An automatic climbing riveting robot for steel structure

Abstract

The application discloses an automatic climbing riveting robot for a steel structure, which comprises a power moving module, a transverse translation module, a longitudinal telescopic module and a rotary module. The power moving module comprises a frame, and a permanent magnet adsorption creeping mechanism is arranged on the frame. The transverse translation module comprises a first bottom plate, the first bottom plate is slidably arranged on the top of the frame, and a sliding riveting gun mechanism is arranged on the first bottom plate. The longitudinal telescopic module comprises a second bottom plate, and a rotary power mechanism is mounted on the second bottom plate. The rotary module is fixedly connected with the rotary power mechanism. The rotary module comprises a third bottom plate and a shell, and a nail feeding mechanism and a nail pushing mechanism are arranged in the shell. The automatic climbing riveting robot realizes stable climbing of inchworm movement, effectively avoids the risk of falling from a high altitude, realizes multi-degree-of-freedom and large-range maneuvering capability, realizes automatic sorting and feeding of rivets, can continuously and uninterruptedly work for a long time, greatly improves the riveting efficiency of the steel structure, and can meet the riveting demand of thousands of pieces of rivets per day for large projects.

Description

Technical Field

[0001] This invention relates to the field of steel structure construction technology, and in particular to an automatic climbing and riveting robot for steel structures. Background Technology

[0002] As a typical representative of modern industrialized construction, steel structures have become the preferred structural form for super high-rise buildings, transportation infrastructure, and industrial plants due to their advantages such as high material strength, short construction cycle, and strong recyclability. However, on-site installation of steel structures still generally adopts a semi-mechanized construction mode, particularly revealing significant technical shortcomings in the riveting process. Traditional riveting operations heavily rely on workers using hand-held rivet guns at heights, which not only involves high labor intensity and significant safety risks but also faces three major systemic challenges: First, the quality of manual riveting is significantly affected by the operator's experience, with a high incidence of defects such as misaligned rivets and incomplete filling of rivet holes, directly impacting the structure's seismic performance and fatigue life. Second, construction efficiency cannot meet the demands of modern engineering projects; skilled workers can only rivet an average of about 300-400 rivets per day, while large bridge projects often require over 10,000 rivets per day, leading to high overall costs due to project delays. Third, the construction and frequent relocation of high-altitude work platforms consume a large amount of auxiliary time, and in complex spatial structures (such as space frame nodes and pipe truss intersections), effective operation is even impossible.

[0003] In recent years, although the industry has attempted to introduce automated equipment to improve the above-mentioned problems, existing technical solutions still have significant limitations. For example, rail-mounted automatic riveting machines require the pre-laying of special guide rails on the steel structure surface, which not only increases construction preparation time but also cannot meet the needs of large-span movement due to the limited load-bearing capacity of the rails. While hoisting robotic arms have a certain degree of flexibility, they rely on external lifting equipment for positioning, and their end-positioning accuracy drops sharply under wind disturbances, and they cannot operate stably on inclined or curved structural surfaces. In addition, although traditional electromagnetic adsorption mobile platforms can achieve adhesion to steel structure surfaces, they have high energy consumption and generate a lot of heat, and are prone to magnetic attenuation after long-term operation, significantly reducing the reliability of adsorption on heavy steel components with a thickness of more than 30mm.

[0004] The aforementioned technical deficiencies have directly led to the long-standing phenomenon of "automation silos" in the steel structure construction field. Although the factory production of prefabricated components has achieved a high degree of automation, the on-site installation process remains labor-intensive. Therefore, this invention addresses this technological gap by providing an automated climbing and riveting robot for steel structures that integrates a biomimetic 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 and riveting robot for steel structures that is low in power consumption, high in efficiency, and capable of long-cycle continuous operation.

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

[0007] A powered mobile module includes a frame on which a permanent magnet adsorption creeping mechanism is provided;

[0008] A lateral translation module includes a first base plate, which is slidably disposed on the top of the frame, and a sliding rivet gun mechanism is provided on the first base plate.

