A collaborative arch-shaped robotic arm gripping device

Abstract

This invention relates to a robotic arm lifting device for collaborative arch frame operations, comprising an arch frame trolley body, multiple auxiliary connecting frames mounted on the upper end of the arch frame trolley body, a support hinge fixedly connected to the rear end of the auxiliary connecting frames, and a collaborative telescopic arm hinged to the rear end of the support hinge. By employing the aforementioned collaborative adjustment structure, collaborative monitoring structure, and collaborative system, when multiple collaborative telescopic arms are performing installation operations on the main steel arch frame and secondary steel arch frame, the device can effectively monitor the position of each other, and coordinate the multiple collaborative telescopic arms through monitoring data. This effectively enables the arch frame trolley body to control the operation of the collaborative telescopic arms, achieving autonomous monitoring and adjustment among the multiple collaborative telescopic arms, improving the collaborative accuracy between the multiple collaborative telescopic arms, increasing the construction efficiency and quality of the arch frame trolley body, fully promoting automated and precise control of the arch frame installation process, reducing labor costs, and enhancing the economic benefits of arch frame installation.

Description

Technical Field

[0001] The present invention relates to an arch frame robotic arm gripping device, and particularly to an arch frame robotic arm gripping device for collaborative operation in the field of tunnels. Background Technology

[0002] An arch frame trolley is a tool used for transporting and handling arch frames, mainly used in tunnel construction. It is equipped with wireless remote control and is suitable for the installation of precast arch frames, various step-by-step operations, and precise positioning and adjustment of arch frames. While reducing labor costs, construction risks, and improving efficiency, it also realizes the standardization and factory production of tunnel arch erection. However, existing arch frame trolleys can only install one arch frame at a time, and only one steel arch frame can be installed at a time. The cleaning of the working surface needs to be done manually or by a separate crusher, which affects work efficiency.

[0003] To address the aforementioned issues, a certain arch frame trolley in the market employs an auxiliary device design, thus gaining a certain market share.

[0004] Chinese patent CN202320417385.6 discloses a robotic arm lifting device for arch frames. This device aims to solve the problems of existing arch frame installation vehicles, which can only install one arch frame at a time, and require separate manual or crusher cleaning of the work surface, resulting in reduced work efficiency. The device includes a main frame with a work basket mounted on it via a slewing support. A fixed base is fixedly connected to the right end of the slewing support, and a telescopic arm is hinged to the right side of the fixed base. A bracket is hinged to the bottom of the telescopic arm, and a main lifting cylinder is fixedly connected to the bottom of the fixed base. The piston extension end of the main lifting cylinder is hinged to the bracket, and a gripping arm is hinged to the top of the telescopic arm. Compared to conventional arch frame installation equipment, this device significantly reduces economic costs.

[0005] However, in the existing technology, the coordination between the multiple arch frame robotic arms on the arch frame trolley is poor during operation. It is impossible to monitor and adjust the positional accuracy of each other during the arch frame installation process. Consequently, during the subsequent arch frame installation and welding process, construction personnel need to judge and adjust the position of the arch frame robotic arms, which reduces construction efficiency and quality. Summary of the Invention

[0006] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is how to realize mutual monitoring and adjustment among multiple arch frame robotic arm gripping devices to improve the accuracy of their collaborative operation.

[0007] To address the aforementioned issues, this invention provides a collaborative arch frame robotic arm gripping device, comprising an arch frame trolley body, multiple auxiliary connecting frames mounted on the upper end of the arch frame trolley body, a support hinge fixedly connected to the rear end of the auxiliary connecting frames, a collaborative telescopic arm hinged to the rear end of the support hinge, a swing seat hinged to the upper end of the collaborative telescopic arm, a hydraulic gripper arm hinged to the upper end of the swing seat, a collaborative adjustment structure provided between the support hinge, the collaborative telescopic arm and the hydraulic gripper arm, and a collaborative monitoring structure installed on both the left and right sides of the hydraulic gripper arm;

[0008] The arch frame trolley body is equipped with a coordination system, which includes a coordination coordinate processing unit. The input end of the coordination coordinate processing unit is connected to a coordinate position acquisition unit, an installation parameter acquisition unit, and an adjustment feedback acquisition unit. The output end of the coordination coordinate processing unit is connected to a coordination displacement control unit and an installation position alarm unit.

[0009] The input end of the coordinate position acquisition unit is connected to the signal of the collaborative monitoring structure, and the coordinate position acquisition unit cooperates with the adjustment feedback acquisition unit. The input end of the installation parameter acquisition unit is connected to the signal of the control panel set on the arch frame trolley body. The output end of the collaborative displacement adjustment unit is connected to the signal of the collaborative adjustment structure and the adjustment feedback acquisition unit respectively. The output end of the installation position alarm unit is connected to the signal of the alarm set on the arch frame trolley body.

