High-altitude air pipe flange rivet intelligent installation device

Abstract

The application provides a high-altitude air pipe flange rivet intelligent installation device, which comprises a base provided with universal wheels at the bottom, a vertical telescopic arm controlled by a hydraulic rod to stretch and retract 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, 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 a horizontal state, so as to facilitate the installation of the rivet on the air pipe, the horizontal telescopic device is used to realize the horizontal telescoping of the impact device during the installation of the upper rivet of the air pipe, and the impact device realizes the binding connection of the male rivet and the female rivet on the air pipe by using pneumatic impact. The application realizes the all-around screwing of the bottom, side and top air pipe flange rivets, realizes the efficient and batch installation of the rivets by using the pneumatic impact mode, and solves the problems of high risk, low operation efficiency and low connection quality of the high-altitude air pipe flange connection.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of ventilation and air conditioning intelligent construction, and particularly relates to a high-altitude air pipe flange rivet intelligent installation device. BACKGROUND

[0002] As an important functional hub of public buildings, the ventilation system has long pipelines, large volume and is mostly laid along the lower part of the floor. At present, the automatic device for efficient connection of high-altitude air pipes is relatively insufficient, and manual impact tools are mainly used for installation. The installation process is high-altitude operation, which needs long-term head-up operation. Especially for the rivet connection of the upper part of the air pipe, the space is narrow, the operation difficulty is large, the operation efficiency is low, and the safety risk is high. Therefore, it is urgent to develop related device research for high-altitude air pipe rivet installation, reduce high-altitude operation scene, reduce safety risk, improve operation efficiency and ensure process quality. SUMMARY

[0003] In view of the deficiencies in the prior art, the application provides a high-altitude air pipe flange rivet intelligent installation device, which reduces the high-altitude operation scene, reduces the safety risk, improves the high-altitude air pipe flange rivet installation operation efficiency, and ensures the process quality.

[0004] The application achieves the above technical purpose through the following technical means.

[0005] A high-altitude air pipe flange rivet intelligent installation device comprises a control system for realizing comprehensive motion control, a base, a gas pump and a vertical telescopic arm driven by a hydraulic rod installed on the base, a knuckle installed on the top of the vertical telescopic arm, a horizontal telescopic device installed on the knuckle, an impact device for realizing the stapling of a daughter rivet and a mother rivet on the air pipe through pneumatic impact, and the main gas pipe of the impact device is connected with the gas pump.

[0006] Further, the impact device comprises an impact device base installed on the top of the horizontal telescopic device, the main gas pipe is connected with the gas pump at one end and is divided into two branches at the other end, which respectively extend into the daughter rivet storage bin shell and the mother rivet storage bin shell and are aligned with the corresponding daughter rivet storage bin and mother rivet storage bin; a rotating shaft is movably installed between two support plates on the impact device base, rotating adjusting fans are fixed at both ends of the rotating shaft, the rotating shaft is a structure with a regular hexagonal cross section or a gear shape, the daughter rivet storage bin and the mother rivet storage bin are installed on the rotating shaft inside the support plate in a meshing manner, and a branch gas pipe of the main gas pipe is aligned with the rotating adjusting fan at the gas outlet.

[0007] The sub-nail storage bin and the female nail storage bin store sub-nails and female nails respectively, and are located inside the sub-nail storage bin shell and the female nail storage bin shell respectively; the sub-nail storage bin shell and the female nail storage bin shell move axially along the rotating shaft under the action of low-pressure gas, and a spring B is installed on the rotating shaft between the sub-nail storage bin shell and the female nail storage bin shell; X-shaped nozzles made of rubber are fixedly installed on the sub-nail storage bin shell and the female nail storage bin shell, and the X-shaped nozzles are located at the outlet of the main gas pipe; the sub-nails and the female nails pass through the X-shaped nozzles and are stapled to the flange of the air pipe under the action of high-pressure gas.