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

[0010] A rotary module is fixedly connected to a rotary power mechanism. The rotary module includes a third base plate and a housing. The housing has a guide rail formed by guide plates. A rivet chain is provided in the guide rail. The third base plate has holes that can match the rivet gun mechanism. The housing has a rivet feeding mechanism and a rivet pulling mechanism. The rivet pulling mechanism drives the rivet chain to slide along the guide rail. The rivet feeding mechanism pushes the rivets on the rivet chain out of the holes.

[0011] Preferably, the permanent magnet adsorption creeping mechanism includes a vertical slide rail, a turntable base plate, a hydraulic turntable, and permanent magnet suction feet. There are two vertical slide rails, which are fixed parallel to each other on the frame. The turntable base plate is floatingly mounted on the vertical slide rails through a sliding member. There are two turntable base plates and two hydraulic turntables. The fixed plate of the hydraulic turntable is fixedly mounted on the turntable base plate. The permanent magnet suction feet are fixed on the rotating disk of the hydraulic turntable. The frame is also provided with a lead screw structure for driving the turntable base plate to slide.

[0012] Preferably, the lead screw structure includes a creeping servo motor, a lead screw, and a nut seat. The nut seat is fixedly connected to the turntable base plate, the creeping servo motor is fixedly mounted on the frame, one end of the lead screw is drivenly connected to the creeping servo motor, and the lead screw is threadedly connected to the threaded seat.

[0013] Preferably, the top of the frame is provided with a transverse servo motor, the output shaft of the transverse servo motor is fixedly connected to a transverse drive gear, a transverse rack is fixedly connected to the first base plate, the transverse rack meshes with the transverse drive gear, a transverse slide rail is fixedly connected to the bottom of the first base plate, and a matrix of transverse sliders is fixedly connected to the top surface of the frame, the transverse slide rail slides relative to the transverse sliders.

[0014] Preferably, the riveting gun mechanism includes a riveting gun base and an automatic hydraulic riveting gun. The automatic hydraulic riveting gun is fixed to the riveting gun base by 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 base plate. The telescopic slider slides along the telescopic slide rail. A forward and backward hydraulic cylinder is fixedly connected to the first base 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 base 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, a longitudinal contraction drive gear is fixedly connected to the output shaft of the longitudinal contraction servo motor, a longitudinal contraction rack is fixedly connected to the second base plate, the longitudinal contraction drive gear meshes with the longitudinal contraction rack, a matrix-distributed longitudinal contraction slider is fixedly connected to the mounting bracket, and a longitudinal contraction slide rail is fixedly connected to the side of the second base plate, 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 via a rotary shaft sleeve. The rotary servo motor is connected to the rotary shaft via the rotary reducer. One end of the rotary shaft is fixedly connected to the third base plate.

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

[0018] Preferably, the pin-picking mechanism includes a pin-picking frame, a pin-picking reduction motor, and a pin-picking hook. The pin-picking frame is fixedly connected to the third base plate. The pin-picking reduction motor is mounted on the pin-picking frame. The output shaft of the pin-picking reduction motor is fixedly connected to a pin-picking main gear. A pin-picking driven gear is movably connected to the pin-picking frame. A driving connecting rod is fixedly connected to the pin-picking driven gear. A driven connecting rod is movably connected to the pin-picking frame. Both the driving connecting rod and the driven connecting rod are movably connected to the pin-picking hook, forming a double-link rocker arm structure.

[0019] The beneficial effects of this invention are as follows: the permanent magnet adsorption creeping mechanism drives the overall structure to move along the steel structure, achieving stable climbing similar to inchworm movement. 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 force attenuation. It can still maintain sufficient adsorption strength on the surface of thick steel components, effectively avoiding the risk of falling from heights. The horizontal translation module, the longitudinal telescopic module, and the rotation module realize multi-degree-of-freedom and wide-range maneuverability to adapt to the transfer and operation on complex structures. The rivet pulling mechanism drives the rivet chain to move along the guide track and uses the rivet feeding mechanism to push the rivets, realizing automatic sorting and feeding of rivets. It can operate continuously for a long time without interruption, greatly improving the riveting efficiency of steel structures and meeting the daily riveting needs of thousands of rivets in large-scale projects. Attached Figure Description

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

[0021] Figure 2 This is a side view of the overall structure of the present invention;

[0022] Figure 3 This is a three-dimensional schematic diagram of the power movement module in this invention;

[0023] Figure 4 This is a schematic diagram of the structure of the power mobility module in this invention;

[0024] Figure 5 This is a schematic diagram showing the connection between the lateral translation module and the longitudinal telescopic module in this invention;

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

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

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

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

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

[0030] Figure 11 This is a three-dimensional schematic diagram of the pin-shifting mechanism of the rotary module in this invention;

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

[0032] Figure 13This is a planar schematic diagram of the application of the present invention on a steel structure.