[0010] In the aforementioned collaborative arch frame robotic arm lifting device, the position monitoring and autonomous adjustment between multiple collaborative telescopic arms are effectively realized, improving the accuracy of collaborative operation between multiple collaborative telescopic arms, thereby ensuring construction quality and efficiency, and effectively improving construction accuracy.

[0011] As a supplement to this application, the collaborative monitoring structure includes a mounting cover fixedly installed on the left and right sides of the hydraulic gripper arm. Multiple evenly distributed supports are fixedly installed inside the mounting cover. A collaborative monitoring cylinder is hinged to the end of the support away from the hydraulic gripper arm. A laser sensor head is provided at the end of the mounting cover away from the hydraulic gripper arm, and a through hole that cooperates with the laser sensor head is opened at the end of the mounting cover away from the hydraulic gripper arm.

[0012] A universal column is fixedly connected to one end of the laser sensor head near the hydraulic gripper arm. The end of the universal column near the hydraulic gripper arm extends through a through hole into the mounting cover. Multiple coordinating monitoring cylinders are connected to adapter ball joints at their adjacent ends, and the adapter ball joints are rotatably connected to the universal column.

[0013] As a supplement to this application, the coordinate position acquisition unit includes a coordinate acquisition and processing module. The output end of the coordinate acquisition and processing module is connected to a laser monitoring start module and a monitoring and control module. The input end of the coordinate acquisition and processing module is connected to a secondary coordinate position sensing module and a secondary coordinate control feedback module.

[0014] The output of the secondary coordinate control feedback module is also connected to the monitoring and control module and the secondary coordinate position sensing module respectively.

[0015] The output of the coordinate acquisition and processing module is connected to the signal of the collaborative coordinate processing unit; the output of the laser monitoring start module is connected to the signal of the laser sensor head; the output of the monitoring and control module is connected to the signal of the collaborative monitoring cylinder; the input of the secondary coordinate position sensing module is connected to the signal of the laser sensor head; and the input of the secondary coordinate control feedback module is connected to the signal of the collaborative monitoring cylinder.

[0016] As a supplement to this application, the coordinated adjustment structure includes a coordinated swing arm cylinder hinged between the support hinge and the coordinated telescopic arm, a gripper swing cylinder hinged between the coordinated telescopic arm and the swing seat, and a gripper lifting cylinder hinged between the coordinated telescopic arm and the hydraulic gripper arm. The output end of the coordinated displacement control unit is connected to the coordinated swing arm cylinder, the gripper swing cylinder and the gripper lifting cylinder respectively.

[0017] As a further improvement of this application, the output end of the collaborative coordinate processing unit is also connected to a manual auxiliary control unit, and the output end of the manual auxiliary control unit is connected to the control panel on the arch frame trolley body.

[0018] As a further improvement of this application, multiple auxiliary infrared sensors are fixedly installed at the rear end of the hydraulic gripper arm, and the input end of the collaborative coordinate processing unit is also connected to the position acquisition unit of the steel arch frame group, and the output end of the position acquisition unit of the steel arch frame group is connected to the signal of the auxiliary infrared sensors.

[0019] As a further improvement of this application, the output end of the collaborative coordinate processing unit is also connected to the operation illustration unit, and the output end of the operation illustration unit is connected to the control panel located on the upper part of the arch frame trolley body.

[0020] In summary, through the coordination of the collaborative adjustment structure, collaborative monitoring structure, and collaborative system, multiple collaborative telescopic booms can effectively monitor each other's positions during the installation of the main and secondary steel arch frames. By using monitoring data to coordinate and control the multiple collaborative telescopic booms, the system enables autonomous monitoring and adjustment among them during the arch frame trolley's operation. This improves the coordination accuracy between the booms, thereby enhancing the construction efficiency and quality of the arch frame trolley, promoting automated and precise control during arch frame installation, reducing labor costs, and increasing the economic benefits of arch frame installation. Attached Figure Description

[0021] Figure 1 The front view of the arch frame trolley body in operation according to the first and second embodiments of this application;

[0022] Figure 2 These are isometric views of the collaborative telescopic arm according to the first and second embodiments of this application;

[0023] Figure 3 This is a control logic diagram of the cooperative system according to the first and second embodiments of this application;

[0024] Figure 4 These are front views of the collaborative telescopic arm according to the first and second embodiments of this application;

[0025] Figure 5 This is a top view of the arch trolley body with multiple telescopic arms working in the first and second embodiments of this application;

[0026] Figure 6 Top view of the collaborative telescopic arm in the first and second embodiments of this application when displacement deviation occurs during operation;

[0027] Figure 7 Top view of the collaborative telescopic arm in the first and second embodiments of this application when angular deviation occurs during operation;

[0028] Figure 8 The collaborative coordinate processing unit in the collaborative system of the first and second embodiments of this application generates a collaborative telescopic arm coordinate diagram.

