Automatic climbing riveting robot for steel structure

Abstract

The automatic climbing riveting robot for the steel structure comprises a power moving module, a transverse translation module, a longitudinal telescopic module and a rotation module, the power moving module comprises a frame, a permanent magnet adsorption crawling mechanism is arranged on the frame, the transverse translation module comprises a first bottom plate, and the first bottom plate is arranged at the top of the frame in a sliding mode; the longitudinal telescopic module comprises a first bottom plate, a sliding riveter mechanism is arranged on the first bottom plate, the longitudinal telescopic module comprises a second bottom plate, a rotation power mechanism is installed on the second bottom plate, the rotation module is fixedly connected with the rotation power mechanism, the rotation module comprises a third bottom plate and a shell, and a rivet feeding mechanism and a rivet pulling mechanism are arranged in the shell; according to the robot, stable climbing similar to inchworm motion is achieved, the risk of high-altitude falling is effectively avoided, the multi-freedom-degree and large-range maneuvering capacity is achieved, automatic sorting and feeding of rivets are achieved, long-time continuous uninterrupted operation can be achieved, the steel structure riveting efficiency is greatly improved, and the requirement for thousand-grade riveting in a single day of a large project can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of steel structure construction, and particularly to an automatic climbing riveting robot for steel structures. Background Art

[0002] As a typical representative of modern building industrialization, steel structures have become the preferred structural form in the fields of super high-rise buildings, transportation infrastructure, industrial plants, etc. due to their advantages such as high material strength, short construction period, and strong recyclability. The on-site installation of steel structures still generally adopts a semi-mechanized construction mode at present, and significant technical shortcomings are exposed especially in the riveting process. Traditional riveting operations highly rely on workers holding riveting guns for high-altitude operations, which not only have high labor intensity and prominent safety risks, but also face three major systematic problems: First, the quality of manual riveting is significantly affected by the experience of the operator, and the defect rates such as rivet misalignment and incomplete filling of rivet holes are high, directly affecting the seismic performance and fatigue life of the structure; Second, the construction efficiency is difficult to meet the requirements of modern projects. The daily riveting volume of skilled workers is only about 300 - 400 pieces, while the single-day riveting demand for large bridge projects often exceeds 10,000 pieces, and the comprehensive cost caused by construction delays remains high; Third, the erection and frequent relocation of high-altitude operation platforms consume a large amount of auxiliary working hours, and effective operations cannot even be carried out in complex spatial structures (such as grid node, pipe truss intersection parts).

[0003] In recent years, although the industry has tried to introduce automated equipment to improve the above problems, the existing technical solutions still have significant limitations. For example, the rail-type automatic riveting machine needs to pre-lay a special guide rail on the surface of the steel structure, which not only increases the construction preparation time, but also cannot meet the large-span movement requirements due to the limitation of the rail bearing capacity; Although the hoisting manipulator has a certain degree of flexibility, it relies on external lifting equipment for positioning, and the end positioning accuracy drops sharply under the influence of wind disturbance, and it cannot operate stably on the surface of inclined or curved structures. In addition, although the traditional electromagnetic adsorption mobile platform can achieve attachment to the surface of the steel structure, it has high energy consumption and large heat generation, and the magnetic force attenuation is likely to occur during long-term operation, and the adsorption reliability is significantly reduced on the surface of heavy steel members with a thickness exceeding 30mm.

[0004] The above technical defects have directly led to the long-term "automation island" phenomenon in the field of steel structure construction. Although the prefabricated component factory production has achieved a high degree of automation, the on-site installation link still remains in the labor-intensive stage. Therefore, in view of this technical gap, the present invention provides an automatic climbing riveting robot for steel structures that integrates a bionic motion mechanism, multi-axis positioning, and modular functional units. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: to provide an automatic climbing riveting robot for steel structures with low power consumption, high efficiency, and long-cycle continuous operation.

[0006] To solve the above technical problems, the present invention includes:

[0007] A power moving module, which includes a frame, and a permanent magnet adsorption creeping mechanism is provided on the frame;

[0008] A lateral translation module, which includes a first bottom plate, the first bottom plate is slidably arranged on the top of the frame, and a sliding riveting gun mechanism is provided on the first bottom plate;

[0009] A longitudinal telescopic module, which includes a second bottom plate, the second bottom plate is slidably arranged at one end of the first bottom plate and the sliding direction of the second bottom plate is perpendicular to the sliding direction of the first bottom plate in the same plane, and a rotary power mechanism is installed on the second bottom plate;

[0010] A rotary module, which is fixedly connected to the rotary power mechanism, the rotary module includes a third bottom plate and a housing, a guiding track formed by guiding plates is arranged in the housing, a rivet chain is arranged in the guiding track, and a hole capable of matching with the riveting gun mechanism is provided on the third bottom plate. A nail feeding mechanism and a nail pushing mechanism are arranged in the housing, the nail pushing mechanism drives the rivet chain to slide along the guiding track, and the nail feeding mechanism pushes the rivets on the rivet chain out of the hole.