[0033] In the diagram: 1. Power-driven moving module; 11. Frame; 12. Vertical slide rail; 13. Turntable base plate; 14. Hydraulic turntable; 15. Permanent magnet suction feet; 16. Creep 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. Horizontal servo motor; 114. Horizontal drive gear;

[0034] 2. Lateral translation module; 21. First base plate; 22. Lateral slide rail; 23. Lateral rack; 24. Lateral slider; 25. Mounting bracket; 26. Longitudinal servo motor; 27. Longitudinal drive gear; 28. Rivet gun base; 29. ​​Telescopic slider; 210. Telescopic slide rail; 211. Rivet gun fixing bracket; 212. Automatic hydraulic riveting gun; 213. Advancing and retracting hydraulic cylinder;

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

[0036] 4. Rotary module; 41. Third base plate; 42. Housing; 43. Guide plate; 44. Rivet removal mechanism; 441. Rivet removal frame; 442. Rivet removal gear motor; 443. Rivet removal hook; 444. Rivet removal main gear; 445. Rivet removal driven gear; 446. Driving connecting rod; 447. Driven connecting rod; 45. Rivet chain; 46. Rivet feeding mechanism; 461. Rivet feeding cylinder; 462. Rivet feeding rod; 463. Outer plate; 464. Guide sleeve; 465. Guide rod; 47. Rivet; 48. Hole;

[0037] 5. Steel structure; 51. Rivet holes. Detailed Implementation

[0038] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. All directional indicators (such as up, down, left, right, front, back, etc.) in the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indicator will also change accordingly.

[0039] like Figure 1-13As shown, this embodiment provides an automatic climbing and riveting robot for steel structures, including a powered movement module 1, a lateral translation module 2, a longitudinal extension module 3, and a rotary module 4. The powered movement module 1 moves along the steel structure 5 in a creeping motion, and the lateral translation module 2, the longitudinal extension module 3, and the rotary module 4 realize three degrees of freedom of movement relative to the powered movement module 1, namely lateral translation, longitudinal extension, and rotary motion.

[0040] like Figure 3-4 As shown, the power-moving module 1 includes a frame 11, on which a permanent magnet adsorption creeping mechanism is provided. The permanent magnet adsorption creeping mechanism includes vertical slide rails 12, a turntable base plate 13, a hydraulic turntable 14, and permanent magnet suction feet 15. There are two vertical slide rails 12, which are fixed parallel to each other on the frame 11. The turntable base plate 13 is floatingly mounted on the vertical slide rails 12 via sliding parts. There are two turntable base plates 13 and two 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 mounted on the turntable base plate 13. The permanent magnet suction feet 15 are made of permanent magnets. The magnetic feet 15 are fixed on the rotating disk of the hydraulic turntable 14. The frame 11 is also equipped with a screw 17 structure that drives the turntable base plate 13 to slide. The screw 17 structure consists of two sets that drive the two turntable base plates 13 to slide along the vertical slide rail 12 respectively. The screw 17 structure includes a creeping servo motor 16, a screw 17 and a nut seat 18. The nut seat 18 is fixedly connected to the turntable base plate 13. The creeping servo motor 16 is fixedly installed on the frame 11. One end of the screw 17 is connected to the creeping servo motor 16 for transmission. The screw 17 is threadedly connected to the threaded seat. The creeping translation and rotation of the whole on the steel structure 5 can be realized through the hydraulic turntable 14 and the screw 17 structure. The frame 11 also includes a power source, a hydraulic pack motor 110 and a hydraulic pump 111. The hydraulic pack motor 110 drives the hydraulic pump 111 to deliver hydraulic oil. The power source is a lithium battery pack 19. The hydraulic oil tank 112 provides hydraulic power to all hydraulic components of the system and is used to store hydraulic oil.