[0029] Explanation of the labels in the diagram:

[0030] 1. Arch frame trolley body, 11. Auxiliary connecting frame, 12. Support hinge seat, 2. Cooperative telescopic arm, 21. Swing seat, 3. Cooperative adjustment structure, 31. Cooperative swing arm cylinder, 32. Grab swing cylinder, 33. Grab lifting cylinder, 4. Hydraulic grab arm, 5. Auxiliary infrared sensor, 6. Cooperative monitoring structure, 61. Laser sensor head, 62. Mounting cover, 63. Universal column, 64. Cooperative monitoring cylinder, 7. Main steel arch frame, 71. Secondary steel arch frame. Detailed Implementation

[0031] The two embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0032] Implementation method 1:

[0033] Figure 1-8 The diagram shows an arch frame trolley body 1, with multiple auxiliary connecting frames 11 mounted on the upper end of the arch frame trolley body 1. A support hinge seat 12 is fixedly connected to the rear end of the auxiliary connecting frames 11. A collaborative telescopic arm 2 is hinged to the rear end of the support hinge seat 12. A swing seat 21 is hinged to the upper end of the collaborative telescopic arm 2. A hydraulic gripper arm 4 is hinged to the upper end of the swing seat 21. A collaborative adjustment structure 3 is provided between the support hinge seat 12, the collaborative telescopic arm 2, and the hydraulic gripper arm 4. A collaborative monitoring structure 6 is installed on both the left and right sides of the hydraulic gripper arm 4.

[0034] The arch frame trolley body 1 is equipped with a coordination system, which includes a coordination coordinate processing unit. The input end of the coordination coordinate processing unit is connected to a coordinate position acquisition unit, an installation parameter acquisition unit, and an adjustment feedback acquisition unit. The output end of the coordination coordinate processing unit is connected to a coordination displacement control unit and an installation position alarm unit.

[0035] The input end of the coordinate position acquisition unit is connected to the signal of the collaborative monitoring structure 6, and the coordinate position acquisition unit cooperates with the adjustment feedback acquisition unit. The input end of the installation parameter acquisition unit is connected to the signal of the control panel set on the arch frame trolley body 1. The output end of the collaborative displacement adjustment unit is connected to the signal of the collaborative adjustment structure 3 and the adjustment feedback acquisition unit respectively. The output end of the installation position alarm unit is connected to the signal of the alarm set on the arch frame trolley body 1. Through the cooperation of the collaborative adjustment structure 3, the collaborative monitoring structure 6 and the collaborative system, when multiple collaborative telescopic arms 2 are installing the main steel arch 7 and the secondary steel arch 71, the position monitoring function between them can be effectively realized. The monitoring data can be used to coordinate and control multiple collaborative telescopic arms 2. In the process of the arch frame trolley body 1 controlling the operation of the collaborative telescopic arms 2, the autonomous monitoring and adjustment function between multiple collaborative telescopic arms 2 can be realized, thereby improving the coordination accuracy between multiple collaborative telescopic arms 2, thereby improving the construction efficiency and construction quality of the arch frame trolley body 1, fully promoting the automation and precision control of the arch frame installation process, reducing labor costs and promoting the economic benefits of arch frame installation.

[0036] At least three hydraulic working arms are installed on the upper end of the arch frame trolley body 1. The upper end of the hydraulic working arms is connected to the auxiliary connecting frame 11. The position of the collaborative telescopic arm 2 is controlled over a wide range through the hydraulic working arms. During the docking process of the main steel arch frame 7 and the secondary steel arch frame 71, the position is adjusted by the collaborative adjustment structure 3 on the collaborative telescopic arm 2 and the system to achieve collaborative position control during the docking process, so as to ensure construction accuracy.

[0037] Figure 2-4 The collaborative monitoring structure 6 includes a mounting cover 62 fixedly installed on the left and right sides of the hydraulic gripper arm 4. Multiple evenly distributed supports are fixedly installed inside the mounting cover 62. A collaborative monitoring cylinder 64 is hinged to the end of the support away from the hydraulic gripper arm 4. A laser sensor head 61 is provided at the end of the mounting cover 62 away from the hydraulic gripper arm 4, and a through hole that cooperates with the laser sensor head 61 is opened at the end of the mounting cover 62 away from the hydraulic gripper arm 4.