[0011] Preferably, the permanent magnet adsorption creeping mechanism includes vertical slide rails, a turntable bottom plate, a hydraulic turntable and permanent magnet suction feet. There are two vertical slide rails and they are fixedly arranged on the frame in parallel. The turntable bottom plate is floatingly installed on the vertical slide rails through sliding parts. There are two turntable bottom plates and two hydraulic turntables. The fixed plate of the hydraulic turntable is fixedly installed on the turntable bottom plate. The permanent magnet suction feet are fixed on the rotating plate of the hydraulic turntable. A screw rod structure for driving the sliding of the turntable bottom plate is also provided on the frame.

[0012] Preferably, the screw rod structure includes a creeping servo motor, a screw rod and a nut seat. The nut seat is fixedly connected to the turntable bottom plate. The creeping servo motor is fixedly installed on the frame. One end of the screw rod is in transmission connection with the creeping servo motor. The screw rod is in threaded connection with the threaded seat.

[0013] Preferably, a lateral translation servo motor is provided on the top of the frame. The output shaft of the lateral translation servo motor is fixedly connected with a lateral translation driving gear. A lateral translation rack is fixedly connected to the first bottom plate. The lateral translation rack is meshed with the lateral translation driving gear. A lateral translation slide rail is fixedly connected to the bottom of the first bottom plate. Lateral translation sliders distributed in a matrix are fixed on the top surface of the frame. The lateral translation slide rail slides relative to the lateral translation sliders.

[0014] Preferably, the rivet gun mechanism includes a rivet gun base and an automatic hydraulic rivet gun, the automatic hydraulic rivet gun is fixed to the rivet gun base through a rivet gun fixing bracket, the bottom of the rivet gun base is fixedly connected with a telescopic slider, the first bottom plate is fixedly connected with a telescopic slide rail, the telescopic slider slides along the telescopic slide rail, the first bottom plate is fixedly connected with an advance and retreat hydraulic cylinder, the advance and retreat hydraulic cylinder drives the rivet gun base to slide along the telescopic guide rail, and the sliding direction of the rivet gun base is perpendicular to the sliding direction of the first bottom plate.

[0015] Preferably, a mounting bracket is fixed to one end of the first base plate, a longitudinal contraction servo motor is mounted on the mounting bracket, an output shaft of the longitudinal contraction servo motor is fixedly connected to a longitudinal contraction driving gear, a longitudinal contraction rack is fixedly connected to the second base plate, the longitudinal contraction driving gear is meshed with the longitudinal contraction rack, a longitudinal contraction slider distributed in a matrix is ​​fixedly connected to the mounting bracket, a longitudinal contraction slide rail is fixedly connected to the side of the second base plate, and the longitudinal contraction slide rail slides relative to the longitudinal contraction slider.

[0016] Preferably, the rotary power mechanism includes a rotary servo motor, a rotary reducer and a rotary shaft, the rotary shaft is fixed to the second base plate through a rotary shaft sleeve, the rotary servo motor is transmission-connected to the rotary shaft through the rotary reducer, and the rotary shaft is fixedly connected to one end of the third base plate.

[0017] Preferably, the nail feeding mechanism includes a nail feeding cylinder, a nail feeding rod and an epitaxial disk, the nail feeding cylinder is fixed on the third bottom plate, the telescopic end of the nail feeding cylinder is fixedly connected to the epitaxial disk, the nail feeding rod is fixedly connected to the epitaxial disk, and the epitaxial disk is also fixedly connected to a guide rod, the third bottom plate is fixedly connected to a guide sleeve, and the guide rod is slidably connected to the guide sleeve.

[0018] Preferably, the nail pushing mechanism includes a nail pushing frame, a nail pushing reduction motor and a nail pushing hook, the nail pushing frame is fixedly connected to the third bottom plate, the nail pushing reduction motor is installed on the nail pushing frame, the output shaft of the nail pushing reduction motor is fixedly connected to a nail pushing main gear, the nail pushing frame is movably connected to a nail pushing slave gear, the nail pushing slave gear is fixedly connected to an active connecting rod, the nail pushing frame is movably connected to a driven connecting rod, the active connecting rod and the driven connecting rod are both movably connected to the nail pushing hook to form a double-link rocker arm structure.

