A robotic arm programmed construction protection method

Abstract

The application provides a mechanical arm programmed construction protection method, which is characterized in that: a mechanical arm execution end and a tool head are connected through upper and lower limit positions, and an elastic constraint connection is arranged; when the mechanical arm execution end horizontal plane is subjected to a reverse super torque or super thrust, the tool head moves or rotates on the lower position plane, the external force is instantaneously disconnected, and the mechanical arm execution end is not moved at the working point position; after the external force disappears, the elastic constraint returns the tool head to the position before the independent movement or rotation and the connection position of the mechanical arm execution end; the position point of the tool head is accurately determined by using an automatic positioning device, and the mechanical arm continues the construction in the set program. The mechanical arm protection method provided by the application can instantaneously disconnect the reaction force of the construction tool head on the mechanical arm, so that when the position is delayed due to the inconsistent raw material form and performance, the continuous processing can be ensured, the mechanical arm body is not damaged, and the position accuracy of the end tool is maintained.

Description

Technical Field

[0001] This invention relates to the technical field of protection methods for robotic arms subjected to excessive torque based on digital construction processes. Background Technology

[0002] Precast building components are large in size and complex in shape, with relatively low cutting precision, and have long relied on manual processing. Current automated equipment in the precast component construction field mainly consists of two types: dedicated machines and gantry CNC machines. Dedicated machines are primarily used for single-unit, batch production; while inexpensive, they lack flexibility and struggle to adapt to the diverse requirements of precast components, mainly used for producing standard parts. Gantry CNC machines, on the other hand, can meet the requirements of flexible production, but are expensive and their processing range is limited by the gantry size. The solution of using robotic arms, commonly found in industrial applications, has emerged as a viable option, combining flexibility with a suitable cost.

[0003] However, applying robotic arms to the flexible production of prefabricated building components requires more than just digital twin technologies such as simulation and establishing connections between the virtual and physical worlds. A key challenge is accommodating errors arising from various processing and physical limitations in previous or current processes. Once these errors occur, inconsistencies with the model's shape or material strength can easily lead to short-term processing delays relative to the planned simulation path. These delays generate significant short-term reaction forces at the robotic arm's end effector. Because the end effector can only withstand limited torque, redundancy is often used to absorb these short-term reaction forces, but this increases costs and hinders the development of suitable heavy-duty processing methods for robotic arm construction based on digital construction processes. The combination of these cost and functional limitations makes the widespread adoption of robotic arm construction methods difficult.

[0004] For example, the hydraulic cylinder used for bending thick steel bars is a high-pressure hydraulic cylinder with a diameter of Φ60mm or greater, and a theoretical maximum output force of over 20 tons. When a rebar bending tool head based on a robotic arm is used to bend a steel bar with a hydraulic cylinder, the process characteristics cause it to rotate as a whole. This results in the reaction force from the steel bar acting on the hydraulic cylinder being transmitted through the rigid structure to the motion actuator, such as the robotic arm itself, causing the robotic arm to alarm, and even sometimes damaging the robotic arm. During grinding, due to the roughness and burrs on the workpiece surface, the rapidly rotating end-of-arm grinding disc may encounter surfaces with high resistance, also leading to the aforementioned situation of exceeding the end-of-arm torque.

[0005] Most existing buffer mechanisms in similar specialized machines or handheld devices are based on single processes or tools, making it difficult to meet the challenges of frequent tool and process changes faced by robotic arms in flexible production. Furthermore, due to their design principles, most of these buffer mechanisms cannot maintain precise positioning when the predetermined torque is not exceeded, or they cannot promptly recover after disconnection. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing construction equipment and provide a protection method for over-torque situations in flexible construction sites that can be applied to robotic arms or similar motion mechanisms and meet the requirements of structural mechanics for high load-bearing capacity and seismic resistance.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0008] A programmed construction protection method for robotic arms, the method being:

[0009] 1) Connect the end effector of the robotic arm to the tool head via upper and lower limit switches, and simultaneously set up an elastic constraint connection;

[0010] 2) When the end effector of the robotic arm is subjected to reverse over-torque or over-thrust on the horizontal plane, the tool head moves or rotates on the lower plane, immediately disconnecting the external force, and the end effector of the robotic arm remains stationary at the working point.

[0011] 3) After the external force disappears, the elastic constraint will return the tool head to the connection position with the end effector of the robotic arm before it moves or rotates independently;

[0012] 4) Use an automatic positioning device to accurately determine the return position of the tool head, ensuring that the robotic arm continues to work within the set program.