[0038] A universal joint 63 is fixedly connected to one end of the laser sensor head 61 near the hydraulic gripper arm 4. The end of the universal joint 63 near the hydraulic gripper arm 4 extends through a through hole into the mounting cover 62. Multiple collaborative monitoring cylinders 64 are connected to adapter ball joints at their adjacent ends. The adapter ball joints are rotatably connected to the universal joint 63. The cooperation between the collaborative monitoring cylinders 64 and the laser sensor head 61 can effectively realize the data monitoring and acquisition between multiple collaborative telescopic arms 2. At the same time, it can also provide feedback on the control deviation data of the collaborative telescopic arms 2 through the adjustment data of the collaborative monitoring cylinders 64, effectively promoting the control accuracy of the subsequent collaborative system, improving the accuracy of the collaborative operation of the collaborative telescopic arms 2, and thus improving the construction quality.

[0039] Figure 2 The coordinate position acquisition unit shown includes a coordinate acquisition and processing module. The output end of the coordinate acquisition and processing module is connected to a laser monitoring start module and a monitoring and control module. The input end of the coordinate acquisition and processing module is connected to a secondary coordinate position sensing module and a secondary coordinate control feedback module.

[0040] The output of the secondary coordinate control feedback module is also connected to the monitoring and control module and the secondary coordinate position sensing module respectively.

[0041] The output of the coordinate acquisition and processing module is connected to the signal of the collaborative coordinate processing unit; the output of the laser monitoring start module is connected to the signal of the laser sensor head 61; the output of the monitoring and control module is connected to the signal of the collaborative monitoring cylinder 64; the input of the secondary coordinate position sensing module is connected to the signal of the laser sensor head 61; and the input of the secondary coordinate control feedback module is connected to the signal of the collaborative monitoring cylinder 64. Through the cooperation of multiple modules, autonomous control of the position monitoring process is achieved, and the accuracy of coordinate acquisition of each collaborative telescopic arm 2 is effectively improved. While reducing the calculation difficulty of the collaborative coordinate processing unit, it can also effectively and accurately acquire and compare coordinate data, thereby reducing the computational burden of adjustment parameters, improving computational efficiency, and thus effectively reducing the latency of the collaborative system, shortening construction waiting time, improving construction efficiency, and promoting construction quality.

[0042] Figure 1-8The coordinated adjustment structure 3 includes a coordinated swing arm cylinder 31 hinged between the support hinge seat 12 and the coordinated telescopic arm 2, a gripper swing cylinder 32 hinged between the coordinated telescopic arm 2 and the swing seat 21, and a gripper lifting cylinder 33 hinged between the coordinated telescopic arm 2 and the hydraulic gripper arm 4. The output end of the coordinated displacement control unit is connected to the coordinated swing arm cylinder 31, the gripper swing cylinder 32, and the gripper lifting cylinder 33 respectively. Through the setting of the coordinated swing arm cylinder 31, the gripper swing cylinder 32, and the gripper lifting cylinder 33, while effectively grasping the secondary steel arch 71 and the main steel arch 7, the position of the coordinated telescopic arm 2 grasping the secondary steel arch 71 can also be adaptively adjusted during the coordinated monitoring process. This improves the construction quality, reduces manual intervention, promotes the smoothness of the arch installation operation, and improves the economic benefits of construction.

[0043] Figure 2 The output of the collaborative coordinate processing unit is also connected to a manual auxiliary control unit. The output of the manual auxiliary control unit is connected to the control panel on the arch trolley body 1. The manual auxiliary control unit can, when the collaborative coordinate processing unit determines that the collaborative error is large, cooperate with the construction personnel and the arch trolley body 1 to perform coarse adjustment and inspection of the position of the collaborative telescopic arm 2. This reduces the probability of repeated calculation and adjustment of the system while ensuring construction efficiency and accuracy, and assists the system to promote construction quality.

[0044] Figure 2 The output of the collaborative coordinate processing unit is also connected to the operation illustration unit. The output of the operation illustration unit is connected to the control panel located on the upper part of the arch frame trolley body 1. The operation illustration unit can display the position of multiple collaborative telescopic arms 2 during the operation of the system adjustment and control of the collaborative telescopic arms 2, intuitively showing the operation status. This makes it easier for construction personnel in the control position to observe the installation status of the main steel arch frame 7 and the secondary steel arch frame 71, effectively judge the correctness of the construction operation, improve emergency response efficiency, and thus improve construction safety.