[0008] Further, a stabilizing rod is installed between the female nail storage bin shell and the sub-nail storage bin shell, so that the female nail storage bin shell and the sub-nail storage bin shell have only one degree of freedom when moving axially.

[0009] Further, the main gas pipe is provided with a section of bellows near the sub-nail storage bin shell and the female nail storage bin shell, for adapting to the axial movement of the sub-nail storage bin shell and the female nail storage bin shell.

[0010] Further, the main gas pipe is provided with a section of bellows on a vertical pipe body, for adapting to the extension and contraction of the vertical telescopic arm and the bending change of the knuckle.

[0011] Further, the vertical telescopic arm is divided into two sections, i.e., an upper section and a lower section, and each section is divided into two parts, i.e., a left part and a right part, and the four parts are nested and combined; the vertical telescopic arm comprises an upper section left plate, an upper section right plate, a lower section left plate and a lower section right plate.

[0012] The upper section left plate is a short plate, and the top of the upper section left plate is connected with the extension end of a hydraulic rod fixed on the base; the inner part of the side plate of the upper section left plate is provided with a groove, and the bottom of the groove is provided with a stopper; the upper section right plate is a long plate, and the top of the side plate of the upper half of the upper section right plate is also provided with a stopper; the upper section left plate and the upper section right plate are nested and used, and the upper section right plate serves as the support for the sliding and lifting of the upper section left plate; when the upper section left plate is lifted to the top of the upper section right plate under the action of the hydraulic rod, the stopper at the bottom of the upper section left plate contacts with the stopper at the top of the upper section right plate, and the upper section right plate starts to be lifted.

[0013] The inner part of the side plate of the lower half of the upper section right plate is provided with a groove, and the bottom of the groove is provided with a stopper; the lower section left plate is a long plate, and the top of the upper half of the lower section left plate is provided with a stopper; the upper half of the lower section left plate and the lower half of the upper section right plate are nested and used; when the bottom of the upper section right plate is lifted to the top of the lower section left plate, the further upward movement of the upper section right plate is prevented through the interaction between the stoppers, and the lower section left plate is lifted upward at the same time; the bottom of the lower half of the lower section left plate is provided with a stopper, and the top of the lower section right plate is provided with a stopper; the bottom of the lower section right plate is fixedly connected with the base, and the bottom of the lower section left plate is not connected with the base; when the lower section left plate is lifted to the top of the lower section right plate, the stoppers contact, and the further lifting of the lower section left plate is prevented.

[0014] Further, the vertical telescopic arm further comprises a stiffened plate, which is a three-prism solid structure, two right-angle edges of the stiffened plate are respectively welded and fixed with the base and the lower section right plate, so as to improve the stability between the vertical telescopic arm and the base.

[0015] Further, the knuckle comprises a knuckle base fastened with the vertical telescopic arm, a knuckle shell is installed on the knuckle base, so as to accommodate an internal rotating device and reserve a moving space for the internal rotating device; the internal rotating device comprises an electric motor, a driving gear is installed on a power output shaft of the electric motor, the driving gear is in meshing transmission with a follow-up gear, the follow-up gear is fixedly installed on a follow-up shaft, and two steering supports are also fixedly installed on the follow-up shaft; the two steering supports are respectively extended to the outside of the knuckle shell through the holes formed in the knuckle shell, and the two steering supports are connected with the horizontal telescopic device.

[0016] Further, the horizontal telescopic device adopts an integrated box structure, the telescopic box is realized through a telescopic section, and the telescopic section is installed on the knuckle through welding; when the 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 section, and then the impact device on the horizontal telescopic device is driven to realize the horizontal telescopic movement, so as to realize the rivet installation.

[0017] Further, the universal wheel comprises a roller, a four-legged rotating shaft and an ellipsoidal shell; the roller comprises a ball A, a spring A and a shell; the ball A and the spring A are respectively located in a spherical cavity and a cylindrical cavity of the shell, side edges of the shells of the four rollers are connected with four legs of the four-legged rotating shaft, the four-legged rotating shaft is embedded in the ellipsoidal shell and is fixedly connected with the base at the top, and the four-legged rotating shaft is also in contact with the shell through a ball B around the four-legged rotating shaft, so as to realize the circumferential 360° free rotation.

