High-altitude working robot with automatic transposition of steel beam frame and transposition method thereof

Abstract

The present application relates to the technical field of robots, and especially relates to a steel beam frame aerial work robot capable of automatic transposition and a transposition method thereof, which comprises walking mechanisms, work mechanical arms, positioning mechanisms and transposition mechanisms, the walking mechanisms are provided in two groups, each group of walking mechanisms comprises a chassis and four walking drive wheels installed at the bottom of the chassis, the work mechanical arms are provided in four groups, and each two groups of work mechanical arms are respectively arranged on the left and right sides of one of the chassis, the transposition mechanisms sequentially lift, translate, rotate and lower the first group of walking mechanisms and the second group of walking mechanisms to adjacent steel beams by taking the second group of walking mechanisms and the first group of walking mechanisms as support points in sequence, work on multiple steel beams is realized, the aerial work robot has the ability of autonomous transposition across the beams, does not need the assistance of a crane, work cost is reduced, and work flexibility is improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a high-altitude operation robot with an automatic repositioning capability for steel beam frames and its repositioning method. Background Technology

[0002] As a current type of building structure, steel beam frames are mainly composed of steel beams, steel columns, steel trusses, and other components made of steel profiles and plates. These components are usually connected by welds, bolts, or rivets. Manual operation is time-consuming and labor-intensive, and the risk of workers working at heights is high. Moreover, due to human factors, it is easy to cause incomplete welding at some connection points, loose or over-tightened bolts, and difficulty in ensuring the connection quality of rivets. In order to improve the construction quality of steel beam structures and increase the efficiency of steel beam installation, robots have begun to be used to replace manual labor. However, robots can only work on a single steel beam and require the assistance of a crane to move to an adjacent steel beam to continue working. This results in poor flexibility and convenience, and crane operation is costly. Summary of the Invention

[0003] In order to overcome the shortcomings of the prior art, the purpose of this invention is to provide a steel beam frame high-altitude operation robot and its repositioning method that has autonomous beam-crossing capability, reduces operating costs, and improves operational flexibility.

[0004] The technical solution adopted in this invention is as follows:

[0005] A high-altitude work robot with an automatic repositioning steel beam frame includes a walking mechanism, a working robotic arm, a positioning mechanism, and a repositioning mechanism.

[0006] The walking mechanism is provided in two sets, each set including a chassis and four driving wheels mounted on the bottom of the chassis;

[0007] The robotic arms are configured in four groups, with each pair of robotic arms rotating and positioned on the left and right sides of one of the chassis.

[0008] The positioning mechanism is used to hold the steel beam and it has four sets, with two sets of positioning mechanisms respectively set at the front and rear ends of one of the chassis.

[0009] The switching mechanism includes a first support platform, a second support platform, a first connecting arm, a second connecting arm, a third telescopic rod, a fourth telescopic rod, and a fifth telescopic rod. The first support platform is rotatably connected to the top of one of the chassis, and the second support platform is rotatably connected to the top of the other chassis. The first connecting arm has a first hinge point and a second hinge point in its middle, with the first hinge point located on the side of the second hinge point closer to the first support platform. The second connecting arm has a third hinge point and a fourth hinge point in its middle, with the third hinge point located on the side of the fourth hinge point closer to the second support platform. One end of the second connecting arm is hinged to the second support platform, and the other end is hinged to the second hinge point. One end of the first connecting arm is hinged to the first support platform, and the other end is hinged to the telescopic end of the third telescopic rod. The other end of the third telescopic rod is hinged to the fourth hinge point, the third hinge point is hinged to the telescopic end of the fourth telescopic rod, the other end of the fourth telescopic rod is hinged to the second support platform, the first hinge point is hinged to the telescopic end of the fifth telescopic rod, and the other end of the fifth telescopic rod is hinged to the first support platform.