[0045] Figure 1-8 It is shown that before using the arch frame trolley body 1 to install the steel arch frame, the technicians pre-entered the relevant parameter data of the steel arch frame installation operation into the installation parameter acquisition unit through the control panel on the arch frame trolley body 1. This includes, but is not limited to, the installation height and position of the main steel arch frame 7, the height and position of the docking of the main steel arch frame 7 and the secondary steel arch frame 71, the movement control path of the monitoring and control module in the coordinate position acquisition unit, and the control range of the collaborative operation.

[0046] During construction, taking the arch frame trolley body 1 equipped with three hydraulic working arms as an example, the corresponding data volume of the collaborative telescopic arms 2 is three. The collaborative telescopic arm 2 located in the middle position grabs the main steel arch frame 7 through the hydraulic gripper arm 4, and the collaborative telescopic arms 2 located on the left and right sides grab the secondary steel arch frames 71 that cooperate with the main steel arch frame 7 through the hydraulic gripper arm 4. After the construction personnel move the arch frame trolley body 1 to the construction position, they first control the hydraulic working arm located in the middle position to drive the collaborative telescopic arm 2 at its upper end, and grab the main steel arch frame 7 through the hydraulic gripper arm 4. Then, the main steel arch frame 7 is moved to the tunnel installation surface to determine the installation position of the main steel arch frame 7. Then, the hydraulic working arm located on the left side is controlled to work, so that it drives the collaborative telescopic arm 2, and grabs the secondary steel arch frame 71 through the hydraulic gripper arm 4. Then, the secondary steel arch frame 71 located on the left side is moved to the tunnel installation surface and corresponds to the left side of the main steel arch frame 7. The secondary steel arch frame 71 located on the right side of the main steel arch frame 7 is moved through the hydraulic gripper arm 4. Using the operation method corresponding to the left secondary steel arch 71, it is moved to the corresponding position on the tunnel installation surface. The construction personnel control the collaborative adjustment structure 3 to realize the rotation and lifting of the secondary steel arch 71 by the collaborative telescopic arms 2 on both sides. As the secondary steel arch 71 approaches the working surface, it gradually aligns with the main steel arch 7. While the collaborative telescopic arms 2 and hydraulic grab arms 4 realize the movement and setting of the main steel arch 7 and the secondary steel arch 71 through the hydraulic working arms and collaborative adjustment structure 3, the collaborative coordinate processing unit will send control commands to the coordinate acquisition module of the coordinate position acquisition unit according to the received operation parameters. This will cause the coordinate acquisition module to control the monitoring and control module to extend and retract the collaborative monitoring cylinder 64, so that it drives the laser sensor head 61 to adjust the angle. This controls the laser sensor head 61 on the adjacent collaborative telescopic arm 2 on the side closest to it to move to the matching angle, and sets the movement of the collaborative monitoring cylinder 64 at this time as the initial value.

[0047] Then the construction personnel start the collaborative system. The collaborative system uses the collaborative telescopic arm 2 of the main steel arch 7 as the reference point of the main coordinate. Therefore, during the collaborative monitoring and adjustment process, the stability of the collaborative telescopic arm 2 of the main steel arch 7, the hydraulic grab arm 4, and the collaborative monitoring structure 6 at its upper end are maintained. The position of the collaborative telescopic arm 2 and the hydraulic grab arm 4 on the left and right sides is controlled to adjust the position of the secondary steel arch 71 in coordination with the main steel arch 7, so as to ensure the data accuracy of the collaborative operation adjustment. Then the system starts the coordinate acquisition module and sends a control command to the laser monitoring start module, so that the laser monitoring start module controls the laser sensor head 61 to start. At this time, the laser sensor head 61 between two adjacent collaborative telescopic arms 2 generates a matching laser beam. The laser sensor head 61 on a single collaborative telescopic arm 2 includes a laser emitting end and a collecting end. The emitting end emits a laser beam to the adjacent laser sensor head 61, and the collecting end collects the laser beam emitted by the adjacent laser sensor head 61, thereby assisting in judging the position data between two adjacent collaborative telescopic arms 2.