[0013] Furthermore, apart from the external forces within the normal load-bearing capacity of the robotic arm, all other process steps ensure that the robotic arm's end effector is always subjected to force on a horizontal plane. That is, regardless of its vertical position in the program, the end effector drives the tool head to work on the material on a flat surface. This defined process not only prevents the thrust and torque transmitted to the robotic arm's end effector from exceeding preset values ​​in the flange parallel plane or other designated planes, but also allows it to normally withstand forces perpendicular to the horizontal plane of the end effector, thus not affecting the normal upward transmission of the perpendicular force component.

[0014] The connection method for the upper and lower limits described in step 1) refers to the connection points being on two planes. The upper plane is a rigid connection, where the end effector shaft of the robotic arm does not move with external force; the lower plane is a flexible connection, such as a sliding or hinged connection, to provide rotational freedom, allowing the tool head to move only within the same plane under external force. Furthermore, the connection points for the upper and lower limits can be grouped together within the plane. Specific implementation methods include fixing the end effector shaft of the robotic arm to the upper flange surface and fixing the tool head to the lower flange surface parallel to the upper flange. The connection methods for the upper and lower limits can be selected from slider linear guide assemblies, linear bearings and optical shaft assemblies, bearing frames and their upper and lower plates, graphite self-lubricating plates and their upper and lower plates, cylinder assemblies, gas spring assemblies, ball joint connecting rod assemblies, etc. Furthermore, collision detection methods such as collision pins are used to ensure that alarms are triggered when displacement or rotation exceeds limits.

[0015] The elastic constraint connection mentioned in step 1) refers to connecting the upper and lower flanges by using elastic components such as springs, cylinders, gas springs, steel wire dampers, and rubber rings, that is, the end effector of the elastic constraint robotic arm and the tool head.

[0016] Step 4) describes automatic positioning, which refers to precise initial positioning after the upper and lower planes of the robotic arm's end effector and the tool head shift. A preferred positioning device is a cylinder connected to a positioning pin, located on the upper flange surface, with positioning holes on the lower flange surface, thus confirming whether the tool head has accurately returned to its original position.

[0017] The beneficial effects of this invention are:

[0018] The robotic arm protection method provided by this invention can instantly disconnect the reaction force of the construction tool head on the robotic arm, thereby ensuring continuous processing without damaging the robotic arm itself when positional delays occur due to inconsistencies in the shape and properties of raw materials. Regardless of whether the final tool will experience excessive torque requiring short-term disconnection, the precise position of the end effector can be maintained as long as these conditions do not occur. Taking a three-point hydraulic tool as an example, a high-pressure hydraulic cylinder with a Φ60mm diameter has a theoretical maximum output force of over 20 tons, capable of bending HPB400φ32 threaded steel bars. When the tool head bends, the short-term disconnection effectively buffers the relative displacement and rotation between the bending tool head and the robot's connecting flange, ensuring the robotic arm operates normally without damage.

[0019] The following describes specific embodiments of the present invention with reference to the accompanying drawings: Attached Figure Description

[0020] Figure 1 A diagram illustrating the positioning principle of the short-time disconnection device provided by this invention.

[0021] Figure 2 This is a schematic diagram of the short-time disconnection device according to an embodiment of the present invention, viewed from below.

[0022] Figure 3 This is a top view schematic diagram of the short-time disconnection device according to an embodiment of the present invention.

[0023] Figure 4 This is a cross-sectional schematic diagram of the short-time disconnection device according to an embodiment of the present invention.

[0024] Figure 5 This is a schematic diagram of the rotation of the lower flange of the short-time disconnection device according to an embodiment of the present invention when subjected to planar impact force.

[0025] Figure 6 This is a schematic diagram of the displacement of the short-time disconnection device according to an embodiment of the present invention.

[0026] Figure 7 This is a simplified planar diagram of the short-time disconnection device mechanism according to an embodiment of the present invention.

[0027] Figure 8 This is a side view of the misalignment buffer device according to an embodiment of the present invention.

[0028] Figure 9 This is a schematic diagram of the misalignment buffer device according to an embodiment of the present invention, viewed from below.

[0029] Figure 10 This is a cross-sectional schematic diagram of the misalignment buffer device according to an embodiment of the present invention.

[0030] Figure 11 for Figure 10 A magnified view of a portion of the image.