[0041] like Figure 5-7As shown, the lateral translation module 2 includes a first base plate 21, which is slidably mounted on the top of the frame 11. A sliding riveting gun mechanism is mounted on the first base plate 21. A lateral servo motor 113 is mounted on the top of the frame 11, and a lateral drive gear 114 is fixedly connected to the output shaft of the lateral servo motor 113. A lateral rack 23 is fixedly connected to the first base plate 21, and the lateral rack 23 meshes with the lateral drive gear 114. A lateral slide rail 22 is fixedly connected to the bottom of the first base plate 21. A matrix of lateral sliders 24 are fixedly mounted on the top surface of the frame 11. The lateral slide rail 22 slides relative to the lateral sliders 24. The lateral servo motor 113 drives the first base plate 21 to move laterally relative to the frame 11 through the meshing of the lateral drive gear 114 and the lateral rack 23. The riveting gun mechanism includes a riveting gun base 28 and an automatic hydraulic riveting gun 21. 2. The automatic hydraulic riveting gun 212 is fixed to the riveting gun base 28 via the 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 base 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 base plate 21. The forward and backward hydraulic cylinder 213 drives the riveting gun base 28 to slide along the telescopic guide rail. The sliding direction of the riveting gun base 28 is perpendicular to the sliding direction of the first base plate 21. Under the drive of the forward and backward hydraulic cylinder 213, the riveting gun base 28 moves the automatic hydraulic riveting gun 212 closer to or away from the steel structure 5 to fix the rivet 47.

[0042] like Figure 8 As shown, the longitudinal telescopic module 3 includes a second base plate 31, which is slidably disposed at one end of the first base plate 21, and the sliding direction of the second base plate 31 is perpendicular to the sliding direction of the first base plate 21 in the same plane. A rotary power mechanism is mounted on the second base plate 31. A mounting bracket 25 is fixed to one end of the first base plate 21, and a longitudinal telescopic servo motor 26 is mounted on the mounting bracket 25. A longitudinal telescopic drive gear 27 is fixedly connected to the output shaft of the longitudinal telescopic servo motor 26. A longitudinal telescopic rack 34 is fixedly connected to the second base plate 31, and the longitudinal telescopic drive gear 27 meshes with the longitudinal telescopic rack 34. A matrix-distributed longitudinal telescopic slider 33 is fixedly connected to the mounting bracket 25. A longitudinal telescopic slide rail 32 is fixedly connected to the side of the second base plate 31, and the longitudinal telescopic slide rail 32 slides relative to the longitudinal telescopic slider 33. The longitudinal telescopic servo motor 26 drives the second base plate 31 to slide relative to the first base plate 21 through the meshing of the longitudinal telescopic drive gear 27 and the longitudinal telescopic rack 34, thereby driving the rotary module 4 to move closer to or away from the steel structure 5.

[0043] like Figure 9-11As shown, the rotary module 4 is fixedly connected to the rotary power mechanism. 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 base plate 41 and a housing 42. The housing 42 is provided with a guide rail formed by guide plates 43. A rivet chain 45 is provided in the guide rail. The third base plate 41 is provided with holes 48 that can match the rivet gun mechanism. The housing 42 is provided with a rivet feeding mechanism 46 and a rivet pulling mechanism 44. The rivet pulling mechanism 44 drives the rivet chain 45 to slide along the guide rail. The rivet feeding mechanism 46 pulls the rivets 47 on the rivet chain 45 out of the holes. The rivet chain 45 is a chain structure with rivets 47. The rivets 47 can be disengaged from the rivet chain 45. The rivet-pulling mechanism 44 pulls one rivet 47 at a time, so that the rivet chain 45 moves along the guide track under the constraint of the guide plate 43. The rivet chain 45 is driven by the rivet-pulling mechanism 44 to move sequentially to the rivet hole 51 position in the housing 42 along a predetermined trajectory. Under the push of the rivet feeding mechanism 46, the rivet 47 is pushed out, so that the rivet 47 passes into the rivet hole 51 in the steel structure 5. The rivet 47 is fixed in the steel structure 5 with the help of 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 plate 463. The nail feeding cylinder 461 is fixed on the third base plate 41. The extension end of the nail feeding cylinder 461 is fixedly connected to the extension plate 463. The nail feeding rod 462 is fixedly connected to the extension plate 463, and a guide rod 465 is also fixedly connected to the extension plate 463. A guide sleeve 464 is fixedly connected to the third base plate 41. The guide rod 465 and the guide sleeve 464 are slidably connected. 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 nail feeding rod 462.