[0048] If two adjacent laser sensor heads 61 receive and sense the laser data generated by each other, they transmit the data to the secondary coordinate control feedback module. At this time, the secondary coordinate control feedback module and the secondary coordinate position sensing module synchronously transmit the sensing trigger data and the monitoring coordinate data to the coordinate acquisition and processing module, respectively. This allows the coordinate acquisition and processing module to transmit the actual coordinate data of the secondary steel arch 71 driven by the collaborative telescopic arm 2 to the collaborative coordinate processing unit. The collaborative coordinate processing unit judges the parameter data of the control position transmitted by the secondary coordinate position sensing module at this time, and judges that the position of the secondary steel arch 71 is within the qualified range. Therefore, it does not take effect on the collaborative displacement control unit, and displays the illustrated data to the construction personnel through the operation illustration unit, showing that the position is qualified. The construction personnel can then directly carry out welding operations on the main steel arch 7 and the secondary steel arch 71.

[0049] If two adjacent laser sensor heads 61 fail to receive the laser data generated by each other, the secondary coordinate control feedback module is not triggered. At this time, the coordinate acquisition and processing module determines that the position of the secondary steel arch 71 has an error. Then, the coordinate acquisition and processing module sends a control command to the monitoring and control module, causing the monitoring and control module to control the collaborative monitoring cylinders 64 according to a pre-set parameter range. This causes the collaborative monitoring cylinders 64 located in different directions to extend or shorten sequentially, thereby steering the laser sensor head 61. After each steering maneuver, a pause of 1-3 seconds is performed to ensure the probability of the laser sensor head 61 receiving the laser beam. During the adjustment process of the collaborative monitoring cylinders 64, when the laser sensor head 61 receives the laser beam, the monitoring... The control module stops operating and inputs a secondary coordinate trigger signal to the coordinate acquisition and processing module. Then, the secondary coordinate position sensing module acquires the control position parameters of the collaborative monitoring cylinder 64 (by measuring the change in oil pressure within the cylinder, the data on the position adjustment of the collaborative monitoring cylinder 64 is determined, i.e., the amount of extension and retraction of the collaborative monitoring cylinder 64 at different positions, thereby determining the rotation direction of the laser sensor head 61), and transmits this data to the coordinate acquisition and processing module. The coordinate acquisition and processing module then inputs the actual coordinate data of the collaborative telescopic arm 2 driving the secondary steel arch 71 to the collaborative coordinate processing unit. The collaborative coordinate processing unit calculates the acquired data, determines the current position of the secondary steel arch 71, and, based on the determined position, identifies a displacement deviation. Figure 6 h in the figure may be the reference for angular deviation. Figure 7 'a' in 'a';

[0050] It should be noted that when the data is displayed in the operation illustration unit and the coordinate calculation is performed in the collaborative coordinate processing unit, the top-view coordinates of the main steel arch 7 and the secondary steel arch 71 are displayed. Then, the standard coordinates and connecting lines of the positions of the main steel arch 7 and 71 are simulated using the set operation parameters. Then, according to the subsequent operation, the position of the main steel arch 7 after the actual operation is fitted with the main steel arch 7 of the original set operation parameters. Then, the coordinates of the positions of the secondary steel arch 71 on the left and right sides are displayed according to the coordinate position acquisition unit, and the icon color is different from the set operation parameters. The range of position deviation of the secondary steel arch 71 is determined according to the parameter data of its actual position. When the deviation range is within the set range (refer to...), the deviation is considered within the set range. Figure 8 The positional deviation ranges are h1, h2, h3, and h4, and the angular deviations are a1, a2, a3, and a4. No adjustment is needed. If the deviations exceed the set range (refer to...), Figure 8 The positional deviation range is h1, h2, h3 and h4, and the rotation angle deviation is a1, a2, a3 and a4. The collaborative coordinate processing unit controls the collaborative displacement adjustment unit to adjust the position of the secondary steel arch frame 71.

[0051] The collaborative coordinate processing unit sends control commands to the collaborative displacement control unit based on the positions of the collaborative swing arm cylinder 31, the gripper swing cylinder 32, and the gripper lifting cylinder 33. This causes the collaborative displacement control unit to control the movement of the collaborative swing arm cylinder 31, the gripper swing cylinder 32, and the gripper lifting cylinder 33, and then drive the secondary steel arch frame 71 to generate collaborative compensation.