[0031] Figure 12 A schematic diagram illustrating the working principle of the misalignment buffer device of this invention, which uses three electronic rulers.

[0032] Figure 13 This is a schematic diagram of the rotation of the lower flange of the misalignment buffer device in an embodiment of the present invention when subjected to planar impact force.

[0033] Figure 14 This is a schematic diagram of the displacement of the misalignment buffer device according to an embodiment of the present invention.

[0034] Figure 15 This is a simplified planar diagram of the misalignment buffer device mechanism according to an embodiment of the present invention. Detailed Implementation

[0035] The specific embodiments described herein are merely illustrative of the technical solutions of this patent and are not intended to limit the scope of the disclosed technical solutions. It should also be noted that, for ease of description, the accompanying drawings show only the parts relevant to the technical solutions of this disclosure, and not the entire structure.

[0036] Before discussing the exemplary embodiments in more detail, it should be mentioned that the structure of the device components and / or modules mentioned in the embodiments, unless otherwise described in detail, is something that can be understood by those skilled in the art based on existing public technologies or is a commercially available product.

[0037] The programmed construction protection method for robotic arms provided in this patent is achieved through the following steps:

[0038] 1) Connect the robotic arm's end effector to the tool head via upper and lower limit switches, and simultaneously set up an elastic constraint connection. In addition to the robotic arm's normal vertical load bearing, other process steps maintain the robotic arm's end effector under force on the horizontal plane. That is, regardless of the vertical position of the robotic arm's end effector, it drives the tool head to process the material on the plane.

[0039] 2) When the end effector of the robotic arm is subjected to reverse over-torque or over-thrust on the horizontal plane, the tool head moves or rotates on the lower plane, immediately disconnecting the external force, and the end effector of the robotic arm remains stationary at the working point.

[0040] 3) After the external force disappears, the elastic constraint will return the tool head to the connection position with the end effector of the robotic arm before it moves or rotates independently.

[0041] 4) Use an automatic positioning device to accurately determine the return position of the tool head, ensuring that the robotic arm continues to work within the set program.

[0042] The aforementioned upper and lower limit connection method refers to the connection points being on two planes, with the upper plane being a rigid connection where the end effector shaft of the robotic arm does not move with external force; and the lower plane being a flexible connection, such as a sliding or hinged connection, to provide rotational freedom, allowing the tool head to move only within the same plane under external force. The upper and lower limit connection points can be grouped together within the plane. Specific implementation methods include, for example, fixing the end effector shaft of the robotic arm to the upper flange surface and fixing the tool head to the lower flange surface parallel to the upper flange. The upper and lower limit connection methods can be selected from slider linear guide assemblies, linear bearing and optical shaft assemblies, bearing frames and their upper and lower plates, graphite self-lubricating plates and their upper and lower plates, cylinder assemblies, gas spring assemblies, ball joint connecting rod assemblies, etc.

[0043] In addition, setting up collision piles and other detection methods can ensure alarms when displacement or rotation exceeds limits.

[0044] The elastic constraint connection can use elastic components such as springs, cylinders, gas springs, steel wire dampers, and rubber rings to connect the upper and lower flanges, that is, the end effector of the elastic constraint robotic arm and the tool head.

[0045] The automatic positioning refers to the precise initial positioning after the upper and lower planes of the connecting robotic arm's end effector and the tool head have shifted. Optional positioning devices include cylinders, connected to positioning pins on the upper flange surface, with positioning holes on the lower flange surface, thus confirming whether the tool head has accurately returned to its original position.

[0046] Taking the case of a robotic arm bending complex shapes of reinforcing bars as an example, it is necessary to buffer the relative displacement and rotation of the robotic arm and the reinforcing bar bending tool. Complex bending of reinforcing bars is a spatial bending, but essentially each bend can be considered a bend within a plane. Based on the process characteristics and the six-point positioning principle, it is necessary to remove the restrictions on translation and planar rotation, allowing for horizontal displacement and horizontal rotation degrees of freedom between the two flange faces. Figure 1 The displacements x and y are intermediate; the rotation x is a planar pair.