[0046] like Figure 11As shown, the pin-picking mechanism 44 includes a pin-picking frame 441, a pin-picking reduction motor 442, and a pin-picking hook 443. The pin-picking frame 441 is fixedly connected to the third base plate 41. The pin-picking reduction motor 442 is mounted on the pin-picking frame 441. A pin-picking main gear 444 is fixedly connected to the output shaft of the pin-picking reduction motor 442. A pin-picking driven gear 445 is movably connected to the pin-picking frame 441. A driving connecting rod 446 is fixedly connected to the pin-picking driven gear 445. A driven connecting rod 447 is movably connected to the pin-picking frame 441. Both the connecting rod 446 and the driven connecting rod 447 are movably connected to the rivet hook 443, forming a double-link rocker arm structure. The rivet reduction motor 442 drives the active connecting rod 446 to swing through the meshing of the rivet main gear 444 and the rivet driven gear 445. This, in turn, drives the rivet hook 443 to swing through the double-link rocker arm structure, causing the rivet hook 443 to extend into the gap between adjacent rivets 47 one after another, moving the rivets 47 to the rivet hole 51 by a fixed distance. At the same time, it drives the rivet chain 45 to advance as a whole under the constraint of the guide plate 43.

[0047] Its working principle is as follows:

[0048] 1. Initial positioning and adsorption

[0049] First, the operator uses hoisting equipment or an auxiliary robotic arm to place the robot in the initial working area of ​​the steel structure 5 (such as the end of a steel beam or a node). Before starting, the battery level of the lithium battery pack 19 and the oil level of the hydraulic tank 112 must be checked. At this time, the longitudinal telescopic module 3 is fully retracted, so that the rotary module 4 and the power movement module 1 are completely on the same side of the steel structure 5. Then, the permanent magnet feet 15 are activated. The permanent magnet feet 15 on the two hydraulic turntables 14 first work in an "alternating adsorption" mode. That is, one hydraulic turntable 14 drives the lead screw 17 through the creeping servo motor 16, which moves the non-adsorbed permanent magnet feet 15 along the slide rail of the power movement module 1 to the target position. After the translation is completed, it makes full contact with the surface of the steel component and adsorbs and fixes itself. Then, the permanent magnet feet 15 on the other hydraulic turntable 14 successively perform the "release-rotate-translate-adsorb" action. 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 its positioning and movement on the working surface.

[0050] 2. Target rivet hole positioning

[0051] When the robot reaches the work surface, it first drives the transverse drive gear 114 and transverse rack 23 through the transverse servo motor 113, based on the position of the working rivet hole 51 and the edge, so that the transverse translation module 2 can perform transverse 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 creeping system of the lead screw 17 and nut seat 18 of the power movement module 1 adjusts the axis of the rivet gun to move vertically to the Y-axis coordinate of the target rivet hole 51. 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 retraction servo motor 26 drives the longitudinal retraction drive gear 27 and the longitudinal retraction 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, so that the distance between the third base plate 41 and the surface of the steel structure 5 is controlled at 3-5mm. Then, the rotary module 4 is driven by the rotary servo motor 35 and the rotary reducer 36 to rotate the rotary shaft 38, rotating the rotary module 4 to the working hole position, so that the rivet 47 delivery path is aligned with the axis of the rivet hole 51.

[0053] 3. Continuous nail feeding and riveting execution

[0054] After the alignment action described above is completed and confirmed, the rivet-picking mechanism 44 is activated. The rivet-picking reduction motor 442 drives the rivet-picking main gear 444, causing the rivet to rotate from the gear 445. The double-link rocker arm structure drives the rivet-picking hook 443 to insert into the gap between adjacent rivets 47 on the rivet chain 45 at a fixed phase angle, pushing the rivets 47 to the 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 delivered to the alignment position with the rivet hole 51, the rivet delivery cylinder 461, initially extended, retracts, pushing the rivet delivery rod 462 to precisely insert the rivet 47 into the rivet hole 51. Subsequently, the automatic hydraulic riveting gun 212, driven by the advance / retract hydraulic cylinder 213, advances along the telescopic slide rail 210 to the head of the rivet 47. The hydraulic system controls the pressure gradient through a proportional valve to complete the plastic deformation of the rivet 47. After riveting is completed, the automatic hydraulic riveting gun 212 quickly resets.

