Construction site manipulator for intelligent construction

Abstract

The construction site robot arm for intelligent construction comprises a base, the top end of the base is rotationally connected with a support, the side wall of the support is fixedly connected with a driver and slidably connected with a lifting frame, and the output end of the driver is fixedly connected with the lifting frame; inner clamping mechanisms are fixedly connected to the two ends of the lower side of the lifting frame and comprise mounting boxes, the bottom ends of the mounting boxes are slidably connected with two inner clamping plates, the top ends of the inner clamping plates are located on the inner sides of the mounting boxes and fixedly connected with threaded sleeves, and the inner walls of the mounting boxes are rotationally connected with two-way lead screws. Through combination of the inner clamping mechanism and the slight bending mechanism, a workpiece can be effectively prevented from moving towards the end of the workpiece in the clamping process, the inner clamping mechanism adjusts the clamping force of a clamping plate through a two-way lead screw, the stability of the workpiece in the conveying process is ensured, meanwhile, the slight bending mechanism pushes the workpiece to be bent through an outer pushing plate, the workpiece is effectively limited, and the clamping effect is good. And the clamping stability is further improved.

Description

Technical Field

[0001] The present invention relates to a robot arm, and in particular to a construction site robot arm for intelligent construction applied in the field of intelligent construction. Background Art

[0002] Intelligent construction site robot is a device specially designed for material handling on construction sites. It can automatically complete tasks such as picking up, moving, and stacking items, greatly improving the material transportation efficiency on the construction site and reducing the labor intensity of manual handling.

[0003] Chinese patent publication number CN116423555A discloses a manipulator that grabs long construction objects, such as steel bars, steel plates, pipes, etc., through a gripper assembly and then transports the workpiece. Chinese patent publication number CN117681227B discloses a construction handling manipulator that grips construction supplies for transportation through a deformable clamping mechanism.

[0004] When the robot arm clamps a long workpiece, such as a steel bar, it can only grasp part of the workpiece for locking. Especially when the workpiece is transported vertically, the force of the workpiece moving toward the end will increase, and it cannot effectively restrict the movement of the workpiece toward the end, so further improvement is needed. Summary of the invention

[0005] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is that when the robot arm transports the workpiece vertically, the force of the workpiece moving toward the end will increase, and the movement of the workpiece toward the end cannot be effectively restricted.

[0006] To solve the above problems, the present invention provides a construction site robot for intelligent construction, including a base, the top of the base is rotatably connected to a support, the side wall of the support is fixedly connected to a driver and slidably connected to a lifting frame, the output end of the driver is fixedly connected to the lifting frame, both ends of the lower side of the lifting frame are fixedly connected to an internal clamping mechanism, the internal clamping mechanism includes an installation box, the bottom end of the installation box is slidably connected to two inner clamping plates, the top of the inner clamping plate is located on the inner side of the installation box and is fixedly connected to a threaded sleeve, the inner wall of the installation box is rotatably connected to a bidirectional screw rod, the bidirectional screw rod passes through the threaded sleeve and is threadedly connected thereto, the inner side wall of the installation box is fixedly connected to a driving motor, the output end of the driving motor is fixedly connected to one end of the bidirectional screw rod, the middle part of the lower side of the lifting frame is fixedly connected to a micro-bending mechanism, the micro-bending mechanism includes a cylinder, and the telescopic end of the cylinder is fixedly connected to an outward push plate.

[0007] As a further improvement of the present application, the side walls of the two inner clamping plates that are away from each other are fixedly connected with a secondary clamping mechanism, and the secondary clamping mechanism includes an arc frame, and the bottom end of the arc frame is slidably connected with the outer clamping plate.

[0008] As a further improvement of the present application, the side wall of the arc frame is fixedly connected to a clamping motor, and the output end of the clamping motor is rotatably connected to a threaded rod, which passes through the outer clamping plate and is threadedly connected thereto.