[0018] The present application has the following beneficial effects:

[0019] The vertical telescopic, steering and horizontal telescopic integrated structure is designed, the rivet installation of the flanges of the wind pipe at the bottom, the side and the top of the wind pipe is realized in all directions, the automatic impact device is designed, the rivet installation is realized in a high efficiency and a batch mode through the pneumatic impact mode, the problems of high risk, low operation efficiency and low connection quality of the high-altitude wind pipe flange connection are solved, and an important solution path is provided for the intelligent construction of the mechanical and electrical system. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a whole schematic view of the high-altitude wind pipe flange rivet intelligent installation device.

[0021] Figure 2 It is a schematic view of the external structure of the universal wheel.

[0022] Figure 3 It is a schematic view of the internal structure of the universal wheel.

[0023] Figure 4 is a schematic diagram of the left side structure of the vertical telescopic arm;

[0024] Figure 5 is a schematic diagram of the right side structure of the vertical telescopic arm;

[0025] Figure 6 is a schematic diagram of the outer structure of the knuckle;

[0026] Figure 7 is a schematic diagram of the inner structure of the knuckle;

[0027] Figure 8 is a schematic diagram of the horizontal telescopic device;

[0028] Figure 9 is a schematic diagram of the outer structure of the impact device;

[0029] Figure 10 is a schematic diagram of the inner structure of the impact device;

[0030] In the figure:

[0031] 1 - universal wheel; 101 - roller; 1011 - ball A; 1012 - spring A; 1013 - housing; 1014 - ball B; 102 - four-legged rotating shaft; 103 - ellipsoidal housing;

[0032] 2 - base;

[0033] 3 - vertical telescopic arm; 301 - upper left plate; 302 - hydraulic rod; 303 - stopper; 304 - upper right plate; 305 - lower left plate; 306 - lower right plate; 307 - top plate; 308 - groove; 309 - stiffener;

[0034] 4 - knuckle; 401 - knuckle base; 402 - knuckle housing; 403 - internal rotating device; 4031 - electric motor; 4032 - drive gear; 4033 - follow-up gear; 4034 - follow-up shaft; 4035 - bearing; 4036 - steering support;

[0035] 5 - horizontal telescopic device; 501 - telescopic section;

[0036] 6 - impact device; 601 - impact device base; 602 - main air pipe; 603 - branch air pipe; 604 - main air pipe control valve; 605 - branch air pipe control valve; 606 - mother nail storage bin; 608 - bellows; 609 - mother nail storage bin housing; 610 - son nail storage bin housing; 611 - X-shaped nozzle; 612 - rotating adjustment fan; 613 - stabilizing rod; 614 - spring B;

[0037] 7 - air pump; DETAILED DESCRIPTION

[0038] The application will be further described in connection with the drawings and specific embodiments, but the scope of protection of the application is not limited thereto.

[0039] In the description of the application, it should be understood that the terms "upper", "lower", "left", "right" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, as it cannot be understood as limiting the application; the terms "mounting", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection, it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements; for those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0040] As shown in Figure 1 The high-altitude air pipe flange rivet intelligent installation device of the application comprises universal wheels 1, a base 2, vertical telescopic arms 3, steering knuckles 4, horizontal telescopic devices 5, impact devices 6, air pumps 7 and a control system for realizing comprehensive motion control.