[0010] Preferably, each positioning mechanism includes two symmetrically arranged positioning components. Each positioning component includes a first swing arm, a second swing arm, a first telescopic rod, a second telescopic rod, a lateral guide wheel, and an anti-tilt wheel. One end of the first swing arm is hinged to the chassis, and the other end is hinged to one end of the second swing arm. The telescopic end of the first telescopic rod is hinged to one side of the second swing arm, and the other end is hinged to the chassis. One end of the second telescopic rod is hinged to the middle of the first swing arm, and the other end is hinged to the chassis. The lateral guide wheel is rotatably connected to the middle of the second swing arm and protrudes from the second swing arm. The other end of the second swing arm is connected to a rotating shaft, and the anti-tilt wheel is rotatably connected to the rotating shaft.

[0011] Preferably, there are two fourth telescopic rods, with the output ends of the two fourth telescopic rods respectively hinged to both sides of the third hinge point.

[0012] Preferably, there are two fifth telescopic rods, with the output ends of the two fifth telescopic rods respectively hinged to both sides of the first hinge point.

[0013] Preferably, the shifting mechanism further includes a first motor for driving the first support platform to rotate and a second motor for driving the second support platform to rotate. The first motor is installed in one of the chassis, and its output end passes through the chassis and is connected to the middle of the first support platform. The second motor is installed in the other chassis, and its output end passes through the chassis and is connected to the middle of the second support platform.

[0014] Preferably, one end of the robotic arm is connected to a third motor for driving its rotation, and the third motor is installed inside the chassis.

[0015] Preferably, the robotic arm can be detachably equipped with a welding actuator, a riveting actuator, or a bolt-mounted actuator.

[0016] This invention also provides a repositioning method for a steel beam frame high-altitude operation robot capable of automatic repositioning, comprising the following steps:

[0017] S1. Rotate and retract the working robotic arms on both sets of walking mechanisms, and release the positioning mechanism of the first set of walking mechanisms on the current steel beam;

[0018] S2. Using the second set of traveling mechanisms as support points, the first set of traveling mechanisms is lifted, translated, rotated, and lowered to the adjacent steel beam through the shifting mechanism.

[0019] S3. Control the positioning mechanism of the first group of walking mechanisms to re-clamp the new steel beam;

[0020] S4. Release the positioning mechanism on the second set of walking mechanisms;

[0021] S5. Using the first set of traveling mechanisms as support points, the second set of traveling mechanisms is lifted, translated, rotated, and lowered to the adjacent steel beam through the shifting mechanism.

[0022] S6. Control the positioning mechanism of the second set of walking mechanisms to re-clamp the new steel beam and rotate in the opposite direction to lower the working robotic arms on both sets of walking mechanisms.

[0023] The beneficial effects of this invention are as follows:

[0024] This high-altitude work robot with automatic repositioning on steel beams uses the second and first sets of walking mechanisms as support points in sequence. The repositioning mechanism lifts, translates, rotates, and lowers the first and second sets of walking mechanisms to adjacent steel beams in sequence, enabling it to work on multiple steel beams. It has autonomous beam-crossing capability, does not require crane assistance, reduces operating costs, and improves operational flexibility. Attached Figure Description

[0025] Figure 1 This is a 3D schematic diagram of a steel beam frame high-altitude operation robot that can automatically reposition itself.

[0026] Figure 2 This is a right view of a steel beam frame aerial work robot that can automatically reposition itself.

[0027] Figure 3 This is a schematic diagram of the positioning mechanism.

[0028] Figure 4 This is a schematic diagram of the operation of a steel beam frame aerial work robot that can automatically reposition itself.

[0029] Figure 5 This is a schematic diagram of the repositioning action of the first set of walking mechanisms.

[0030] Figure 6 This is a schematic diagram of the repositioning action of the second set of walking mechanisms.

[0031] Figure 7 This is a flowchart of the repositioning method for a high-altitude operation robot with an automatically repositionable steel beam frame.