[0009] As a further improvement of the present application, the micro-bending mechanism also includes a middle frame, the top end of the middle frame is fixedly connected to an electric push rod, and the output end of the electric push rod is fixedly connected to the inner frame.

[0010] As another improvement of the present application, a torsion motor is fixedly connected to the inner wall of the inner frame, and a gear is fixedly connected to the output end of the torsion motor.

[0011] As another improved supplement of the present application, both ends of the lower side of the inner frame are provided with sliding grooves, the inner walls of the sliding grooves are slidably connected with push rods, and the two push rods are respectively located on both sides of the gear.

[0012] As another improvement supplement of the present application, one end of the push rod is located on the outside of the inner frame and is fixedly connected to the inner push plate, and the ends of the two push rods close to each other are fixedly connected to a rack, and the rack is meshed with the gear. Through the above arrangement, the above arrangement can apply the same force to multiple workpieces when clamping multiple workpieces, so that the deformation degree of multiple workpieces is the same, while ensuring the clamping effect, the protection effect of the workpieces is improved.

[0013] As another improvement of the present application, an external pressure sensor is fixedly connected between the cylinder and the outer push plate, and the external pressure sensor is electrically connected to the driving motor. An internal pressure sensor is fixedly connected between the push rod and the inner push plate, and the internal pressure sensor is electrically connected to the torsion motor. Through the above arrangement, when the outer push plate squeezes the workpiece, the external pressure sensor can obtain the thrust of the outer push plate on the workpiece. When the thrust reaches a certain value, the cylinder stops pushing the workpiece to prevent insufficient or excessive deformation of the workpiece.

[0014] In summary, the present invention can effectively prevent the workpiece from moving toward its end during the clamping process through the combination of the inner clamping mechanism and the micro-bending mechanism. The inner clamping mechanism adjusts the clamping force of the clamping plate through the bidirectional screw to ensure the stability of the workpiece during transportation. At the same time, the micro-bending mechanism pushes the workpiece to bend through the outer push plate, effectively limiting the workpiece and further increasing the stability of the clamping. When clamping multiple workpieces, the present invention can clamp multiple workpieces at the same time through the design of the auxiliary clamping mechanism to ensure that they are subjected to uniform force. During the deformation process of the workpieces, the deformation degree of each workpiece can be accurately controlled to avoid excessive or insufficient deformation, protect the quality of the workpieces, and avoid damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a front cross-sectional view of the inner clamping mechanism in the first embodiment of the present application; Figure 2It is a front cross-sectional view of the installation box in the first and second embodiments of the present application; Figure 3 It is a front cross-sectional view of the micro-bend mechanism in the first and second embodiments of the present application; Figure 4 It is a front cross-sectional view of the middle frame in the first and second embodiments of the present application; Figure 5 It is a top view of the first and second embodiments of the present application when the inner clamping plate and the outer clamping plate clamp the workpiece and the inner push plate pushes the workpiece to bend; Figure 6 This is a top view of the first embodiment of the present application when the inner clamping plate clamps the workpiece and the outer push plate pushes the workpiece to bend; Figure 7 This is a three-dimensional diagram of the lifting frame in the first embodiment of the present application; Figure 8 This is a three-dimensional view of the inner and outer plates in the first embodiment of the present application.

[0016] Description of the numbers in the figure: 1. Base; 2. Support; 3. Driver; 4. Lifting frame; 5. Installation box; 501. Inner clamping plate; 502. Threaded sleeve; 503. Bidirectional screw rod; 504. Driving motor; 6. Cylinder; 601. Outer push plate; 7. Arc frame; 701. Outer clamping plate; 702. Threaded rod; 703. Clamping motor; 8. Middle frame; 801. Electric push rod; 802. Inner frame; 803. Torsion motor; 804. Gear; 805. Slide; 806. Push rod; 807. Inner push plate; 808. Rack; 9. External pressure sensor; 10. Internal pressure sensor. DETAILED DESCRIPTION

[0017] Two implementation modes of the present application are described in detail below with reference to the accompanying drawings.

