball B1014 on all sides to achieve 360° free rotation in the circumferential direction.

[0021] like Figure 1 As shown, the base 2 serves as a supporting foundation for devices such as the vertical telescopic arm 3 and the air pump 7.

[0022] like Figure 1 , 4As shown in Figures 5 and 6, the vertical telescopic arm 3 is located on the base 2 and is divided into two sections, the upper and lower sections are respectively divided into two parts, the four parts are nested and combined. The left plate 301 of the upper section is a short plate, the top plate 307 of which is connected to the telescopic end of the hydraulic rod 302, the fixed end of the hydraulic rod 302 is installed on the base 2, the hydraulic rod 302 is connected to the control system, and the left plate 301 of the upper section can be lifted under the action of the hydraulic rod 302; the two side plates of the left plate 301 of the upper section are both provided with grooves 308, and the bottom of the grooves 308 is provided with a stopper 303; the right plate 304 of the upper section is a long plate, the top plate 307 of the right plate 304 of the upper section is connected to the telescopic end of the hydraulic rod 302, the fixed end of the hydraulic rod 302 is installed on the base 2, and the hydraulic rod 302 is connected to the control system. The left plate 301 of the upper section can be lifted under the action of the hydraulic rod 302; the two side plates of the left plate 301 of the upper section are both provided with grooves 308, and the bottom of the grooves 308 is provided with a stopper 303; the right plate 304 of the upper section is a long plate, and the top plate 307 of the right plate 304 of the upper section is connected to the telescopic end of the hydraulic rod 302, and the top plate 307 of the right plate 304 of the upper section is connected to the telescopic end of the hydraulic rod 302, and the fixed end of the hydraulic rod 302 is installed on the base 2, and the hydraulic rod 302 is connected to the control system. Blocks 303 are also provided on the top surfaces of the two side plates of the half section. The upper section left plate 301 and the upper section right plate 304 are nested and used. The upper section right plate 304 serves as a support for the sliding and lifting of the upper section left plate 301. When the upper section left plate 301 is lifted to the top of the upper section right plate 304, the block 303 provided at the bottom of the upper section left plate 301 contacts the block 303 provided at the top of the upper section right plate 304, and the upper section right plate 304 begins to be lifted under the action of the hydraulic rod 302. Similarly, grooves 308 are provided inside the two side plates of the lower half of the upper right plate 304, and a stopper 303 is also provided at the bottom of the groove 308. The lower left plate 305 is a long plate, and a stopper 303 is provided at the top of the upper half of the lower left plate 305. The upper half of the lower left plate 305 and the lower half of the upper right plate 304 are nested for use. When the bottom of the upper right plate 304 is lifted to the top of the lower left plate 305, the interaction between the stoppers 303 prevents the upper right plate 304 from further moving upward, and at the same time drives the lower left plate 305 to be lifted upward. Similarly, a stopper 303 is provided at the bottom of the lower half of the lower left plate 305, and a stopper 303 is provided at the top of the lower right plate 306. The bottom of the lower right plate 306 is fixedly connected to the base 2, and the bottom of the lower left plate 305 is not connected to the base 2. When the lower left plate 305 is lifted to the top of the lower right plate 306, the stopper 303 contacts to prevent the lower left plate 305 from further lifting.

[0023] like Figure 1 , 4 As shown in Figures 5 and 6, the stiffening plate 309 is a solid triangular prism structure, and the two right-angled sides of the stiffening plate 309 are respectively welded and fixed to the base 2 and the lower right plate 306 to improve the stability between the vertical telescopic arm 3 and the base 2 and avoid stress damage between the vertical telescopic arm 3 and the base 2 caused by the force generated by the operation of the horizontal telescopic device 5, the impact device 6, etc.