[0041] As shown in Figure 1 , 2 , the use of the universal wheels 1 enables the installation device to move freely, which comprises three parts of rollers 101, four-legged rotating shafts 102 and ellipsoidal housings 103; the rollers 101 are four in number, and each roller 101 comprises a ball bearing A1011, a spring A1012 and a housing 1013; the ball bearing A1011 and the spring A1012 are respectively located in the spherical cavity and the cylindrical cavity of the housing 1013, and the spring A1012 is used to reduce the rigid collision loss between the ball bearing A1011 and the housing 1013 and improve the rolling performance of the ball bearing A1011; the side edges of the housings 1013 of the four rollers 101 are respectively connected with the four legs of the four-legged rotating shafts 102, the four-legged rotating shafts 102 are embedded in the ellipsoidal housings 103 and the top parts thereof are connected and fixed with the base 2, and the four-legged rotating shafts 102 are also in contact with the housings 1013 through ball bearings B1014 around the four-legged rotating shafts 102 to realize 360° free rotation in the circumferential direction.

[0042] As shown in Figure 1 The base 2 serves as the supporting basis for the devices such as the vertical telescopic arms 3 and the air pumps 7.

[0043] As shown in Figure 1 , 4As shown in Figure 5, the vertical telescopic arm 3 is located on the base 2 and is divided into upper and lower sections, each of which is further divided into left and right parts, forming a nested combination. The upper left plate 301 is a short plate, and its top plate 307 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 is connected to the control system. The upper left plate 301 can be lifted under the action of the hydraulic rod 302. The two side plates of the upper left plate 301 are provided with grooves 308, and the bottom of the grooves 308 is provided with a stop block 303. The upper right plate 304 is a long plate, and the upper right plate 304 has... The top surfaces of the two side plates of the half section are also provided with stop blocks 303. The upper left plate 301 and the upper right plate 304 are nested together. The upper right plate 304 serves as a support for the sliding and lifting of the upper left plate 301. When the upper left plate 301 is lifted to the top of the upper right plate 304, the stop block 303 at the bottom of the upper left plate 301 contacts the stop block 303 at the top of the upper right plate 304, and the upper right plate 304 begins to be lifted under the action of the hydraulic rod 302. Similarly, the two side plates of the lower half of the upper right plate 304 are provided with grooves 308, and the bottom of the grooves 308 is also provided with a stop block 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 stop block 303. The upper half of the lower left plate 305 is nested with the lower half of the upper right plate 304. When the bottom of the upper right plate 304 rises to the top of the lower left plate 305, the interaction between the stop blocks 303 prevents the upper right plate 304 from moving further upward, while driving the lower left plate 305 to rise upward. Similarly, a stop block 303 is provided at the bottom of the lower half of the left plate 305 and a stop block 303 is provided at the top of the right plate 306. The bottom of the right plate 306 is fixedly connected to the base 2, while the bottom of the left plate 305 is not connected to the base 2. When the left plate 305 is lifted to the top of the right plate 306, the stop block 303 contacts and prevents the left plate 305 from being lifted further.

[0044] like Figure 1 , 4 As shown in Figure 5, the stiffening plate 309 is a solid triangular prism structure. The two right-angled sides of the stiffening plate 309 are welded and fixed to the base 2 and the lower right plate 306, respectively, to improve the stability between the vertical telescopic arm 3 and the base 2 and to 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.

[0045] 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 mounted on the steering knuckle base 401 to accommodate the internal rotating device 403, improving the safety of the device and reserving space for the internal rotating device 403 to move.Figure 7 As shown, the internal rotating device 403 includes a motor 4031, a drive gear 4032, a follow-up gear 4033, a follow-up shaft 4034, a bearing 4035, and a steering support 4036. The motor 4031 is provided with the drive gear 4032 on the power output shaft. The motor 4031 drives the drive gear 4032 to rotate. The drive gear 4032 drives the follow-up gear 4033 to rotate. The follow-up gear 4033 is installed on the follow-up shaft 4034 and can drive the follow-up shaft 4034 to rotate. The follow-up shaft 4034 can drive the two steering supports 4036 installed thereon to move circumferentially. The two steering supports 4036 extend out of the steering knuckle housing 402 through the holes formed in the steering knuckle housing 402. The steering support 4036 is used to adjust the horizontal telescopic device 5 to the horizontal state, so as to facilitate the installation of the rivet above the air pipe. In addition, one of the steering supports 4036 is suspended, and the other steering support 4036 is provided with a rotating bracket at the lower part, which can improve the stability of the rotating process while ensuring the lightness of the rotating device.