[0018] The first implementation method: Figure 1-Figure 8A construction site robot arm for intelligent construction is shown, including a base 1, the top of the base 1 is rotatably connected to a support 2, the side wall of the support 2 is fixedly connected to a driver 3 and slidably connected to a lifting frame 4, the output end of the driver 3 is fixedly connected to the lifting frame 4, and both ends of the lower side of the lifting frame 4 are fixedly connected to an internal clamping mechanism, the internal clamping mechanism includes an installation box 5, the bottom end of the installation box 5 is slidably connected to two inner clamping plates 501, the top of the inner clamping plate 501 is located on the inner side of the installation box 5 and is fixedly connected to a threaded sleeve 502, the inner wall of the installation box 5 is rotatably connected to a bidirectional screw rod 503, the bidirectional screw rod 503 penetrates the threaded sleeve 502 and is threadedly connected thereto, the inner side wall of the installation box 5 is fixedly connected to a driving motor 504, the output end of the driving motor 504 is fixedly connected to one end of the bidirectional screw rod 503, the middle part of the lower side of the lifting frame 4 is fixedly connected to a micro-bending mechanism, the micro-bending mechanism includes a cylinder 6, and the telescopic end of the cylinder 6 is fixedly connected to an outer push plate 601.

[0019] When in use, the workpiece is grasped through the internal clamping mechanism. When the internal clamping mechanism is working, the drive motor 504 is started to drive the bidirectional screw rod 503 to rotate and drive the two inner clamping plates 501 to approach each other to clamp the workpiece. After the workpiece is clamped, the cylinder 6 is started to drive the outer push plate 601 to push the workpiece to bend. At this time, the workpiece and the internal clamping mechanism are not on the same line. The internal clamping mechanism can limit the workpiece to prevent the workpiece from moving, thereby improving the stability of the workpiece clamping. At this time, the workpiece can be transported vertically to improve the stability of the workpiece.

[0020] Through the combination of the internal clamping mechanism and the micro-bending mechanism, the workpiece can be effectively prevented from moving toward its end during the clamping process. The internal clamping mechanism adjusts the clamping force through the bidirectional screw 503 to ensure the stability of the workpiece during transportation. At the same time, the micro-bending mechanism pushes the workpiece to bend through the external push plate 601, effectively limiting the workpiece and further increasing the stability of the clamping.

[0021] The second implementation method: Figure 2-Figure 5A construction site robot for intelligent construction is shown. Different from the first embodiment, the side walls of the two inner clamping plates 501 that are away from each other are fixedly connected to a secondary clamping mechanism, and the secondary clamping mechanism includes an arc frame 7, the bottom end of the arc frame 7 is slidably connected to the outer clamping plate 701, and the side wall of the arc frame 7 is fixedly connected to a clamping motor 703, and the output end of the clamping motor 703 is rotatably connected to a threaded rod 702, which passes through the outer clamping plate 701 and is threadedly connected thereto. The micro-bending mechanism also includes a middle frame 8, and the top end of the middle frame 8 is fixedly connected to an electric push rod 801, and the output end of the electric push rod 801 is fixedly connected to the output end of the electric push rod 801. The output end is fixedly connected to an inner frame 802, the inner wall of the inner frame 802 is fixedly connected to a torsion motor 803, the output end of the torsion motor 803 is fixedly connected to a gear 804, both ends of the lower side of the inner frame 802 are provided with slide grooves 805, the inner wall of the slide groove 805 is slidably connected to a push rod 806, the two push rods 806 are respectively located on both sides of the gear 804, one end of the push rod 806 is located on the outer side of the inner frame 802 and is fixedly connected to an inner push plate 807, the ends of the two push rods 806 close to each other are fixedly connected to a rack 808, and the rack 808 is meshed with the gear 804.

[0022] When clamping multiple workpieces at the same time, such as steel bars, if the inner clamping plate 501 is used for clamping, and the outer push plate 601 pushes the steel bars to bend, the steel bars will have different deformations due to the different positions of the multiple steel bars, which is not conducive to the recovery of the steel bar deformation.