[0019] The beneficial effects of the present invention are as follows: The overall structure is driven to move along the steel structure by the permanent magnet adsorption creeping mechanism, realizing stable climbing with a caterpillar-like movement. Compared with the traditional electromagnetic adsorption scheme, the zero-power consumption characteristic of the permanent magnet reduces the energy consumption by more than 90%, and there is no risk of magnetic force attenuation. It can still maintain sufficient adsorption strength on the surface of large-thick steel members, effectively avoiding the risk of falling from a height. The multi-degree-of-freedom and large-range maneuverability are achieved through the lateral translation module, longitudinal telescopic module, and rotary module to adapt to the transfer and operation on complex structures. The nail-pulling mechanism drives the rivet chain to move along the guide track and uses the nail-feeding mechanism to push the rivets, realizing automatic sorting and feeding of the rivets. It can operate continuously for a long time without interruption, greatly improving the riveting efficiency of the steel structure and meeting the riveting requirements of thousands of pieces per day for large-scale projects. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a three-dimensional schematic diagram of the overall structure of the present invention;

[0021] Figure 2 is a side schematic diagram of the overall structure of the present invention;

[0022] Figure 3 is a three-dimensional schematic diagram of the power moving module in the present invention;

[0023] Figure 4 is a partial structure schematic diagram of the power moving module in the present invention;

[0024] Figure 5 is a connection schematic diagram of the lateral translation module and the longitudinal telescopic module in the present invention;

[0025] Figure 6 is a three-dimensional schematic diagram of the lateral translation module in the present invention;

[0026] Figure 7 is a bottom view plan of the lateral translation module in the present invention;

[0027] Figure 8 is a three-dimensional schematic diagram of the longitudinal telescopic module in the present invention;

[0028] Figure 9 is a three-dimensional schematic diagram of the rotary module in the present invention;

[0029] Figure 10 is a three-dimensional schematic diagram of the nail-feeding mechanism of the rotary module in the present invention;

[0030] Figure 11 is a three-dimensional schematic diagram of the nail-pulling mechanism of the rotary module in the present invention;

[0031] Figure 12 is a three-dimensional schematic diagram of the present invention when used on a steel structure;

[0032] Figure 13This is a schematic plan view of the use of the present invention on a steel structure.

[0033] In the figure: 1. Power moving module; 11. Frame; 12. Vertical slide rail; 13. Turntable bottom plate; 14. Hydraulic turntable; 15. Permanent magnet suction foot; 16. Crawling servo motor; 17. Lead screw; 18. Nut seat; 19. Lithium battery pack; 110. Hydraulic pack power motor; 111. Hydraulic pump; 112. Hydraulic oil tank; 113. Transverse servo motor; 114. Transverse drive gear;

[0034] 2. Transverse translation module; 21. First bottom plate; 22. Transverse slide rail; 23. Transverse rack; 24. Transverse slider; 25. Mounting bracket; 26. Longitudinal contraction servo motor; 27. Longitudinal contraction drive gear; 28. Riveting gun base; 29. Telescopic slider; 210. Telescopic slide rail; 211. Riveting gun fixing bracket; 212. Automatic hydraulic riveting gun; 213. Advance and retreat hydraulic cylinder;

[0035] 3. Longitudinal telescopic module; 31. Second bottom plate; 32. Longitudinal contraction slide rail; 33. Longitudinal contraction slider; 34. Longitudinal contraction rack; 35. Rotary servo motor; 36. Rotary reducer; 37. Rotary shaft sleeve holder; 38. Rotary shaft;

[0036] 4. Rotary module; 41. Third bottom plate; 42. Housing; 43. Guide plate; 44. Poking pin mechanism; 441. Poking pin frame; 442. Poking pin reduction motor; 443. Poking pin hook; 444. Poking pin main gear; 445. Poking pin driven gear; 446. Active connecting rod; 447. Driven connecting rod; 45. Rivet chain; 46. Nail feeding mechanism; 461. Nail feeding oil cylinder; 462. Nail feeding rod; 463. Extension disc; 464. Guide sleeve; 465. Guide rod; 47. Rivet; 48. Hole;

[0037] 5. Steel structure; 51. Riveting hole. Specific embodiments

[0038] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. All directional indications (such as up, down, left, right, front, back...) in the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, then the directional indication also changes accordingly.