[0046] As shown in Figure 8 , the horizontal telescopic device 5 adopts an integrated box structure, which is a product existing on the market. The telescopic device 5 realizes the telescopic movement of the box through the telescopic joint 501, which is welded on the steering knuckle 4. In order to realize the installation of the rivet above the air pipe, that is, when the steering knuckle 4 rotates the horizontal telescopic device 5 to the horizontal state, the telescopic joint 501 can realize the telescopic movement of the horizontal telescopic device 5 in the horizontal direction, and then drive the remaining structure (impact device 6) on the horizontal telescopic device 5 to also realize the telescopic movement in the horizontal direction, which is more convenient for rivet installation.

[0047] As shown in Figure 9 , 10 , the impact device 6 includes an impact device base 601, a main air pipe 602, a branch air pipe 603, a main air pipe control valve 604, a branch air pipe control valve 605, a female nail storage bin 606, a male nail storage bin, a corrugated pipe 608, a female nail storage bin housing 609, a male nail storage bin housing 610, an X-shaped nozzle 611, a rotating adjusting fan 612, a stabilizing rod 613, and a spring B 614.

[0048] As shown in Figure 9 , 10 , the impact device base 601 is fixedly connected with the top of the box. One end of the main air pipe 602 is connected with the air pump 7, and the other end is divided into two branches, which respectively extend into the male nail storage bin housing 610 and the female nail storage bin housing 609, and are aligned with the corresponding male nail storage bin and female nail storage bin 606. The air impact force drives the male nail and the female nail to be connected and fixed. The main air pipe control valve 604 is located on the main air pipe 602 to open and close the air passage. The main air pipe control valve 604 is connected with the control system and is controlled by the control system.

[0049] The impact device base 601 is provided with two support plates, a rotating shaft is movably installed between the support plates, and the two ends of the rotating shaft extending out of the support plates are fixed with rotating adjusting fans 612. The rotating shaft is in the shape of a regular hexagon or a gear, and the sub-nail storage bin and the female nail storage bin 606 are installed on the rotating shaft inside the support plate by the meshing installation mode. The air passage is opened and closed by the bronchus control valve 605, and the bronchus control valve 605 is connected with the control system. The bronchus 603 is a branch bronchus on the main bronchus 602, which can blow the rotating adjusting fan 612, and the rotating adjusting fan 612 can further drive the rotating shaft to rotate by a certain angle. The shape of the rotating shaft can further drive the sub-nail storage bin and the female nail storage bin 606 to rotate by a fixed angle, adjust the bin position, and ensure that the sub-nail storage bin and the female nail storage bin 606 can move axially along the rotating shaft.

[0050] The sub-nail storage bin and the female nail storage bin 606 store sub-nails and female nails respectively, and are located inside the sub-nail storage bin shell 610 and the female nail storage bin shell 609 respectively. The sub-nail storage bin shell 610 and the female nail storage bin shell 609 can move axially along the rotating shaft, and the spring B 614 is further installed on the rotating shaft between the sub-nail storage bin shell 610 and the female nail storage bin shell 609. The stability rod 613 is installed between the female nail storage bin shell 609 and the sub-nail storage bin shell 610, so that the female nail storage bin shell 609 and the sub-nail storage bin shell 610 have only one degree of freedom when moving horizontally, and the stability of the device is ensured.

[0051] The X-shaped nozzle 611 is installed on the sub-nail storage bin shell 610 and the female nail storage bin shell 609, and the position of the X-shaped nozzle 611 relative to the shell is unchanged. The X-shaped nozzle 611 is made of rubber and has a certain elasticity. The caliber of the X-shaped nozzle is slightly larger than that of the sub-nail and the female nail. Under the action of low air pressure, the sub-nail and the female nail cannot pass through the X-shaped nozzle 611. When high air pressure is used, the force is greatly improved, and the sub-nail and the female nail can open the X-shaped nozzle 611 and pass through. After passing through, the X-shaped nozzle 611 automatically restores to the original state.