[0024] like Figure 1 , 6 As shown, the steering knuckle 4 is located at the top of the vertical telescopic arm 3, and includes a steering knuckle base 401, a steering knuckle housing 402, and an internal rotating device 403; the steering knuckle base 401 is fastened to the vertical telescopic arm 3, and the steering knuckle housing 402 is installed on the steering knuckle base 401 to accommodate the internal rotating device 403, improve the safety of the device, and reserve space for the internal rotating device 403 to move. Figure 7 As shown, the internal rotating device 403 includes a motor 4031, a driving gear 4032, a follower gear 4033, a follower shaft 4034, a bearing 4035, and a steering support 4036; the driving gear 4032 is installed on the power output shaft of the motor 4031, and the operation of the motor 4031 drives the driving gear 4032 to rotate, and the driving gear 4032 drives the follower gear 4033 meshing with it to rotate, and the follower gear 4033 is installed on the follower shaft 4034 and can drive the follower shaft 4034 to rotate, and the follower shaft 4034 can drive the two steering supports 4036 installed thereon to move in the circumferential direction. Both steering supports 4036 extend out of the steering knuckle housing 402 through holes opened on the steering knuckle housing 402. The steering supports 4036 are used to adjust the horizontal telescopic device 5 to a horizontal state to facilitate the installation of rivets on the air duct. In addition, one steering support 4036 is suspended, and a rotating bracket is provided at the bottom of the other steering support 4036, which can improve the stability of the rotation process while ensuring the lightness of the rotating device.

[0025] like Figure 8 As shown, the horizontal telescopic device 5 adopts an integrated sleeve structure, which is an existing product on the market. The sleeve is telescopically extended by the telescopic joint 501, which is installed on the steering knuckle 4 by welding; in order to realize the rivet installation on the air duct, that is, when the steering knuckle 4 rotates the horizontal telescopic device 5 to a horizontal state, the telescopic movement of the horizontal telescopic device 5 in the horizontal direction can be realized by the telescopic joint 501, thereby driving the remaining structures (impact device 6) on the horizontal telescopic device 5 to also realize horizontal expansion and contraction, which is more convenient for rivet installation.

[0026] like Fig. 9 , 10 As shown, the impact device 6 includes an impact device base 601, a main air pipe 602, a bronchial pipe 603, a main air pipe control valve 604, a bronchial control valve 605, a mother nail storage bin 606, a sub-nail storage bin, a bellows 608, a mother nail storage bin shell 609, a sub-nail storage bin shell 610, an X-shaped mouth 611, a rotating adjustment fan 612, a stabilizing rod 613, and a spring B614.

[0027] like Fig. 9 , 10 As shown, the impact device base 601 is fixedly connected to the top of the casing; one end of the main air pipe 602 is connected to the air pump 7, and the other end is divided into two branches, which extend into the sub-nail storage bin shell 610 and the mother nail storage bin shell 609 respectively, and are aligned with the corresponding sub-nail storage bin and mother nail storage bin 606, so that the sub-nail and the mother nail are connected and fixed by the pneumatic impact force; the main air pipe control valve 604 is located on the main air pipe 602, and is used to open and close the air passage. It is connected to the control system and controlled by the control system.

[0028] Two support plates are arranged on the impact device base 601, and a rotating shaft is movably installed between the support plates, and rotating adjustment fans 612 are fixed to both ends of the rotating shaft extending outward from the support plates; the rotating shaft is a structure with a regular hexagonal or gear-shaped cross-section, and a sub-nail storage bin and a mother nail storage bin 606 are installed on the rotating shaft located on the inner side of the support plate by meshing installation; the bronchus 603 opens and closes the air passage through the bronchus control valve 605, and the bronchus control valve 605 is connected to the control system. The bronchus 603 is a branch air pipe on the main air pipe 602, which can blow the rotating adjustment fan 612, and the rotating adjustment fan 612 can drive the rotating shaft to rotate a certain angle. The shape design of the rotating shaft enables it to further drive the sub-nail storage bin and the mother nail storage bin 606 meshed therewith to rotate a fixed angle and adjust the bin position, and on the other hand, it ensures that the sub-nail storage bin and the mother nail storage bin 606 can make axial movement along the rotating shaft.

[0029] The sub-nail storage bin and the mother nail storage bin 606 store sub-nails and mother nails respectively, and the sub-nail storage bin and the mother nail storage bin 606 are respectively located inside the sub-nail storage bin shell 610 and the mother nail storage bin shell 609; the sub-nail storage bin shell 610 and the mother nail storage bin shell 609 can make axial movement along the rotating shaft, and a spring B614 is also installed on the rotating shaft between the sub-nail storage bin shell 610 and the mother nail storage bin shell 609; a stabilizing rod 613 is installed between the mother nail storage bin shell 609 and the sub-nail storage bin shell 610, and the stabilizing rod 613 can make the mother nail storage bin shell 609 and the sub-nail storage bin shell 610 have only one degree of freedom when they move horizontally, thereby ensuring the stability of the operation of the device.