[0052] After the coordinated displacement control unit controls the movement of the coordinated swing arm cylinder 31, the gripper swing cylinder 32, and the gripper lifting cylinder 33, it feeds the data back to the adjustment feedback acquisition unit. It should be noted that after the coordinate position acquisition unit generates a single operational coordinate data transmission, the monitoring and control module controls the coordinated monitoring cylinder 64 to perform a reset action, causing it to move to its initial value, adjusting the laser sensor head 61 to return to its initial angle, and maintaining the laser sensor head 61 in an active state in real time. Upon receiving the completed coordinated control data, the adjustment feedback acquisition unit transmits the data to the coordinate position acquisition unit, accesses its coordinate data, and acquires the coordinate data. Then the data is transmitted to the collaborative coordinate processing unit. The collaborative coordinate processing unit provides feedback and judgment on the data of the position adjustment of the secondary steel arch 71 driven by the collaborative telescopic arm 2. This effectively ensures the effectiveness of the adjustment, reduces the adjustment error rate, and effectively plays the role of retesting. It achieves the purpose of precise construction control. When the adjustment feedback acquisition unit sends feedback to the collaborative coordinate processing unit that the secondary coordinate control feedback module has been triggered, it is determined that the adjustment is completed and the positions of the main steel arch 7 and the secondary steel arch 71 have been adjusted. The data is displayed to the construction personnel through the operation illustration unit, showing that the position is qualified. The construction personnel can then directly carry out welding operations on the main steel arch 7 and the secondary steel arch 71.

[0053] After the monitoring and control module in the coordinate position acquisition unit completes a single cycle of the coordinated monitoring cylinder 64 according to the preset path, if the secondary coordinate control feedback module still does not receive the sensing trigger data from the laser sensor head 61, and if the adjustment feedback acquisition unit transmits the data to the coordinated coordinate processing unit, the coordinated coordinate processing unit sends alarm commands and manual auxiliary data to the installation position alarm unit and the manual auxiliary control unit. This allows construction personnel to receive alarm signals from the alarm device and auxiliary data signals displayed on the control panel by the manual auxiliary control unit. This enables construction personnel to check and adjust the position of the coordinated telescopic arm 2 based on visual inspection and auxiliary data, and then restart the coordinated system. This ensures the accuracy of the docking between the main steel arch frame 7 and the secondary steel arch frame 71, thereby improving the construction efficiency and quality of the arch frame trolley body 1, fully promoting the automation and precision control of the arch frame installation process, reducing labor costs, and promoting the economic benefits of arch frame installation.

[0054] The second implementation method:

[0055] Figure 1-8 The hydraulic gripper arm 4 is shown to have multiple auxiliary infrared sensors 5 fixedly installed at its rear end. The input end of the collaborative coordinate processing unit is also connected to the position acquisition unit of the steel arch frame group. The output end of the position acquisition unit of the steel arch frame group is connected to the signal of the auxiliary infrared sensors 5. Through the setting of the auxiliary infrared sensors 5 and the position acquisition unit of the steel arch frame group, the position of the main steel arch frame 7 and secondary steel arch frame 71 to be installed after multiple main steel arch frames 7 and secondary steel arch frames 71 are installed can be monitored to a certain extent, effectively ensuring the installation accuracy of the overall steel arch frame group, further ensuring the construction quality and improving the construction safety.

[0056] Figure 1-8 The diagram illustrates that after the collaborative system, through the coordination of the coordinate position acquisition unit, the collaborative displacement control unit, and the adjustment feedback acquisition unit, has completed the collaborative adjustment of the docking position of the main steel arch 7 and the secondary steel arch 71, the collaborative coordinate processing unit activates the steel arch group position acquisition unit. This unit uses the auxiliary infrared sensor 5 to sense the position of the previously installed steel arch, and then transmits the sensed data to the steel arch group position acquisition unit. The steel arch group position acquisition unit then fits the position data of the main steel arch 7 and the secondary steel arch 71 at this point and transmits the data to the collaborative coordinate processing unit. The collaborative coordinate processing unit judges the relationship between the current data of the main steel arch 7 and the secondary steel arch 71 and the previously installed steel arch, and then compares it with the input operating parameters. If the position error meets the set standard, no signal transmission (i.e., alarm or data display) is generated. If the position error exceeds the set standard, an alarm signal is generated through the installation position alarm unit, and graphic data is displayed through the operating diagram unit. This allows construction personnel to promptly check the construction position, ensuring construction quality, reducing economic losses caused by construction errors, and effectively improving the economic benefits of construction.

[0057] In light of current practical needs, the above-described embodiments adopted in this application are not limited to these. Any changes made within the scope of knowledge possessed by those skilled in the art without departing from the concept of this application still fall within the protection scope of this invention.