[0052] In the actual installation process, when the main air pipe 602 is in action, the sub-nail storage bin shell 610 and the female nail storage bin shell 609 first move relatively under the action of low-pressure gas and contact the air pipe flange, and then the sub-nail and the female nail pass through the X-shaped nozzle 611 under the impact of high-pressure gas and are riveted on the air pipe; after the riveting is completed, the main air pipe 602 is depressurized, the sub-nail storage bin shell 610 and the female nail storage bin shell 609 are separated under the action of the spring B 614 and return to the original position; at the same time, the branch air pipe 603 is ventilated, the rotating adjusting fan 612 is blown to rotate, the rotating adjusting fan 612 drives the rotating shaft to rotate, the rotating shaft drives the sub-nail storage bin and the female nail storage bin 606 meshed with the rotating shaft to rotate, and a bin position is adjusted, so that the sub-nail and the female nail are aligned with the corresponding X-shaped nozzle 611 in turn, so as to perform the next riveting. The main air pipe 602 is provided with a section of bellows 608 at the position close to the sub-nail storage bin shell 610 and the female nail storage bin shell 609, which is used for adapting to the axial movement of the sub-nail storage bin shell 610 and the female nail storage bin shell 609.

[0053] As shown in Figure 1 , a section of vertical pipe body of the main air pipe 602 is provided with the bellows 608, which is used for adapting to the stretching and contraction of the vertical telescopic arm 3 and the bending change of the knuckle 4.

[0054] As shown in Figure 1 , the air pump 7 is fixed on the base 2 and communicates with the main air pipe 602.

[0055] The use method of the high-altitude air pipe flange rivet intelligent installation device disclosed by the application comprises the following processes:

[0056] Air pipe bottom flange rivet installation:

[0057] 1) Rivet filling; the sub-nail and the female nail of the rivet are placed in the sub-nail storage bin and the female nail storage bin 606 in sequence respectively;

[0058] 2) Device positioning; first, the device is moved below the air pipe, the x-axis of the device is initially aligned with the air pipe flange, then the laser positioner is turned on, the laser is emitted along the z direction, the position of the device in the y direction is adjusted based on the relative position of the laser positioner and the air pipe flange, the laser is accurately aligned with the air pipe flange, finally, the position of the device in the x direction is adjusted based on the relative position of the laser positioner and the air pipe flange, and the center point of the hole of the first riveting point of the air pipe flange is aligned with the laser;

[0059] 3) Vertical jacking; the hydraulic rod 302 is started, the vertical telescopic arm 3 is jacked under the action of the hydraulic rod 302, and the rivet is aligned with the hole until the rivet is aligned with the hole; (the ultrasonic positioner is installed on the impact device 6, and the position of the rivet is adjusted according to the ultrasonic positioner);

[0060] 4) Impact installation; close the branch air pipe 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 female nail storage bin shell 609 move towards each other under the action of low-pressure gas impact force until the corresponding X-shaped nozzle 611 of the sub-nail and the corresponding X-shaped nozzle 611 of the female nail move to both sides of the air pipe flange, and then the female nail and the sub-nail are installed together under the action of high-pressure gas impact force, and then the air pump 7 is closed;

[0061] 5) Sub-nail storage bin, female nail storage bin 606 rotation fixed angle; close the main air pipe control valve 604, open the branch air pipe control valve 605, open the air pump 7, and rotate the sub-nail storage bin, female nail storage bin 606 by an angle of one bin position;

[0062] 6) Move the device along the x direction to the next air pipe flange hole, repeat 4), and urgently need to install rivets to complete the air pipe lower rivet installation in turn.