[0047] like Figure 2-4 As shown, this application example provides a short-time disconnection device to verify the feasibility and effectiveness of the programmed construction protection method for robotic arms of this patent. The short-time disconnection device provided in this example includes an upper flange 1, a support plate 2, a cylinder 3, a positioning pin 4, a lower flange 5, a housing linear bearing 6, a light shaft 7, and a spring 8. The support plate 2 is fixed to the bottom surface of the upper flange 1, and the outer edge of the support plate 2 is provided with multiple support angles 201. The cylinder 3 is fixed to the base of the upper flange 1 and / or the support plate 2, and the positioning pin 4 is located on the push rod of the cylinder 3. The beginning of the light shaft 7 is flexibly connected to the lower flange 5, and the other end is located inside the housing linear bearing 6, which is fixed below the support angles 201. The beginning of the spring 8 is fixed to the lower flange 5, and the end is fixed below the support angles 201. The light shaft 7 and the spring 8 are spaced apart. The lower flange 5 is provided with a positioning hole 501. When the push rod of the cylinder 3 extends, the position and shape of the positioning pin 4 are adapted to the positioning hole 501.

[0048] A preferred embodiment is that multiple linear bearings 6, optical axes 7, and springs 8 are provided, and the number of corresponding support angles 201 is greater than the total number of optical axes 7 and springs 8. For example, three linear bearings 6, three optical axes 7, and three springs 8 are provided, with each optical axis 7 and each adjacent spring 8 arranged in a group, and the groups are evenly spaced. A further preferred embodiment is that the axis of each optical axis 7 is on the same first plane, and the centerline of each spring 8 is on the same second plane, with the first and second planes overlapping.

[0049] In one preferred embodiment, the support angle 201 includes a first support angle 201a and a second support angle 201b. The first support angle 201a is an extended protruding strip of the main body of the support plate 2, used to fix the linear bearing 6 of the housing. The second support angle 201b is an extended protruding angle of the main body of the support plate 2, used to fix the spring 8. The first support angle 201a and the second support angle 201b are arranged at intervals.

[0050] For precise positioning, the cylinder 3 is preferably a three-rod cylinder. The cylinder push rod is fixed with a diamond-shaped pin and a cylindrical pin. In the extended state, the positioning hole 501 on the lower flange matches it, realizing positioning with two pins on one side.

[0051] The aforementioned linear bearing 6 has a built-in linear slider that can rotate around the optical axis, while the optical axis 7 can simultaneously slide axially. The beginning of the optical axis 7 is hinged and fixed to the lower flange 5, and multiple optical axes 7 together support the lower flange.

[0052] Both ends of the spring 8 are rigidly fixed and welded between the second support angle 201b and the lower flange 5. In one preferred embodiment, a bolt 9 is provided on the lower flange 5, extending into the spring 8 to restrict the movement of the spring end within a certain range; a nut 10 is fitted onto the bolt 9 to further block and constrain the spring 8, and the spring force of the spring 8 can be finely adjusted by rotating the nut 10 to change its position. Furthermore, a cylindrical protrusion 11 is also provided on the protruding angle of the second support angle 201b to restrict the movement of the end of the spring 8 within a certain range.

[0053] The aforementioned housing linear bearing 6 includes a rotating shaft 601. To further detect displacement and control offset, a nut 602 is fitted on the shaft segment extending above the support angle 201. A metal plate 603 is connected to the top of the rotating shaft 601. Proximity sensors 11 are respectively installed on the upper surfaces of the support angles 201 on both sides of the metal plate 603 to detect whether the displacement of the lower flange 5 has reached the limit.

[0054] Further as Figure 5-7 The upper flange 1 and the lower flange 5 are arranged in parallel, and the deflection lines of each optical axis 7 are also on the same plane.

[0055] The main technical parameters of the short-time disconnection device in the above application examples can be set as shown in the table below:

[0056] box-type linear bearing optical axis assembly 30mm inner and outer diameters, optical axis length 230mm constraint spring Outer diameter 30mm, diameter 3mm, pitch 9mm, length 90mm Displacement range ±50mm Rotation range ±30° Vertical load 400kg cylinder Three-axis cylinder, inner diameter 20mm, stroke 20mm

[0057] The working process of the short-time disconnection device in the above application example is as follows:

[0058] 1) Rotate the fine-tuning nut so that when the cylinder push rod extends out of the positioning lower flange, it is precisely in place and almost unaffected by lateral force and torque.

[0059] 2) As the initial state, the cylinder extends out of the positioning lower flange, and the steel bar bending tool reaches the working position for pre-tightening. At this time, the displacement is minimal or non-existent.