[0056] 4. Adjustment of work points

[0057] The adjustment range of adjacent rivet holes 51 is small, and the positioning and alignment of adjacent rivet holes 51 can be completed by repeating the alignment operation in step 2.

[0058] For large-scale work point relocation, the creeping climbing strategy described in step 1 should be adopted: When moving straight, one side of the permanent magnet suction foot 15 is released, the creeping servo motor 16 drives the lead screw 17 to move the hydraulic turntable 14 along the vertical slide rail 12, and then the suction foot is re-attached; the other side of the permanent magnet suction foot 15 then performs the "release-translation-attach" action. When it is necessary to change direction, one side of the permanent magnet suction foot 15 is released, the other side of the hydraulic turntable 14 rotates to the required angle, and then the suction foot is re-attached, thereby changing the creeping direction.

[0059] When encountering a protrusion or weld on the surface of the steel structure 5, the longitudinal telescopic module 3 retracts, causing the rotary module 4 to retract to the same side of the power moving module located on the steel structure 5. Then, the hydraulic turntable 14 rotates to allow the whole structure to bypass the obstacle, avoiding 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 component), and the rotary module 4 rotates to the non-working position. The operator manually unlocks the housing 42 of the rotary module 4 and inserts a new rivet chain 45 according to the direction of the guide rail formed by the guide plate 43. After the replacement is completed, the robot automatically resumes the connection according to the coordinates of the previous operation, and moves and repositions itself to the interruption point to ensure the continuity of riveting.

[0062] 1. The innovative permanent magnet suction foot 15 creeping mechanism of this invention breaks through the bottleneck of traditional adsorption technology. It adopts a distributed magnetic suction system with dual hydraulic turntables 14 and sliding rail sliders linked together. The creeping servo motor 16 precisely controls the alternating adsorption / release action of the magnetic suction unit to achieve stable climbing with inchworm-like movement. Compared with the traditional electromagnetic adsorption solution, the zero power consumption characteristic of permanent magnets reduces 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 thick steel components, effectively avoiding the risk of falling from height.

[0063] 2. The three-degree-of-freedom telescopic rotary arm (lateral translation + longitudinal telescopic + rotation) combined with the biomimetic crawling rotary climbing system enables the device to achieve multi-degree-of-freedom and wide-range mobility on the steel structure 5, so as to adapt to the transfer and operation on complex structures.

[0064] 3. The double-link rocker arm structure in the rivet-picking mechanism 44 adopts equal-interval phase control. The rivet-picking reduction motor 442 drives the gear set to move the rivet-picking hook 443 for millimeter-level precise positioning, significantly shortening the single rivet feeding cycle and greatly improving speed compared to traditional manual rivet picking and feeding. Combined with a replaceable guide channel design, it is compatible with the automatic sorting and feeding of various rivet specifications 47 from Φ6 to Φ24mm. Meanwhile, the large rivet chain 45 magazine design supports long-term continuous uninterrupted operation. Combined with the quick-change rivet 47 magazine, it enables efficient operation all day long, greatly improving efficiency compared to traditional manual single-shot rivet feeding equipment, and can meet the daily riveting needs of thousands of rivets in large-scale projects.