[0030] The X-shaped mouth 611 is installed on the sub-nail storage bin shell 610 and the mother nail storage bin shell 609, and its position relative to the shell remains unchanged, and the X-shaped mouth 611 is located at the outlet of the main air pipe 602; the X-shaped mouth 611 is made of rubber and has a certain elasticity. The diameter of the X-shaped mouth is slightly larger than the sub-nail and the mother nail. Under the action of low air pressure, the sub-nail and the mother nail cannot pass through the X-shaped mouth 611. When it is changed to high air pressure, the force is greatly increased, and the sub-nail and the mother nail can open the X-shaped mouth 611 and pass through. After passing through, the X-shaped mouth 611 automatically returns to its original state.

[0031] During the actual installation process, when the main air pipe 602 is in motion, the sub-nail storage bin shell 610 and the mother nail storage bin shell 609 first move relative to each other under the action of low-pressure gas and contact the air duct flange, and then the sub-nail and mother nail pass through the X-shaped nozzle 611 under the impact of high-pressure gas and are stapled to the air duct; after the binding is completed, the main air pipe 602 is depressurized, and the sub-nail storage bin shell 610 and the mother nail storage bin shell 609 are separated and restored to their original positions under the action of spring B614; at the same time, the bronchial pipe 603 is ventilated, blowing the rotating adjustment fan 612 to rotate, and the rotating adjustment fan 612 drives the rotating shaft to rotate, and the rotating shaft drives the sub-nail storage bin and the mother nail storage bin 606 engaged therewith to rotate, and adjust one bin position so that the sub-nail and mother nail are aligned with the corresponding X-shaped nozzle 611 in turn for the next binding. The main air pipe 602 is provided with a section of bellows 608 at a position close to the sub-nail storage bin shell 610 and the mother nail storage bin shell 609 to accommodate the axial movement of the sub-nail storage bin shell 610 and the mother nail storage bin shell 609.

[0032] like Figure 1 As shown, a bellows 608 is provided on a section of the vertical pipe body of the main air pipe 602 to adapt to the extension and retraction of the vertical telescopic arm 3 and the bending change of the steering knuckle 4.

[0033] like Figure 1 As shown, the air pump 7 is fixed on the base 2 and is connected to the main air pipe 602.

[0034] The method for using the high-altitude air duct flange rivet intelligent installation device of the present invention comprises the following process: Duct bottom flange rivet installation: 1) Rivet filling: placing the rivet's son nail and mother nail in the son nail storage bin and mother nail storage bin 606 respectively in sequence; 2) Put the device in place; first, move the device under the duct and align the device x-axis with the duct flange interface; then, turn on the laser locator, emit the laser in the z-direction, adjust the device y-direction position based on the relative position of the laser locator and the duct flange, and align the laser with the duct flange interface; finally, adjust the device x-direction position based on the relative position of the laser locator and the duct flange, and align the laser with the center point of the hole at the first riveting point of the duct flange; 3) Vertical lifting: Start the hydraulic rod 302, and the vertical telescopic arm 3 is lifted under the action of the hydraulic rod 302 until the rivet is aligned with the flange hole; (an ultrasonic positioner is installed on the impact device 6, and the position of the rivet is adjusted accordingly); 4) Impact installation: close the bronchial control valve 605, open the main air pipe control valve 604, start the air pump 7, and the sub-nail storage bin shell 610 and the mother nail storage bin shell 609 move toward each other under the impact force of the low-pressure gas until the X-shaped mouth 611 corresponding to the sub-nail and the X-shaped mouth 611 corresponding to the mother nail move to both sides of the air duct flange respectively, and then the mother nail and the sub-nail are installed together under the impact force of the high-pressure gas, and then the air pump 7 is turned off; 5) The sub-nail storage bin and the mother nail storage bin 606 rotate to a fixed angle; close the main airway control valve 604, open the bronchial control valve 605, and turn on the air pump 7 to rotate the sub-nail storage bin and the mother nail storage bin 606 to a fixed angle; 6) Move the device along the x direction to the next duct flange hole and repeat step 4) to install the rivets as soon as possible to complete the rivet installation on the lower part of the duct.