[0039] As Figures 1-13As shown, this embodiment provides an automatic climbing riveting robot for steel structure, including a power mobile module 1, a lateral translation module 2, a longitudinal telescopic module 3 and a rotary module 4. The power mobile module 1 creeps along the steel structure 5, and the lateral translation module 2, the longitudinal telescopic module 3 and the rotary module 4 realize three-degree-of-freedom motion of lateral movement, longitudinal contraction and rotation relative to the power mobile module 1.

[0040] like Figures 3-4 As shown, the power mobile module 1 includes a frame 11, and a permanent magnetic adsorption creeping mechanism is provided on the frame 11. The permanent magnetic adsorption creeping mechanism includes a vertical slide rail 12, a turntable bottom plate 13, a hydraulic turntable 14 and a permanent magnetic suction foot 15. The vertical slide rail 12 is two and is fixed in parallel on the frame 11. The turntable bottom plate 13 is floatingly installed on the vertical slide rail 12 through a sliding member. There are two turntable bottom plates 13 and hydraulic turntables 14. The hydraulic turntable 14 includes a fixed plate and a rotating plate that rotate relative to each other. The rotating plate rotates relative to the fixed plate by hydraulic drive. The fixed plate of the hydraulic turntable 14 is fixedly installed on the turntable bottom plate 13. The permanent magnetic suction foot 15 is made of permanent magnets. The magnetic foot 15 is fixed on the rotating disk of the hydraulic turntable 14. The frame 11 is also provided with a screw rod 17 structure that drives the turntable bottom plate 13 to slide. The screw rod 17 structure is composed of two groups that respectively drive the two turntable bottom plates 13 to slide along the vertical slide rail 12. The screw rod 17 structure includes a creeping servo motor 16, a screw rod 17 and a nut seat 18. The nut seat 18 is fixedly connected to the turntable bottom plate 13. The creeping servo motor 16 is fixedly installed on the frame 11. One end of the screw rod 17 is transmission-connected to the creeping servo motor 16. The screw rod 17 is threadedly connected to the threaded seat. The hydraulic turntable 14 and the screw rod 17 structure are used to realize the creeping translation and rotation of the whole on the steel structure 5. A power source, a hydraulic package power motor 110 and a hydraulic pump 111 are also provided in the frame 11. The hydraulic package power motor 110 drives the hydraulic pump 111 to deliver hydraulic oil. The power source is a lithium battery pack 19, and a hydraulic oil tank 112 provides a hydraulic source for all hydraulic components of the system. The hydraulic oil tank 112 is used to store hydraulic oil.

[0041] like Figures 5-7As shown in the figure, the horizontal translation module 2 includes a first bottom plate 21, which is slidably arranged on the top of the frame 11. A sliding riveting gun mechanism is provided on the first bottom plate 21. A horizontal translation servo motor 113 is provided on the top of the frame 11. The output shaft of the horizontal translation servo motor 113 is fixedly connected with a horizontal translation driving gear 114. A horizontal translation rack 23 is fixedly connected to the first bottom plate 21. The horizontal translation rack 23 meshes with the horizontal translation driving gear 114. A horizontal translation slide rail 22 is fixedly connected to the bottom of the first bottom plate 21. Horizontally translation sliders 24 distributed in a matrix are fixed on the top surface of the frame 11. The horizontal translation slide rail 22 slides relative to the horizontally translation sliders 24. The horizontal translation servo motor 113 drives the first bottom plate 21 to move horizontally relative to the frame 11 through the meshing of the horizontal translation driving gear 114 and the horizontal translation rack 23. The riveting gun mechanism includes a riveting gun base 28 and an automatic hydraulic riveting gun 212. The automatic hydraulic riveting gun 212 is fixed on the riveting gun base 28 through a riveting gun fixing bracket 211. A telescopic slider 29 is fixedly connected to the bottom of the riveting gun base 28. A telescopic slide rail 210 is fixedly connected to the first bottom plate 21. The telescopic slider 29 slides along the telescopic slide rail 210. A forward and backward hydraulic cylinder 213 is fixedly connected to the first bottom plate 21. The forward and backward hydraulic cylinder 213 drives the riveting gun base 28 to slide along the telescopic guide rail, and the sliding direction of the riveting gun base 28 is perpendicular to the sliding direction of the first bottom plate 21. The riveting gun base 28 drives the automatic hydraulic riveting gun 212 to approach or move away from the steel structure 5 under the drive of the forward and backward hydraulic cylinder 213, so as to fix the rivet 47.