[0060] 3) Cylinder retraction: When the bending tool begins operation, it gradually drives the lower flange to shift and rotate. At this time, because the end effector of the robotic arm cannot precisely predict the trajectory, it causes displacement and rotation between the upper and lower flanges. However, the optical shaft can move freely within the linear bearing of the housing, and the linear bearing can also rotate, thus achieving displacement and rotation buffering. (Reference) Figure 5 and Figure 6 A schematic diagram of displacement and rotation.

[0061] 4) When the bending tool is retracted and the external force disappears, the lower flange gradually returns to its original position under the action of the constraint spring.

[0062] 5) The cylinder push rod extends, positioning the lower flange at the accurate zero position.

[0063] As can be seen from the above, by implementing steps 1)-4) of the programmed construction protection method for robotic arms of this patent, the problem of overload during construction of robotic arms can be protected.

[0064] For example Figure 8-12 As shown, this application example provides a misalignment buffer device to verify and illustrate the feasibility and effectiveness of the robotic arm programmed construction protection method of this patent. The misalignment buffer device provided in this application example includes an upper flange 12, a cylinder 13, a positioning pin 14, an isolation column 15, an isolation plate 16, a rolling bearing 17, a spring 18, and a lower flange 19. The cylinder 13 is fixed below the upper flange 12, and the positioning pin 14 is fixed to the push rod of the cylinder 13. The isolation plate 16 includes a first partition 1601 and a second partition 1602, which are arranged in parallel and are fixedly connected to the upper flange 12 by the isolation column 15. The lower flange 19 is located below the isolation plate 16. The upper end of the spring 18 is fixedly connected to the lower flange 12, and the lower end is fixedly connected to the lower flange 19 by a spring fixing column 20. The rolling bearing 17 is located between the first partition 1601 and the second partition 1602, and the spring fixing column 20 passes through the bearing frame of the isolation plate 16 and the rolling bearing 17. The lower flange 19 is provided with a positioning hole, and when the push rod of the cylinder 13 extends, the positioning pin 14 engages with the positioning hole.

[0065] The locating pin 14 is preferably a three-jaw locating pin, and the locating hole on the lower flange is matched with it.

[0066] The upper end of the spring 18 can be fixed to the lower part of the upper flange 12 by the stud 21. The stud 21 inside the spring 18 can also constrain the swing of the spring 18. At the same time, a nut 22 is sleeved on the stud section above the spring 18 to further abut and constrain the upper end of the spring 18.

[0067] The rolling bearing 17 includes balls 1701 and a bearing housing 1702. The bearing housing 1702 serves to hold the balls, and the second partition 1602 is the supporting surface for the balls. The first partition 1601 and the second partition 1602 are rigidly connected to the upper flange 12 as a whole by a partition column 15. The spring fixing column 20 is fixedly connected to the lower flange 19 as a whole. When the lower flange 19 experiences stress and moves or rotates, the spring fixing column 20 will drive the rolling bearing housing 1702 to move or rotate on the plane of the second partition 1602. The first partition 1601 and the second partition 1602 have openings within the maximum limit space of the spring and the spring fixing column displacement to avoid contact. The upper flange 12, the partition 1602, and the lower flange 19 are arranged parallel to each other, and the rolling bearing 17 translates and rotates within the partition 16.

[0068] To fine-tune the plate spacing to accommodate the ball bearing clearance, an adjusting screw 23 can be used to connect the first partition 1601 and the second partition 1602.

[0069] A simplified diagram of the plane of motion under force is shown below. Figure 15 As shown. To better monitor the offset of the lower flange, an electronic scale 24 can be installed on the lower flange 19. The measuring head of the electronic scale 24 is hinged to the lower end of the adjusting screw 23. For example, three electronic scales 24 can be installed on the lower flange 19, and three hinge pins can be installed at the lower end of the adjusting screw 23 to hinge the measuring head of the electronic scale. The electronic scale body is hinged to the lower flange, and the three electronic scales are arranged in a 120° array, with the center of the array circle being the center of the lower end of the adjusting screw. The electronic scales are arranged in a plane, parallel to the lower flange surface. By reading the data from the three sets of electronic scales, the displacement and rotation of the lower flange can be calculated more accurately to determine whether it is close to the limit value. Reference Figure 13 The simplified diagram of the planar linkage shows that A, B, and C are fixed hinges, while U, V, and W are hinges, forming a single unit. The large circle represents the misalignment limiting edge, and AU, BV, and CW are readable electronic ruler lengths. The displacement distance and rotation angle of their lengths UVW represent the misalignment angle and position deviation of the tool head (three axes determine three degrees of freedom: translation position and rotation amount).