[0032] In the diagram: 1. Walking mechanism; 101. Chassis; 102. Walking drive wheel; 2. Working robotic arm; 3. Positioning mechanism; 301. First swing arm; 302. Second swing arm; 303. First telescopic rod; 304. Second telescopic rod; 305. Lateral guide wheel; 306. Anti-tilt wheel; 307. Rotating shaft; 4. Switching mechanism; 401. First support platform; 402. Second support platform; 403. First connecting arm; 404. Second connecting arm; 405. Third telescopic rod; 406. Fourth telescopic rod; 407. Fifth telescopic rod; 408. First hinge point; 409. Second hinge point; 410. Third hinge point; 411. Fourth hinge point; 412. First motor; 413. Second motor; 5. Third motor; 6. Current steel beam; 7. Adjacent steel beam. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] Please see Figures 1-4 The present invention provides a technical solution: a steel beam frame high-altitude operation robot with automatic repositioning, including a walking mechanism 1, a working robotic arm 2, a positioning mechanism 3 and a repositioning mechanism 4;

[0035] The walking mechanism 1 is provided in two sets. Each set of walking mechanism 1 includes a chassis 101 and four walking drive wheels 102 installed at the bottom of the chassis 101.

[0036] The robotic arm 2 is provided in four groups, with each pair of robotic arms 2 rotatably positioned on the left and right sides of one of the chassis 101.

[0037] The positioning mechanism 3 is used to hold the steel beam and it is provided in four sets, with each pair of positioning mechanisms 3 being set at the front and rear ends of one of the chassis 101 respectively.

[0038] The switching mechanism 4 includes a first support platform 401, a second support platform 402, a first connecting arm 403, a second connecting arm 404, a third telescopic rod 405, a fourth telescopic rod 406, and a fifth telescopic rod 407. The first support platform 401 is rotatably connected to the top of one of the chassis 101, and the second support platform 402 is rotatably connected to the top of the other chassis 101. The first connecting arm 403 has a first hinge point 408 and a second hinge point 409 in its middle. The first hinge point 408 is located on the side of the second hinge point 409 near the first support platform 401. The second connecting arm 404 has a third hinge point 410 and a fourth hinge point 411 in its middle. The third hinge point 410 is located on the side of the second hinge point 409 near the first support platform 401. The second connecting arm 404 is positioned on the side of the fourth hinge point 411 near the second support platform 402. One end of the second connecting arm 404 is hinged to the second support platform 402, and the other end is hinged to the second hinge point 409. One end of the first connecting arm 403 is hinged to the first support platform 401, and the other end is hinged to the telescopic end of the third telescopic rod 405. The other end of the third telescopic rod 405 is hinged to the fourth hinge point 411. The third hinge point 410 is hinged to the telescopic end of the fourth telescopic rod 406. The other end of the fourth telescopic rod 406 is hinged to the second support platform 402. The first hinge point 408 is hinged to the telescopic end of the fifth telescopic rod 407. The other end of the fifth telescopic rod 407 is hinged to the first support platform 401.

[0039] The positioning mechanism 3 is used to hold the steel beam, ensuring that the walking drive wheel 102 of the working robot can walk along the length of the steel beam. Welding, riveting or bolting operations are performed using the welding actuator, riveting actuator or bolting actuator on the working robot arm 2. By using the second group of walking mechanisms 1 and the first group of walking mechanisms 1 as support points in sequence, the switching mechanism 4 lifts, translates, rotates and lowers the first group of walking mechanisms 1 and the second group of walking mechanisms 1 to the adjacent steel beam 7 in sequence, so as to realize the operation on multiple steel beams without the need for crane assistance, reduce the operating cost and improve the operational flexibility.

[0040] To improve walking reliability, in this embodiment, preferably, each positioning mechanism 3 includes two symmetrically arranged positioning components. Each positioning component includes a first swing arm 301, a second swing arm 302, a first telescopic rod 303, a second telescopic rod 304, a lateral guide wheel 305, and an anti-tilt wheel 306. One end of the first swing arm 301 is hinged to the chassis 101, and the other end is hinged to one end of the second swing arm 302. The telescopic end of the first telescopic rod 303 is hinged to one side of the second swing arm 302, and the other end is hinged to the chassis 101. One end of the second telescopic rod 304 is hinged to the middle of the first swing arm 301, and the other end is hinged to the chassis 101. The lateral guide wheel 305 is rotatably connected to the middle of the second swing arm 302 and protrudes from the second swing arm 302. The other end of the second swing arm 302 is connected to a rotating shaft 307, and the anti-tilt wheel 306 is rotatably connected to the rotating shaft 307.