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

Claims

1. An automated climbing and riveting robot for steel structures, characterized in that, include: A power-driven mobile module includes a frame on which a permanent magnet adsorption creeping mechanism is provided. The permanent magnet adsorption creeping mechanism includes vertical slide rails, a turntable base plate, a hydraulic turntable, and permanent magnet suction feet. There are two vertical slide rails, which are fixed parallel to each other on the frame. The turntable base plate is floatingly mounted on the vertical slide rails via a sliding component. There are two turntable base plates and two hydraulic turntables. The fixed plate of the hydraulic turntable is fixedly mounted on the turntable base plate. The permanent magnet suction feet are fixed on the rotating disk of the hydraulic turntable. The frame is also provided with a lead screw structure for driving the turntable base plate to slide. A lateral translation module includes a first base plate, which is slidably mounted on the top of a frame. A sliding rivet gun mechanism is provided on the first base plate. 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 by a rivet gun fixing bracket. A telescopic slider is fixedly connected to the bottom of the rivet gun base. A telescopic slide rail is fixedly connected to the first base plate. The telescopic slider slides along the telescopic slide rail. An advance and retreat hydraulic cylinder is fixedly connected to the first base plate. 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 base plate. A longitudinal telescopic module includes a second base plate, which is slidably disposed at one end of a first base plate and the sliding direction of the second base plate is perpendicular to the sliding direction of the first base plate in the same plane. A rotary power mechanism is installed on the second base plate. A rotary module, fixedly connected to a rotary power mechanism, includes a third base plate and a housing. The housing contains a guide rail formed by guide plates, and a rivet chain is installed within the guide rail. The third base plate has holes that can match the rivet gun mechanism. The housing contains a rivet feeding mechanism and a rivet pulling mechanism. The rivet pulling mechanism drives the rivet chain to slide along the guide rail, and the rivet feeding mechanism pushes the rivets on the rivet chain out of the holes. The rivet feeding mechanism includes a rivet feeding cylinder, a rivet feeding rod, and an extended disk. The rivet feeding cylinder is fixed to the third base plate, and the extended disk is fixedly connected to the telescopic end of the rivet feeding cylinder. The rivet feeding rod and the extended disk... The device is fixedly connected, and a guide rod is also fixedly connected to the outer disk. A guide sleeve is fixedly connected to the third base plate. The guide rod and the guide sleeve are slidably connected. The pin-picking mechanism includes a pin-picking frame, a pin-picking reduction motor, and a pin-picking hook. The pin-picking frame is fixedly connected to the third base plate. The pin-picking reduction motor is mounted on the pin-picking frame. A pin-picking main gear is fixedly connected to the output shaft of the pin-picking reduction motor. A pin-picking driven gear is movably connected to the pin-picking frame. An active connecting rod is fixedly connected to the pin-picking driven gear. A driven connecting rod is movably connected to the pin-picking frame. Both the active connecting rod and the driven connecting rod are movably connected to the pin-picking hook, forming a double-link rocker arm structure.

2. The automatic climbing and riveting robot for steel structures according to claim 1, characterized in that, The lead screw structure includes a creeping servo motor, a lead screw, and a nut seat. The nut seat is fixedly connected to the turntable base plate. The creeping servo motor is fixedly mounted on the frame. One end of the lead screw is driven by the creeping servo motor. The lead screw is threadedly connected to the threaded seat.

3. The automatic climbing and riveting robot for steel structures according to claim 1, characterized in that, The top of the frame is equipped with a transverse servo motor, the output shaft of which is fixedly connected to a transverse drive gear. A transverse rack is fixedly connected to the first base plate, and the transverse rack meshes with the transverse drive gear. A transverse slide rail is fixedly connected to the bottom of the first base plate. A matrix of transverse sliders is fixedly connected to the top surface of the frame, and the transverse slide rail slides relative to the transverse sliders.

4. The automatic climbing and riveting robot for steel structures according to claim 1, characterized in that, A mounting bracket is fixed to one end of the first base plate, and a longitudinal contraction servo motor is mounted on the mounting bracket. The output shaft of the longitudinal contraction servo motor is fixedly connected to a longitudinal contraction drive gear. A longitudinal contraction rack is fixedly connected to the second base plate, and the longitudinal contraction drive gear meshes with the longitudinal contraction rack. A matrix-distributed longitudinal contraction slider is fixedly connected to the mounting bracket, and a longitudinal contraction slide rail is fixedly connected to the side of the second base plate. The longitudinal contraction slide rail slides relative to the longitudinal contraction slider.

5. The automatic climbing and 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 via a rotary shaft sleeve. The rotary servo motor is connected to the rotary shaft via the rotary reducer. One end of the rotary shaft is fixedly connected to the third base plate.

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