[0035] Duct side rivet installation: 1) After the bottom duct rivets are installed, move the device to the side of the duct, align the X-shaped nozzle 611 with the bottom hole of the duct flange through the laser locator, and repeat steps 4) and 5).

[0036] 2) Start the hydraulic rod 302, align the X-shaped nozzle 611 with the previous flange hole, and repeat steps 4) and 5) to complete the installation of the rivets on the side of the duct.

[0037] Duct top surface rivet installation: 1) After the side duct rivets are installed, start the hydraulic rod 302 to make the steering knuckle 4 exceed the height of the duct top surface, and start the sleeve box to make the X-shaped nozzle 611 located directly above the first flange hole through the laser locator.

[0038] 2) Lower the hydraulic rod 302 and align the X-shaped nozzle 611 with the first flange hole using the laser locator.

[0039] 3) Repeat steps 4) and 5) to complete the rivet installation of the first flange hole.

[0040] 4) Start the casing and align the X-shaped nozzle 611 with the second flange hole using the laser locator.

[0041] 5) Repeat steps 4) and 5) to complete the installation of rivets on the top surface of the duct.

[0042] 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. An intelligent installation device for high-altitude air duct flange rivets, characterized in that: The invention comprises a control system for realizing comprehensive motion control, and also comprises a base (2), a universal wheel (1) being installed at the bottom of the base (2), an air pump (7) and a vertical telescopic arm (3) driven by a hydraulic rod (302) being installed on the base (2), a steering knuckle (4) being installed at the top of the vertical telescopic arm (3), a horizontal telescopic device (5) being installed on the steering knuckle (4), an impact device (6) being installed on the horizontal telescopic device (5) for realizing the binding of a sub-nail and a main nail on an air duct through pneumatic impact, and a main air pipe (602) of the impact device (6) being connected to the air pump (7).

2. The high altitude air duct flange rivet intelligent installation device according to claim 1 is characterized in that: The impact device (6) comprises an impact device base (601) installed on the top of the horizontal telescopic device (5); one end of the main air pipe (602) is connected to the air pump (7), and the other end is divided into two branches, which extend into the sub-nail storage bin shell (610) and the mother nail storage bin shell (609) respectively, and are aligned with the corresponding sub-nail storage bin and mother nail storage bin (606); a rotating shaft is movably installed between the two support plates on the impact device base (601), and a rotating adjustment fan (612) is fixed at both ends of the rotating shaft. The rotating shaft is a structure with a regular hexagonal or gear-shaped cross section. The sub-nail storage bin and the mother nail storage bin (606) are installed on the rotating shaft located on the inner side of the support plate by meshing installation. The bronchus (603) is a branch air pipe on the main air pipe (602), and its air outlet is aligned with the rotating adjustment fan (612); The sub-nail storage bin and the mother nail storage bin (606) store sub-nail and mother nails respectively, and the sub-nail storage bin and the mother nail storage bin (606) are respectively located inside the sub-nail storage bin shell (610) and the mother nail storage bin shell (609); the sub-nail storage bin shell (610) and the mother nail storage bin shell (609) move axially along the rotating shaft under the action of low-pressure gas, and a spring B (614) is also installed on the rotating shaft between the sub-nail storage bin shell (610) and the mother nail storage bin shell (609); an X-shaped nozzle (611) made of rubber material is fixedly installed on the sub-nail storage bin shell (610) and the mother nail storage bin shell (609), and the X-shaped nozzle (611) is located at the outlet of the main air pipe (602), and the sub-nail and mother nail pass through the X-shaped nozzle (611) under the action of high-pressure gas and are bound to the air duct flange.

3. The high altitude air duct flange rivet intelligent installation device according to claim 2 is characterized in that: A stabilizing rod (613) is installed between the mother nail storage bin housing (609) and the child nail storage bin housing (610), so that the mother nail storage bin housing (609) and the child nail storage bin housing (610) have only one degree of freedom during axial movement.

4. The high altitude air duct flange rivet intelligent installation device according to claim 2 is characterized in that: The main air pipe (602) is provided with a section of bellows (608) at a position close to the sub-nail storage bin shell (610) and the mother nail storage bin shell (609) for accommodating the axial movement of the sub-nail storage bin shell (610) and the mother nail storage bin shell (609); a section of the vertical pipe body of the main air pipe (602) is provided with a bellows (608) for accommodating the telescopic movement of the vertical telescopic arm (3) and the bending change of the steering knuckle (4).