[0041] The steel beam is an I-beam, which includes an upper horizontal plate, a lower horizontal plate, and a vertical plate connecting the upper and lower horizontal plates. The first telescopic rod 303 of the driving positioning mechanism 3 retracts significantly, thereby driving the second swing arm 302 to swing inward, so that the lateral guide wheel 305 abuts against the adjacent steel beam 7. At the same time, the second telescopic rod 304 extends slightly, thereby driving the second swing arm 302 to swing upward through the first swing arm 301, so that the anti-tilt wheel 306 abuts against the adjacent steel beam 7. By having the lateral guide wheel 305 abut against the side of the upper horizontal plate of the steel beam, the anti-tilt wheel 306 abut against the bottom surface of the upper horizontal plate of the steel beam, and the walking drive wheel 102 abut against the top surface of the upper horizontal plate of the steel beam, the steel beam 7 is clamped and positioned, ensuring that the walking drive wheel 102 of the working robot can walk along the length of the steel beam, thus improving the reliability of walking.

[0042] To facilitate and improve the smoothness and reliability of the repositioning action, in this embodiment, preferably, two fourth telescopic rods 406 are provided, and the output ends of the two fourth telescopic rods 406 are respectively hinged to both sides of the third hinge point 410.

[0043] To facilitate and improve the smoothness and reliability of the repositioning action, in this embodiment, preferably, there are two fifth telescopic rods 407, and the output ends of the two fifth telescopic rods 407 are respectively hinged to both sides of the first hinge point 408.

[0044] To facilitate the rotation of the first support platform 401 and the second support platform 402, in this embodiment, preferably, the switching mechanism 4 further includes a first motor 412 for driving the first support platform 401 to rotate and a second motor 413 for driving the second support platform 402 to rotate. The first motor 412 is installed in one of the chassis 101, and its output end passes through the chassis 101 and is connected to the middle of the first support platform 401. The second motor 413 is installed in the other chassis 101, and its output end passes through the chassis 101 and is connected to the middle of the second support platform 402.

[0045] In order to facilitate the rotation of the robotic arm 2, in this embodiment, preferably, one end of the robotic arm 2 is connected to a third motor 5 for driving its rotation. The third motor 5 is installed in the chassis 101, so that the robotic arm 2 can be driven to rotate by the third motor 5.

[0046] To facilitate welding, riveting, or bolting operations and improve operational applicability, in this embodiment, preferably, a welding actuator, riveting actuator, or bolting actuator is detachably mounted on the robotic arm 2. The purpose is to provide mounting positions on the robotic arm 2, where automated operating equipment such as welding actuators, riveting actuators, or bolting actuators can be installed, thereby adapting to different operating methods and improving operational applicability.

[0047] Please see Figure 7 The present invention also provides a repositioning method for a steel beam frame high-altitude operation robot with automatic repositioning capability, comprising the following steps:

[0048] S1. Rotate and retract the robotic arms 2 on the two sets of walking mechanisms 1, and release the positioning mechanism 3 on the first set of walking mechanisms 1 on the current steel beam 6;

[0049] S2. Using the second group of walking mechanisms 1 as a support point, the first group of walking mechanisms 1 is lifted, translated, rotated and lowered to the adjacent steel beam 7 through the shifting mechanism 4.

[0050] S3, control the positioning mechanism 3 of the first group of walking mechanisms 1 to re-clamp the new steel beam;

[0051] S4. Release the positioning mechanism 3 on the second set of walking mechanisms 1;

[0052] S5. Using the first group of walking mechanisms 1 as a support point, the second group of walking mechanisms 1 is lifted, translated, rotated and lowered to the adjacent steel beam 7 through the shifting mechanism 4.

[0053] S6. Control the positioning mechanism 3 of the second set of walking mechanisms 1 to re-clamp the new steel beam and rotate in the opposite direction to lower the working robot arm 2 on both sets of walking mechanisms 1.