[0070] The main technical parameters of the misalignment buffer device provided in the above application examples can be set as shown in the table below:

[0071]

[0072]

[0073] The workflow of the misalignment buffer device in the application example is as follows:

[0074] 1) The studs are adjusted by rotating the two fine-tuning screws of the fine-tuning mechanism, which drives the spring to precisely return the lower flange to its original position. When the cylinder push rod extends and the locating pin positions the lower flange, the lower flange is precisely in place and is almost unaffected by lateral forces and torque.

[0075] 2) The cylinder extends out of the positioning lower flange as the initial state, and the bending tool head reaches the working position for pre-tightening. At this time, the displacement is minimal or non-existent.

[0076] 3) The cylinder retracts, and the bending tool head begins operation. Under external force, the lower flange shifts and rotates. At this point, because the end effector cannot accurately predict the trajectory, it cannot drive the upper and lower flanges to shift and rotate together. The lower flange, because it is slidably fixed to the upper flange plate via a bearing bracket and ball bearings, can perform horizontal displacement and planar rotation within a certain range, achieving displacement and rotation buffering. (Refer to...) Figure 14 and Figure 15 As shown.

[0077] 4) When the bending tool head is retracted, the external force disappears, and under the action of the constraint spring, the lower flange gradually returns to its original position, and the cylinder extends to position the lower flange at the accurate zero position.

[0078] As can be seen from the above, implementing steps 1)-4) of the programmed construction protection method for the robotic arm of this patent through another device can also protect against overload during the construction of the robotic arm.

[0079] The above are illustrative examples of preferred embodiments of the present invention. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A programmed construction protection method for robotic arms, the method being: 1) Connect the end effector of the robotic arm to the tool head via upper and lower limit switches, and simultaneously set elastic constraints for the connection; 2) When the end effector of the robotic arm is subjected to reverse over-torque or over-thrust on the horizontal plane, the tool head moves or rotates on the lower plane, immediately disconnecting the external force, and the end effector of the robotic arm remains stationary at the working point. 3) After the external force disappears, the elastic constraint will return the tool head to the connection position with the end effector of the robotic arm before it moves or rotates independently; 4) Utilize an automatic positioning device to accurately determine the tool head's return position, ensuring that the robotic arm continues construction within the set program; The connection between the robotic arm's end effector and the tool head via upper and lower limiters refers to fixing the robotic arm's end effector shaft to the upper flange surface and fixing the tool head to the lower flange surface parallel to the upper flange. The aforementioned upper and lower limit connection method refers to the connection points being located on two planes, and the connection points being grouped together within the planes. The upper plane is a rigid connection, so the end effector axis of the robotic arm does not move with external force; the lower plane is a flexible connection, used to provide rotational freedom, so the tool head can only move within the same plane under the action of external force. The aforementioned elastic constraint connection refers to the connection between the upper and lower flanges using elastic components such as springs, cylinders, gas springs, wire dampers, or rubber rings, i.e., the end effector of the elastic constraint robotic arm and the tool head.

2. The programmed construction protection method for robotic arms as described in claim 1, characterized in that: Except for the external forces that are determined within the normal load-bearing capacity of the robotic arm, all other process steps always ensure that the end effector of the robotic arm is subjected to force on a horizontal plane.

3. The robotic arm programmed construction protection method as described in claim 1, characterized in that: The flexible connection mentioned refers to a sliding connection or a hinged connection.

4. The robotic arm programmed construction protection method as described in claim 1, characterized in that: The connection method of the upper and lower limits is selected from the slider linear guide group, linear bearing and optical axis group, bearing frame and its upper and lower plates, graphite self-lubricating plate and its upper and lower plates, cylinder group, gas spring group or ball joint connecting rod group.

5. The programmed construction protection method for robotic arms as described in claim 1, characterized in that: Set a collision detection method to provide feedback and issue an alarm when the tool head moves or rotates beyond the limit on the lower plane.

6. The robotic arm programmed construction protection method as described in claim 1, characterized in that: The aforementioned automatic positioning refers to the precise positioning after the upper and lower planes of the connecting robotic arm's end effector and the tool head have shifted.

7. The robotic arm programmed construction protection method as described in claim 6, characterized in that: The automatic positioning method is as follows: a cylinder is used, connected to a positioning pin, which is set on the upper flange surface. A positioning hole is set on the lower flange surface. The positioning pin is inserted into the positioning hole to confirm whether the tool head is accurately returned to its position.

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