[0063] Air pipe side rivet installation:

[0064] 1) After the bottom air pipe rivet installation is completed, move the device to the air pipe side, align the X-shaped nozzle 611 with the lowermost hole of the air pipe flange through the laser positioner, and repeat steps 4) and 5).

[0065] 2) Start the hydraulic rod 302 to align the X-shaped nozzle 611 with the next flange hole, repeat steps 4) and 5), and complete the air pipe side rivet installation in turn.

[0066] Air pipe top surface rivet installation:

[0067] 1) After the side air pipe rivet installation is completed, start the hydraulic rod 302 to make the knuckle 4 exceed the height of the air pipe top surface, and start the sleeve box, and align the X-shaped nozzle 611 above the first flange hole through the laser positioner.

[0068] 2) Lower the hydraulic rod 302 to align the X-shaped nozzle 611 with the first flange hole through the laser positioner.

[0069] 3) Repeat steps 4) and 5) to complete the first flange hole rivet installation.

[0070] 4) Start the sleeve box to align the X-shaped nozzle 611 with the second flange hole through the laser positioner.

[0071] 5) Repeat steps 4) and 5) to complete the air pipe top surface rivet installation in turn.

[0072] The embodiments are preferred embodiments of the present application, but the present application is not limited to the above embodiments, and any obvious improvements, replacements or modifications made by those skilled in the art without departing from the essential content of the present application shall fall within the protection scope of the present application.

Claims

1. A high-altitude air duct flange rivet intelligent installation device, characterized in that, The control system for realizing comprehensive motion control comprises a base (2) provided with universal wheels (1) at the bottom, a gas pump (7) and a vertical telescopic arm (3) driven by a hydraulic rod (302) on the base (2), a steering joint (4) mounted on the top of the vertical telescopic arm (3), a horizontal telescopic device (5) mounted on the steering joint (4), and an impact device (6) for realizing the stapling of a male nail and a female nail on a duct through gas impact, wherein the main gas pipe (602) of the impact device (6) is connected with the gas pump (7). The impact device (6) comprises an impact device base (601) mounted on the top of the horizontal telescopic device (5), the main gas pipe (602) is connected with the gas pump (7) at one end and is divided into two branches at the other end, which respectively extend into the inside of a male nail storage bin shell (610) and a female nail storage bin shell (609) and are aligned with corresponding male nail storage bins and female nail storage bins (606); a rotating shaft is movably mounted between two support plates on the impact device base (601), rotating adjusting fans (612) are fixed on both ends of the rotating shaft, the rotating shaft is of a hexagonal or gear-shaped structure, the male nail storage bins and the female nail storage bins (606) are mounted on the rotating shaft inside the support plates through the meshing mounting mode, and a branch gas pipe (603) of the main gas pipe (602) is aligned with the rotating adjusting fans (612). The male nail storage bins and the female nail storage bins (606) store male nails and female nails respectively, and are located inside the male nail storage bin shell (610) and the female nail storage bin shell (609) respectively; the male nail storage bin shell (610) and the female nail storage bin shell (609) move axially along the rotating shaft under the action of low-pressure gas, and a spring B (614) is further mounted on the rotating shaft between the male nail storage bin shell (610) and the female nail storage bin shell (609); X-shaped nozzles (611) made of rubber are fixedly mounted on the male nail storage bin shell (610) and the female nail storage bin shell (609), and the X-shaped nozzles (611) are located at the outlet of the main gas pipe (602), the male nails and the female nails pass through the X-shaped nozzles (611) under the action of high-pressure gas and are stapled on the flange of the duct.

2. The high-altitude air duct flange rivet intelligent installation device according to claim 1, characterized in that, A stabilizing rod (613) is mounted between the female nail storage bin shell (609) and the male nail storage bin shell (610) to make the female nail storage bin shell (609) and the male nail storage bin shell (610) have only one degree of freedom during axial movement.