[0054] The working principle and usage process of this invention are as follows: Figure 5 As shown, in the first step (S1), the working robotic arms 2 on the two sets of walking mechanisms 1 are rotated and retracted. The first telescopic rods 303 of the two sets of positioning mechanisms 3 on the first set of walking mechanisms 1 extend significantly, thereby driving the second swing arm 302 to swing outward, so that the lateral guide wheel 305 is disengaged from the current steel beam 6. At the same time, the second telescopic rod 304 retracts slightly, thereby driving the second swing arm 302 to swing downward through the first swing arm 301, so that the anti-tilt wheel 306 is disengaged from the current steel beam 6. Then, the second telescopic rod 304 extends significantly, thereby driving the second swing arm 302 to swing upward through the first swing arm 301. At the same time, the first telescopic rod 303 retracts slightly, thereby driving the second swing arm 302 to swing inward, so that the lateral guide wheel 305 and the anti-tilt wheel 306 move above the current steel beam 6.

[0055] In the second step (S2), the fourth telescopic rod 406 extends to drive the second connecting arm 404 to swing upward, thereby lifting the first group of walking mechanisms 1 upward. At the same time, the third telescopic rod 405 extends to drive the first connecting arm 403 to swing downward, keeping the first group of walking mechanisms 1 in a horizontal state. This lifts the first group of walking mechanisms 1 horizontally above the current steel beam 6. Then, the second support platform 402 is driven to rotate, thereby moving the first group of walking mechanisms 1 horizontally above the adjacent steel beam 7. Then, the first support platform 401 is driven to rotate, ensuring that the first group of walking mechanisms 1 is parallel to the adjacent steel beam 7, achieving position alignment. Then, the fourth telescopic rod 406 retracts to drive the second connecting arm 404 to swing downward, thereby lowering the first group of walking mechanisms 1. At the same time, the third telescopic rod 405 retracts to drive the first connecting arm 403 to swing upward, keeping the first group of walking mechanisms 1 in a horizontal state. This lowers the first group of walking mechanisms 1 horizontally onto the surface of the adjacent steel beam 7.

[0056] In the third step (S3), the first telescopic rods 303 of the two sets of positioning mechanisms 3 on the first set of traveling mechanism 1 extend slightly, thereby driving the second swing arm 302 to swing outward. At the same time, the second telescopic rod 304 retracts significantly, thereby driving the second swing arm 302 to swing downward through the first swing arm 301, so that the anti-tilt wheel 306 moves to the bottom of the adjacent steel beam 7 and the lateral guide wheel 305 moves to the left and right sides of the adjacent steel beam 7. The first telescopic rods 303 of the two sets of positioning mechanisms 3 on the first set of traveling mechanism 1 retract significantly, thereby driving the second swing arm 302 to swing inward, so that the lateral guide wheel 305 abuts against the adjacent steel beam 7. At the same time, the second telescopic rod 304 extends slightly, thereby driving the second swing arm 302 to swing upward through the first swing arm 301, so that the anti-tilt wheel 306 abuts against the adjacent steel beam 7, thereby achieving the clamping and positioning of the adjacent steel beam 7 and completing the repositioning action of the first set of traveling mechanism 1.

[0057] like Figure 6 As shown, in the fourth step (S4), the first telescopic rod 303 of the two sets of positioning mechanisms 3 on the second set of walking mechanism 1 extends significantly, thereby driving the second swing arm 302 to swing outward, causing the lateral guide wheel 305 to disengage from the current steel beam 6. At the same time, the second telescopic rod 304 retracts slightly, thereby driving the second swing arm 302 to swing downward through the first swing arm 301, causing the anti-tilt wheel 306 to disengage from the current steel beam 6. Then, the second telescopic rod 304 extends significantly, thereby driving the second swing arm 302 to swing upward through the first swing arm 301. At the same time, the first telescopic rod 303 retracts slightly, thereby driving the second swing arm 302 to swing inward, causing the lateral guide wheel 305 and the anti-tilt wheel 306 to move above the current steel beam 6.