Claims

1. A collaborative arch-frame robotic arm gripping device, characterized in that: The system includes an arch frame trolley body (1), with multiple auxiliary connecting frames (11) installed on the upper end of the arch frame trolley body (1). A support hinge (12) is fixedly connected to the rear end of the auxiliary connecting frame (11). A collaborative telescopic arm (2) is hinged to the rear end of the support hinge (12). A swing seat (21) is hinged to the upper end of the collaborative telescopic arm (2). A hydraulic gripper arm (4) is hinged to the upper end of the swing seat (21). A collaborative adjustment structure (3) is provided between the support hinge (12), the collaborative telescopic arm (2), and the hydraulic gripper arm (4). A collaborative monitoring structure (6) is installed on both the left and right sides of the hydraulic gripper arm (4). The arch frame trolley body (1) is equipped with a collaborative system, which includes a collaborative coordinate processing unit. The input end of the collaborative coordinate processing unit is connected to a coordinate position acquisition unit, an installation parameter acquisition unit, and an adjustment feedback acquisition unit. The output end of the collaborative coordinate processing unit is connected to a collaborative displacement control unit and an installation position alarm unit. The input end of the coordinate position acquisition unit is connected to the signal of the collaborative monitoring structure (6), and the coordinate position acquisition unit cooperates with the adjustment feedback acquisition unit. The input end of the installation parameter acquisition unit is connected to the signal of the control panel set on the arch frame trolley body (1). The output end of the collaborative displacement adjustment unit is connected to the signal of the collaborative adjustment structure (3) and the adjustment feedback acquisition unit respectively. The output end of the installation position alarm unit is connected to the signal of the alarm set on the arch frame trolley body (1). The collaborative monitoring structure (6) includes a mounting cover (62) fixedly installed on the left and right sides of the hydraulic gripper arm (4). Multiple evenly distributed supports are fixedly installed inside the mounting cover (62). A collaborative monitoring cylinder (64) is hinged to the end of the support away from the hydraulic gripper arm (4). A laser sensor head (61) is provided at the end of the mounting cover (62) away from the hydraulic gripper arm (4), and a through hole that cooperates with the laser sensor head (61) is opened at the end of the mounting cover (62) away from the hydraulic gripper arm (4). The laser sensor head (61) is fixedly connected to a universal column (63) at one end near the hydraulic gripper arm (4). The universal column (63) extends through the through hole into the mounting cover (62) at one end near the hydraulic gripper arm (4). A set of multiple collaborative monitoring cylinders (64) are connected to a ball joint at one end near each other. The ball joint is rotatably connected to the universal column (63).

2. The collaborative arch-frame robotic arm gripping device according to claim 1, characterized in that: The output of the collaborative coordinate processing unit is also connected to a manual auxiliary control unit, and the output of the manual auxiliary control unit is connected to the control panel on the arch frame trolley body (1).

3. The collaborative arch-frame robotic arm gripping device according to claim 1, characterized in that: The coordinate position acquisition unit includes a coordinate acquisition and processing module. The output end of the coordinate acquisition and processing module is connected to a laser monitoring start module and a monitoring and control module. The input end of the coordinate acquisition and processing module is connected to a secondary coordinate position sensing module and a secondary coordinate control feedback module. The output of the secondary coordinate control feedback module is also connected to the monitoring and control module and the secondary coordinate position sensing module respectively. The output of the coordinate acquisition and processing module is connected to the signal of the collaborative coordinate processing unit, the output of the laser monitoring start module is connected to the signal of the laser sensor head (61), the output of the monitoring and control module is connected to the signal of the collaborative monitoring cylinder (64), the input of the secondary coordinate position sensing module is connected to the signal of the laser sensor head (61), and the input of the secondary coordinate control feedback module is connected to the signal of the collaborative monitoring cylinder (64).

4. The collaborative arch-frame robotic arm gripping device according to claim 1, characterized in that: The coordinated adjustment structure (3) includes a coordinated swing arm cylinder (31) hinged between the support hinge (12) and the coordinated telescopic arm (2), a gripper swing cylinder (32) hinged between the coordinated telescopic arm (2) and the swing seat (21), and a gripper lifting cylinder (33) hinged between the coordinated telescopic arm (2) and the hydraulic gripper arm (4). The output end of the coordinated displacement control unit is connected to the coordinated swing arm cylinder (31), the gripper swing cylinder (32) and the gripper lifting cylinder (33) respectively.

5. The collaborative arch-frame robotic arm gripping device according to claim 1, characterized in that: Multiple auxiliary infrared sensors (5) are fixedly installed at the rear end of the hydraulic gripper (4). The input end of the collaborative coordinate processing unit is also connected to the position acquisition unit of the steel arch frame group. The output end of the position acquisition unit of the steel arch frame group is connected to the signal of the auxiliary infrared sensors (5).

6. The collaborative arch-frame robotic arm gripping device according to claim 1, characterized in that: The output of the collaborative coordinate processing unit is also connected to the operation diagram unit, and the output of the operation diagram unit is connected to the control panel located on the upper end of the arch frame trolley body (1).

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