[0042] As Figure 8 shown in the figure, the longitudinal telescopic module 3 includes a second bottom plate 31, which is slidably arranged at one end of the first bottom plate 21 and the sliding direction of the second bottom plate 31 is perpendicular to the sliding direction of the first bottom plate 21 in the same plane. A rotary power mechanism is installed on the second bottom plate 31. An installation bracket 25 is fixed at one end of the first bottom plate 21. A longitudinal contraction servo motor 26 is installed on the installation bracket 25. The output shaft of the longitudinal contraction servo motor 26 is fixedly connected with a longitudinal contraction driving gear 27. A longitudinal contraction rack 34 is fixedly connected to the second bottom plate 31. The longitudinal contraction driving gear 27 meshes with the longitudinal contraction rack 34. Longitudinal contraction sliders 33 distributed in a matrix are fixedly connected to the installation bracket 25. A longitudinal contraction slide rail 32 is fixedly connected to the side surface of the second bottom plate 31. The longitudinal contraction slide rail 32 slides relative to the longitudinal contraction sliders 33. The longitudinal contraction servo motor 26 drives the second bottom plate 31 to slide relative to the first bottom plate 21 through the meshing of the longitudinal contraction driving gear 27 and the longitudinal contraction rack 34, so as to drive the rotary module 4 to approach or move away from the steel structure 5.

[0043] As Figures 9-11As shown, the rotary module 4 is fixedly connected to the rotary power mechanism, and the rotary power mechanism drives the rotary module 4 to rotate relative to the longitudinal telescopic module 3. The rotary module 4 includes a third bottom plate 41 and a shell 42. A guide track composed of a guide plate 43 is provided in the shell 42. A rivet chain 45 is provided in the guide track, and a hole 48 that can match the rivet gun mechanism is provided on the third bottom plate 41. A nail feeding mechanism 46 and a nail pushing mechanism 44 are provided in the shell 42. The nail pushing mechanism 44 drives the rivet chain 45 to slide along the guide track, and the nail feeding mechanism 46 pushes the rivet 47 on the rivet chain 45 from the hole 48 is pushed out, the rivet chain 45 is a chain structure with rivets 47, the rivets 47 can be removed from the rivet chain 45, the rivet pushing mechanism 44 pushes one rivet 47 each time, so that the rivet chain 45 moves along the guide track under the constraint of the guide plate 43, so that the rivet chain 45 is driven by the rivet pushing mechanism 44 to move to the position of the rivet hole 51 in the shell 42 along a predetermined trajectory, and the rivet 47 is pushed out by the rivet feeding mechanism 46, so that the rivet 47 penetrates into the rivet hole 51 in the steel structure 5, and the rivet 47 is fixed in the steel structure 5 with the automatic hydraulic riveting gun 212.

[0044] like Figure 8 As shown, the rotary power mechanism includes a rotary servo motor 35, a rotary reducer 36 and a rotary shaft 38. The rotary shaft 38 is fixed to the second base plate 31 through a rotary shaft sleeve 37. The rotary servo motor 35 is connected to the rotary shaft 38 through the rotary reducer 36. The rotary shaft 38 is fixedly connected to one end of the third base plate 41. The rotary servo motor 35 drives the third base plate 41 to rotate, thereby driving the rotary module 4 to rotate.

[0045] like Figure 10 As shown, the nail feeding mechanism 46 includes a nail feeding cylinder 461, a nail feeding rod 462 and an extension disk 463. The nail feeding cylinder 461 is fixed on the third base plate 41, and the telescopic end of the nail feeding cylinder 461 is fixedly connected to the extension disk 463. The nail feeding rod 462 is fixedly connected to the extension disk 463, and the extension disk 463 is also fixedly connected to a guide rod 465. A guide sleeve 464 is fixedly connected to the third base plate 41, and the guide rod 465 is slidably connected to the guide sleeve 464. The nail feeding rod 462 is coaxially arranged with the rivet 47 and the rivet hole 51. The arrangement of the guide rod 465 and the guide sleeve 464 ensures the axial accuracy of the push of the nail feeding rod 462.

[0046] like Figure 11As shown, the nail-pushing mechanism 44 includes a nail-pushing frame 441, a nail-pushing reduction motor 442 and a nail-pushing hook 443. The nail-pushing frame 441 is fixedly connected to the third bottom plate 41, and the nail-pushing reduction motor 442 is installed on the nail-pushing frame 441. The output shaft of the nail-pushing reduction motor 442 is fixedly connected to a nail-pushing main gear 444. The nail-pushing frame 441 is movably connected to a nail-pushing slave gear 445. The nail-pushing slave gear 445 is fixedly connected to an active connecting rod 446. The nail-pushing frame 441 is movably connected to a driven connecting rod 447. The connecting rod 446 and the driven connecting rod 447 are both movably connected to the nail-pushing hook 443 to form a double-link rocker arm structure. The nail-pushing reduction motor 442 drives the active connecting rod 446 to swing through the engagement of the nail-pushing main gear 444 and the nail-pushing slave gear 445, thereby driving the nail-pushing hook 443 to swing through the double-link rocker arm structure, so that the nail-pushing hook 443 gradually extends into the gap between adjacent rivets 47, and moves the rivet 47 to the rivet hole 51 at a fixed distance, while driving the rivet chain 45 to advance as a whole under the constraint of the guide plate 43.