[0058] In step five (S5), the fifth telescopic rod 407 extends to drive the first connecting arm 403 to swing upward, thereby lifting the second set of walking mechanisms 1 upward. At the same time, the third telescopic rod 405 extends to drive the second connecting arm 404 to swing downward, keeping the second set of walking mechanisms 1 in a horizontal state. The second set of walking mechanisms 1 is then lifted horizontally above the current steel beam 6. The first support platform 401 is then driven to rotate, thereby moving the second set of walking mechanisms 1 horizontally above the adjacent steel beam 7. The second support platform 402 is then driven to rotate, ensuring that the second set of walking mechanisms 1 is parallel to the adjacent steel beam 7, achieving position alignment. Then, the fifth telescopic rod 407 retracts to drive the first connecting arm 403 to swing downward, thereby lowering the second set of walking mechanisms 1. At the same time, the third telescopic rod 405 retracts to drive the second connecting arm 404 to swing upward, keeping the second set of walking mechanisms 1 in a horizontal state. The second set of walking mechanisms 1 is then lowered horizontally onto the surface of the adjacent steel beam 7.

[0059] In step six (S6), the first telescopic rods 303 of the two sets of positioning mechanisms 3 on the second set of traveling mechanism 1 extend slightly, thereby driving the second swing arm 302 to swing outward. At the same time, the second telescopic rod 304 retracts significantly, thereby driving the second swing arm 302 to swing downward through the first swing arm 301, so that the anti-tilt wheel 306 moves below the adjacent steel beam 7 and the lateral guide wheel 305 moves to the left and right sides of the adjacent steel beam 7. The first telescopic rods 303 of the two sets of positioning mechanisms 3 on the second set of traveling mechanism 1 retract significantly, thereby driving the second swing arm 302 to swing inward, so that the lateral guide wheel 305 moves to the left and right sides of the adjacent steel beam 7. Wheel 305 abuts against the adjacent steel beam 7, while the second telescopic rod 304 extends slightly, thereby driving the second telescopic arm 302 to swing upward through the first swing arm 301, so that the anti-tilt wheel 306 abuts against the adjacent steel beam 7, realizing the clamping and positioning of the adjacent steel beam 7, and completing the repositioning action of the second set of walking mechanisms 1. Thus, the high-altitude operation robot has realized the repositioning, and can carry out further steel beam operation procedures. The two sets of walking mechanisms 1 are rotated in the opposite direction and the working robotic arms 2 are lowered. Welding, riveting or bolt installation operations are performed using the welding actuator, riveting actuator or bolt installation actuator on the working robotic arm 2.

[0060] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A high-altitude operation robot with an automatically repositionable steel beam frame, characterized in that: It includes a walking mechanism (1), a working robotic arm (2), a positioning mechanism (3), and a transfer mechanism (4); The walking mechanism (1) is provided in two sets. Each set of the walking mechanism (1) includes a chassis (101) and four walking drive wheels (102) installed at the bottom of the chassis (101). The robotic arm (2) is provided in four groups, and each two groups of robotic arms (2) are respectively rotatably set on the left and right sides of one of the chassis (101); The positioning mechanism (3) is used to hold the steel beam and it is provided in four sets, with each two sets of the positioning mechanism (3) respectively set at the front and rear ends of one of the chassis (101); The switching mechanism (4) includes a first support platform (401), a second support platform (402), a first connecting arm (403), a second connecting arm (404), a third telescopic rod (405), a fourth telescopic rod (406), and a fifth telescopic rod (407). The first support platform (401) is rotatably connected to the top of one of the chassis (101), and the second support platform (402) is rotatably connected to the top of the other chassis (101). The first connecting arm (403) has a first hinge point (408) and a second hinge point (409) in its middle. The first hinge point (408) is located on the side of the second hinge point (409) near the first support platform (401). The second connecting arm (404) has a third hinge point (410) and a fourth hinge point (411) in its middle. 10) Located on the side of the fourth hinge point (411) near the second support platform (402), one end of the second connecting arm (404) is hinged to the second support platform (402), and the other end is hinged to the second hinge point (409). One end of the first connecting arm (403) is hinged to the first support platform (401), and the other end is hinged to the telescopic end of the third telescopic rod (405). The other end of the third telescopic rod (405) is hinged to the fourth hinge point (411). The third hinge point (410) is hinged to the telescopic end of the fourth telescopic rod (406). The other end of the fourth telescopic rod (406) is hinged to the second support platform (402). The first hinge point (408) is hinged to the telescopic end of the fifth telescopic rod (407). The other end of the fifth telescopic rod (407) is hinged to the first support platform (401).