3. The high-altitude air duct flange rivet intelligent installation device according to claim 1, characterized in that, A section of bellows (608) is arranged on the main gas pipe (602) near the female nail storage bin shell (609) and the male nail storage bin shell (610) to adapt to the axial movement of the female nail storage bin shell (609) and the male nail storage bin shell (610); a section of vertical pipe body of the main gas pipe (602) is provided with the bellows (608) to adapt to the telescopic movement of the vertical telescopic arm (3) and the bending change of the steering joint (4).

4. The high-altitude air duct flange rivet intelligent installation device according to claim 1, characterized in that, The vertical telescopic arm (3) is divided into two sections, and each section is divided into two parts, which 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 with the telescopic end of a hydraulic rod (302) fixed on the base (2), and the side plates of the upper section left plate (301) are provided with grooves (308) in the inside, and the bottom of each groove (308) is provided with a stopper (303); the upper section right plate (304) is a long plate, the top of the side plate 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 and used, the upper section right plate (304) serves as the support for the sliding lifting of the upper section left plate (301), 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 stopper (303) at the bottom of the upper section left plate (301) contacts the stopper (303) at the top of the upper section right plate (304), and the upper section right plate (304) starts to be lifted; The side plates of the lower half of the upper section right plate (304) are provided with grooves (308) in the inside, and the bottom of each groove (308) is provided with a stopper (303), the lower section left plate (305) is a long plate, the top of the upper half of the lower section left plate (305) is provided with a stopper (303), the upper half of the lower section left plate (305) is nested with the lower half of the upper section right plate (304), and when the bottom of the upper section right plate (304) is lifted to the top of the lower section left plate (305), the further upward movement of the upper section right plate (304) is prevented through the interaction between the stoppers (303), and the lower section left plate (305) is lifted upward at the same time; the lower half of the lower section left plate (305) is provided with a stopper (303) at the bottom, the lower section right plate (306) is provided with a stopper (303) at the top, the bottom of the lower section right plate (306) is fixedly connected with the base (2), and the bottom of the lower section left plate (305) is not connected with the base (2), when the lower section left plate (305) is lifted to the top of the lower section right plate (306), the stoppers (303) contact each other to prevent the further lifting of the lower section left plate (305).

5. The high-altitude air duct flange rivet intelligent installation device according to claim 4, characterized in that, The vertical telescopic arm (3) further comprises a stiffener (309) which is a three-prism solid structure, and the two right-angle edges of the stiffener (309) are respectively welded and fixed with the base (2) and the lower section right plate (306) to improve the stability between the vertical telescopic arm (3) and the base (2).

6. The high altitude air duct flange rivet intelligent installation device according to claim 1, characterized in that, The knuckle (4) includes a knuckle base (401) fastened with the vertical telescopic arm (3), a knuckle shell (402) is installed on the knuckle base (401), and an internal rotating device (403) is arranged in the knuckle shell (402); the internal rotating device (403) includes a motor (4031) with a driving gear (4032) installed on a power output shaft, the driving gear (4032) is engaged with a follow-up gear (4033), the follow-up gear (4033) is fixed on a follow-up shaft (4034), and two steering supports (4036) are further fixed on the follow-up shaft (4034); the two steering supports (4036) are both extended to the outside of the knuckle shell (402) through the holes formed in the knuckle shell (402) and are connected with the horizontal telescopic device (5).

7. The high altitude air duct flange rivet intelligent installation device according to claim 1, characterized in that, The universal wheel (1) comprises a rolling wheel (101), a four-legged rotating shaft (102) and an ellipsoidal shell (103). The rolling wheel (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 arranged in a spherical cavity and a cylindrical cavity of the shell (1013). The four shells (1013) of the four rolling wheels (101) are connected with four legs of the four-legged rotating shaft (102) respectively. The four-legged rotating shaft (102) is embedded in the ellipsoidal shell (103) and is connected and fixed with the base (2) at the top. The four-legged rotating shaft (102) is in contact with the shell (1013) through a ball B (1014) around the four-legged rotating shaft (102), so that the four-legged rotating shaft (102) can rotate freely in a circumferential direction by 360 degrees.

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