[0047] Its working principle is:

[0048] 1. Initial positioning and adsorption

[0049] First, the operator places the robot in the starting operation area of ​​the steel structure 5 (such as the end of the steel beam or the node position) through the lifting equipment or the auxiliary mechanical arm. Before starting, it is necessary to check the power of the lithium battery pack 19 and the oil level of the hydraulic oil tank 112. At this time, the longitudinal telescopic module 3 is fully retracted, so that the rotary module 4 and the power moving module 1 are completely on the same side of the attached steel structure 5. Then the permanent magnetic suction foot 15 is activated, and the permanent magnetic suction foot 15 on the hydraulic turntable 14 on both sides first works in the "alternating adsorption" mode, that is, the hydraulic turntable 14 on one side drives the screw rod 17 through the creeping servo motor 16 to drive the permanent magnetic suction foot 15 in the non-adsorption state to translate along the slide rail of the power moving module 1 to the target position. After the translation is completed, it is completely in contact with the surface of the steel member and adsorbed and fixed. Then the permanent magnetic suction foot 15 on the hydraulic turntable 14 on the other side successively performs the "release-rotation-translation-adsorption" action, and the rotation angle and translation distance of the hydraulic turntable 14 are adjusted as needed. The above actions are performed in sequence to complete the initial adsorption of the robot and the positioning and movement to the working surface.

[0050] 2. Target rivet hole positioning

[0051] When the robot reaches the working surface, first, according to the position of the working rivet hole 51 and the edge, the lateral servo motor 113 drives the lateral drive gear 114 and the lateral rack 23 to make the lateral translation module 2 lateral translation, driving the axis of the automatic hydraulic riveting gun 212 to move horizontally to the X-axis coordinate of the target rivet hole 51. Then, the screw rod 17 and the nut seat 18 creeping system of the power moving module 1 adjust the axis of the rivet gun to move vertically to the Y-axis coordinate of the target rivet hole 51, and at this time, the axis of the automatic hydraulic riveting gun 212 is aligned with the rivet hole 51.

[0052] After the above actions are completed, the longitudinal contraction servo motor 26 drives the longitudinal contraction drive gear 27 and the longitudinal contraction rack 34, so that the rotary module 4 on the longitudinal telescopic module 3 is completely on the other side of the riveting structure. The extension distance depends on the total thickness of the steel structure 5 to be riveted, and the distance between the third bottom plate 41 and the surface of the steel structure 5 is controlled within 3-5 mm. Subsequently, the rotary module 4 is driven by the rotary servo motor 35 and the rotary reducer 36 to rotate the rotary shaft 38, and the rotary module 4 is rotated to the working hole position, so that the axis of the rivet conveying path is aligned with the axis of the rivet hole 51.

[0053] 3. Continuous nail feeding and riveting execution

[0054] After the above alignment action is completed and confirmed, the nail-pulling mechanism 44 is activated. The nail-pulling reduction motor 442 drives the nail-pulling main gear 444 to drive the nail-pulling slave gear 445 to rotate. The double-link rocker arm structure drives the nail-pulling hook 443 to insert into the gap between adjacent rivets 47 of the rivet chain 45 at a fixed phase angle, and pushes the rivets 47 to the nail-feeding position at equal intervals. During this process, the guide plate 43 guides and straightens the rivet chain 45.

[0055] When the rivet 47 is conveyed to the state aligned with the rivet hole 51, the nail-feeding oil cylinder 461 in the initial extended state contracts, pushing the nail-feeding rod 462 to accurately insert the rivet 47 to be fed into the rivet hole 51. Subsequently, the automatic hydraulic riveting gun 212 is driven by the advancing and retreating hydraulic cylinder 213 and advances along the telescopic slide rail 210 to the head of the rivet 47. The hydraulic system controls the pressure gradient through the proportional valve to complete the plastic deformation of the rivet 47. After the riveting is completed, the automatic hydraulic riveting gun 212 quickly resets.

[0056] 4. Operating point adjustment

[0057] The adjustment range of adjacent rivet holes 51 is small, and only the alignment operation in step 2 needs to be repeated to complete the positioning and alignment of adjacent rivet holes 51.