5. The high altitude air duct flange rivet intelligent installation device according to claim 1 is characterized in that: The vertical telescopic arm (3) is divided into two sections, the upper and lower sections are respectively divided into two parts, the four parts are nested and combined; the vertical telescopic arm (3) comprises an upper section left plate (301), an upper section right plate (304), a lower section left plate (305), and a lower section right plate (306); The upper section left plate (301) is a short plate, the top of which is connected to the telescopic end of the hydraulic rod (302) fixed on the base (2), the side plates of the upper section left plate (301) are all provided with grooves (308), and the bottom of the grooves (308) is provided with a stopper (303); the upper section right plate (304) is a long plate, and the top of the side plates of the upper half of the upper section right plate (304) is also provided with a stopper (303), the upper section left plate (301) and the upper section right plate (304) are nested for use, and the upper section right plate (304) serves as a support for the upper section left plate (301) to slide and lift, and when the upper section left plate (301) is lifted to the top of the upper section right plate (304) under the action of the hydraulic rod (302), the bottom stopper (303) of the upper section left plate (301) contacts the top stopper (303) of the upper section right plate (304), and the upper section right plate (304) starts to lift; The side plates of the lower half of the upper right plate (304) are provided with grooves (308) inside, and the bottom of the grooves (308) is provided with a stopper (303). The lower left plate (305) is a long plate, and the top of the upper half of the lower left plate (305) is provided with a stopper (303). The upper half of the lower left plate (305) and the lower half of the upper right plate (304) are nested for use. When the bottom of the upper right plate (304) is lifted to the top of the lower left plate (305), the interaction between the stoppers (303) prevents the upper right plate (304) from being lifted. 4) further moving upward, while driving the lower section left plate (305) to be lifted upward; a stopper (303) is provided at the bottom of the lower half of the lower section left plate (305), and a stopper (303) is provided at the top of the lower section right plate (306); the bottom of the lower section right plate (306) is fixedly connected to the base (2), and the bottom of the lower section left plate (305) is not connected to the base (2); when the lower section left plate (305) is lifted to the top of the lower section right plate (306), the stopper (303) contacts and prevents the lower section left plate (305) from being further lifted.

6. The high altitude air duct flange rivet intelligent installation device according to claim 5 is characterized in that: The vertical telescopic arm (3) further comprises a stiffening plate (309), which is a solid triangular prism structure, and two right-angled sides of the stiffening plate (309) are respectively welded and fixed to the base (2) and the lower right plate (306) to improve the stability between the vertical telescopic arm (3) and the base (2).

7. The high altitude air duct flange rivet intelligent installation device according to claim 1 is characterized in that: The steering knuckle (4) comprises a steering knuckle base (401) fastened to the vertical telescopic arm (3), a steering knuckle housing (402) being mounted on the steering knuckle base (401), and an internal rotating device (403) being arranged inside the steering knuckle housing (402); the internal rotating device (403) comprises an electric motor (4031) having a driving gear (4032) mounted on a power output shaft, the driving gear (4032) being meshed with a follower gear (4033), the follower gear (4033) being fixed on a follower shaft (4034), and two steering supports (4036) being fixed on the follower shaft (4034); the two steering supports (4036) both extend out of the steering knuckle housing (402) through holes provided on the steering knuckle housing (402), and both are connected to the horizontal telescopic device (5).

8. The high altitude air duct flange rivet intelligent installation device according to claim 1 is characterized in that: The universal wheel (1) comprises a roller (101), a four-legged rotating shaft (102), and an ellipsoidal shell (103); the roller (101) comprises a ball A (1011), a spring A (1012), and a shell (1013); the ball A (1011) and the spring A (1012) are respectively located in a spherical cavity and a cylindrical cavity of the shell (1013); the sides of the shells (1013) of the four rollers (101) are respectively connected to the four legs of the four-legged rotating shaft (102); the four-legged rotating shaft (102) is embedded in the ellipsoidal shell (103) and its top is connected and fixed to the base (2); the four-legged rotating shaft (102) is also in contact with the shell (1013) via the ball B (1014) around the four legs, thereby achieving 360° free rotation in the circumferential direction.

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