2. The automatically repositionable steel beam frame high-altitude operation robot according to claim 1, characterized in that: Each positioning mechanism (3) includes two sets of symmetrically arranged positioning components. Each set of positioning components includes a first swing arm (301), a second swing arm (302), a first telescopic rod (303), a second telescopic rod (304), a lateral guide wheel (305), and an anti-roll wheel (306). One end of the first swing arm (301) is hinged to the chassis (101), and the other end is hinged to one end of the second swing arm (302). The telescopic end of the first telescopic rod (303) is connected to the second swing arm. One end of (302) is hinged to the first swing arm (301), and the other end is hinged to the chassis (101). One end of the second telescopic rod (304) is hinged to the middle of the first swing arm (301), and the other end is hinged to the chassis (101). The lateral guide wheel (305) is rotatably connected to the middle of the second swing arm (302) and protrudes from the second swing arm (302). The other end of the second swing arm (302) is connected to a rotating shaft (307). The anti-tilt wheel (306) is rotatably connected to the rotating shaft (307).

3. The automatically repositionable steel beam frame high-altitude operation robot according to claim 1, characterized in that: There are two fourth telescopic rods (406), and the telescopic ends of the two fourth telescopic rods (406) are respectively hinged to both sides of the third hinge point (410).

4. The automatically repositionable steel beam frame high-altitude operation robot according to claim 1, characterized in that: There are two fifth telescopic rods (407), and the telescopic ends of the two fifth telescopic rods (407) are respectively hinged to both sides of the first hinge point (408).

5. The automatically repositionable steel beam frame high-altitude operation robot according to claim 1, characterized in that: The switching mechanism (4) further includes a first motor (412) for driving the first support platform (401) to rotate and a second motor (413) for driving the second support platform (402) to rotate. The first motor (412) is installed in one of the chassis (101), and its output end passes through the chassis (101) and is connected to the middle of the first support platform (401). The second motor (413) is installed in the other chassis (101), and its output end passes through the chassis (101) and is connected to the middle of the second support platform (402).

6. The automatically repositionable steel beam frame high-altitude operation robot according to claim 1, characterized in that: One end of the robotic arm (2) is connected to a third motor (5) for driving its rotation, and the third motor (5) is installed in the chassis (101).

7. The automatically repositionable steel beam frame high-altitude operation robot according to claim 1, characterized in that: The robotic arm (2) is detachably equipped with a welding actuator, a riveting actuator, or a bolt-mounted actuator.

8. A repositioning method for a steel beam frame aerial work robot with automatic repositioning capability as described in any one of claims 1-7, characterized in that, Includes the following steps: S1. Rotate and retract the working robotic arms (2) on the two sets of walking mechanisms (1), and release the positioning mechanism (3) on the first set of walking mechanisms (1) on the current steel beam; S2. Using the second group of walking mechanisms (1) as the support point, the first group of walking mechanisms (1) is lifted, translated, rotated and lowered to the steel beam adjacent to the current steel beam through the switching mechanism (4); S3, control the positioning mechanism (3) of the first group of walking mechanism (1) to re-clamp the new steel beam; S4. Release the positioning mechanism (3) on the second set of walking mechanisms (1); S5. Using the first group of walking mechanisms (1) as the support point, the second group of walking mechanisms (1) is lifted, translated, rotated and lowered to the steel beam adjacent to the current steel beam through the switching mechanism (4); S6. Control the positioning mechanism (3) of the second walking mechanism (1) to re-clamp the new steel beam and rotate in the opposite direction to lower the working robot arm (2) on the two walking mechanisms (1).

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