[0058] For large-range transfer of operating points, the creeping climbing strategy described in step 1 needs to be adopted: when going straight, one side of the permanent magnet suction foot 15 is released, and the creeping servo motor 16 drives the lead screw 17 to drive the hydraulic turntable 14 to translate along the vertical slide rail 12, and then the suction foot adsorbs again; the other side of the permanent magnet suction foot 15 then performs the actions of "release - translation - adsorption". When changing the direction, one side of the permanent magnet suction foot 15 is released, and the other side of the hydraulic turntable 14 rotates the required angle, and then the suction foot adsorbs again, so as to change the creeping direction.

[0059] When encountering protrusions or welds on the surface of the steel structure 5, the longitudinal telescopic module 3 contracts to retract the rotary module 4 to the same side of the steel structure 5 as the power moving module, and then the whole is rotated around the obstacle through the rotation of the hydraulic turntable 14 to avoid interference and collision between the permanent magnet suction foot 15 and the obstacle.

[0060] 5. Magazine replacement and continuous operation

[0061] When the rivet chain 45 is exhausted, the robot automatically moves to the preset replacement position (such as the edge platform of the steel structure), the rotary module 4 rotates to the non-operating position, and the operator manually unlocks the housing 42 of the rotary module 4 and loads the new rivet chain 45 in the direction of the guide track surrounded by the guide plate 43. After the replacement is completed, the robot automatically continues according to the last operation coordinates and repositions to the operation interruption point to ensure the continuity of riveting.

[0062] 1. The innovatively designed creeping mechanism of the permanent magnetic foot 15 of the present invention breaks through the bottleneck of traditional adsorption technology, adopts a distributed magnetic system in which a double hydraulic turntable 14 is linked with a slide rail slider, and accurately controls the alternating adsorption / release action of the magnetic unit through a creeping servo motor 16, thereby achieving stable climbing similar to the movement of an inchworm. Compared with the traditional electromagnetic adsorption scheme, the zero power consumption characteristic of the permanent magnet reduces energy consumption by more than 90%, and there is no risk of magnetic attenuation. It can still maintain sufficient adsorption strength on the surface of thick steel components, effectively avoiding the risk of falling from a high altitude.

[0063] 2. The three-degree-of-freedom telescopic rotating arm (lateral translation + longitudinal telescopic + rotation) combined with the bionic creeping rotating climbing system can enable the device to achieve multi-degree-of-freedom and a wide range of maneuverability on the steel structure 5 to adapt to the transfer and operation on complex structures.

[0064] 3. The double-link rocker arm structure in the nail-pushing mechanism 44 adopts equidistant phase control, and drives the nail-pushing hook 443 to perform millimeter-level precise positioning through the nail-pushing reduction motor 442 driving the gear set, which greatly shortens the single nail delivery cycle and greatly improves the speed of nail picking and delivery compared with traditional manual nail removal. With the replaceable guide channel design, it can be compatible with the automatic sorting and delivery of rivets 47 of various specifications from Φ6 to Φ24mm. At the same time, the large rivet chain 45 magazine design supports long-term continuous and uninterrupted operation, and with the quick replacement of the rivet 47 magazine, it can achieve efficient operation all day long, which is much more efficient than the traditional manual use of single-shot nail supply equipment, and can meet the daily riveting needs of thousands of large-scale projects.

[0065] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic climbing riveting robot for steel structures, characterized in that, Including: A power moving module, which includes a frame, and a permanent magnet adsorption creeping mechanism is provided on the frame; A lateral translation module, which includes a first bottom plate, the first bottom plate is slidably arranged on the top of the frame, and a sliding riveting gun mechanism is provided on the first bottom plate; A longitudinal telescopic module, which includes a second bottom plate, the second bottom plate is slidably arranged at one end of the first bottom plate and the sliding direction of the second bottom plate is perpendicular to the sliding direction of the first bottom plate in the same plane, and a rotary power mechanism is installed on the second bottom plate; A rotary module, which is fixedly connected to the rotary power mechanism, the rotary module includes a third bottom plate and a housing, a guide track formed by a guide plate is arranged in the housing, a rivet chain is arranged in the guide track, and a hole capable of matching with the riveting gun mechanism is provided on the third bottom plate, a nail feeding mechanism and a nail dialing mechanism are arranged in the housing, the nail dialing mechanism drives the rivet chain to slide along the guide track, and the nail feeding mechanism pushes the rivets on the rivet chain out of the hole.

2. The automatic climbing riveting robot for steel structures according to claim 1, characterized in that The permanent magnet adsorption creeping mechanism includes vertical slide rails, a turntable bottom plate, a hydraulic turntable and permanent magnet suction feet. There are two vertical slide rails which are fixedly arranged on the frame in parallel. The turntable bottom plate is floatingly installed on the vertical slide rails through sliding parts. There are two turntable bottom plates and two hydraulic turntables. The fixed plate of the hydraulic turntable is fixedly installed on the turntable bottom plate. The permanent magnet suction feet are fixed on the rotating plate of the hydraulic turntable. A screw rod structure for driving the turntable bottom plate to slide is also provided on the frame.

3. The automatic climbing riveting robot for steel structures according to claim 2, characterized in that The screw rod structure includes a creeping servo motor, a screw rod and a nut seat. The nut seat is fixedly connected to the turntable bottom plate. The creeping servo motor is fixedly installed on the frame. One end of the screw rod is in transmission connection with the creeping servo motor. The screw rod is in threaded connection with the thread seat.

4. The automatic climbing riveting robot for steel structures according to claim 1, wherein A transverse movement servo motor is provided on the top of the frame. The output shaft of the transverse movement servo motor is fixedly connected with a transverse movement driving gear. A transverse movement rack is fixedly connected to the first bottom plate. The transverse movement rack meshes with the transverse movement driving gear. A transverse movement slide rail is fixedly connected to the bottom of the first bottom plate. Transverse movement sliders distributed in a matrix are fixed on the top surface of the frame. The transverse movement slide rail slides relative to the transverse movement sliders.

5. The automatic climbing riveting robot for steel structures according to claim 4, wherein The riveting gun mechanism includes a riveting gun base and an automatic hydraulic riveting gun. The automatic hydraulic riveting gun is fixed on the riveting gun base through a riveting gun fixing bracket. A telescopic slider is fixedly connected to the bottom of the riveting gun base. A telescopic slide rail is fixedly connected to the first bottom plate. The telescopic slider slides along the telescopic slide rail. A forward and backward hydraulic cylinder is fixedly connected to the first bottom plate. The forward and backward hydraulic cylinder drives the riveting gun base to slide along the telescopic guide rail, and the sliding direction of the riveting gun base is perpendicular to the sliding direction of the first bottom plate.

6. The automatic climbing riveting robot for steel structures according to claim 1, characterized in that, An installation bracket is fixed at one end of the first bottom plate. A longitudinal contraction servo motor is installed on the installation bracket. The output shaft of the longitudinal contraction servo motor is fixedly connected with a longitudinal contraction driving gear. A longitudinal contraction rack is fixedly connected to the second bottom plate. The longitudinal contraction driving gear meshes with the longitudinal contraction rack. Longitudinal contraction sliders distributed in a matrix are fixed on the installation bracket. A longitudinal contraction slide rail is fixedly connected to the side surface of the second bottom plate. The longitudinal contraction slide rail slides relative to the longitudinal contraction sliders.

7. The automatic climbing riveting robot for steel structures according to claim 1, characterized in that, The rotary power mechanism includes a rotary servo motor, a rotary reducer and a rotary shaft. The rotary shaft is fixed to the second base plate through a rotary shaft sleeve. The rotary servo motor is transmission-connected to the rotary shaft through the rotary reducer. The rotary shaft is fixedly connected to one end of the third base plate.

8. The automatic climbing riveting robot for steel structures according to claim 1, characterized in that, The nail feeding mechanism includes a nail feeding cylinder, a nail feeding rod and an epitaxial disk. The nail feeding cylinder is fixed on the third bottom plate. The telescopic end of the nail feeding cylinder is fixedly connected to the epitaxial disk. The nail feeding rod is fixedly connected to the epitaxial disk, and the epitaxial disk is also fixedly connected to a guide rod. A guide sleeve is fixedly connected to the third bottom plate, and the guide rod is slidably connected to the guide sleeve.

9. The automatic climbing riveting robot for steel structures according to claim 8, wherein The nail-pushing mechanism includes a nail-pushing frame, a nail-pushing reduction motor and a nail-pushing hook. The nail-pushing frame is fixedly connected to the third bottom plate, the nail-pushing reduction motor is installed on the nail-pushing frame, the output shaft of the nail-pushing reduction motor is fixedly connected to a nail-pushing main gear, the nail-pushing frame is movably connected to a nail-pushing slave gear, the nail-pushing slave gear is fixedly connected to an active connecting rod, the nail-pushing frame is movably connected to a driven connecting rod, the active connecting rod and the driven connecting rod are both movably connected to the nail-pushing hook to form a double-link rocker arm structure.

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