[0023] Through the above arrangement, when clamping multiple workpieces, the workpieces can be placed between the outer clamping plate 701 and the inner clamping plate 501, and then the clamping motor 703 is started to drive the threaded rod 702 to rotate to clamp the workpiece. After the workpiece is clamped, the electric push rod 801 is started to drive the inner frame 802 to move downward so that the inner frame 802 is located between the two auxiliary clamping mechanisms, and then the torsion motor 803 is started to drive the two slide grooves 805 to extend outward, so that the inner push plate 807 squeezes the workpieces on the two auxiliary clamping mechanisms to produce slight deformation.

[0024] Through the above arrangement, when clamping multiple workpieces, the same force can be applied to the multiple workpieces, so that the deformation degrees of the multiple workpieces are the same, thereby ensuring the clamping effect and improving the protection effect of the workpieces.

[0025] Through the above arrangement, when processing multiple workpieces (such as steel bars), the design of the auxiliary clamping mechanism can clamp multiple workpieces at the same time to ensure that they are subjected to uniform force. During the deformation process of the workpieces, the deformation degree of each workpiece can be accurately controlled to avoid excessive or insufficient deformation, protect the quality of the workpieces, and avoid damage.

[0026] An external pressure sensor 9 is fixedly connected between the cylinder 6 and the outer push plate 601, and the external pressure sensor 9 is electrically connected to the drive motor 504. An internal pressure sensor 10 is fixedly connected between the push rod 806 and the inner push plate 807, and the internal pressure sensor 10 is electrically connected to the torsion motor 803.

[0027] Through the above arrangement, when the outer push plate 601 squeezes the workpiece, the external pressure sensor 9 can obtain the thrust of the outer push plate 601 on the workpiece. When the thrust reaches a certain value, the cylinder 6 stops pushing the workpiece to prevent insufficient or excessive deformation of the workpiece.

[0028] The application of the external pressure sensor 9 and the internal pressure sensor 10 enables the robot arm to monitor and control the clamping force of the workpiece in real time. When the thrust applied by the external push plate 601 reaches a certain value, the system will automatically stop pushing to prevent excessive deformation of the workpiece. The internal pressure sensor 10 ensures that the pressure of the internal push plate 807 on the workpiece is balanced, effectively improving the accuracy and safety of the clamping operation.

[0029] The present invention improves the stability and safety during transportation, so that the workpiece can maintain good stability during handling, especially when the workpiece is transported vertically, avoiding instability or tilting caused by workpiece position deviation.

[0030] Through the optimization of multi-workpiece clamping, when multiple workpieces need to be clamped at the same time, the auxiliary clamping mechanism and the inner clamping mechanism can work together to ensure that each workpiece can be properly clamped and protected, avoiding the problem of uneven clamping caused by different workpiece shapes.

[0031] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. A construction site robot for intelligent construction, comprising a base (1), characterized in that: The top end of the base (1) is rotatably connected to a support (2), the side wall of the support (2) is fixedly connected to a driver (3) and slidably connected to a lifting frame (4), the output end of the driver (3) is fixedly connected to the lifting frame (4), both ends of the lower side of the lifting frame (4) are fixedly connected to an internal clamping mechanism, the internal clamping mechanism comprises a mounting box (5), the bottom end of the mounting box (5) is slidably connected to two internal clamping plates (501), the top end of the internal clamping plate (501) is located inside the mounting box (5) and is fixedly connected to a threaded sleeve ( 502), the inner wall of the installation box (5) is rotatably connected to a bidirectional screw rod (503), the bidirectional screw rod (503) passes through the threaded sleeve (502) and is threadedly connected thereto, the inner wall of the installation box (5) is fixedly connected to a drive motor (504), the output end of the drive motor (504) is fixedly connected to one end of the bidirectional screw rod (503), and the middle part of the lower side of the lifting frame (4) is fixedly connected to a micro-bending mechanism, the micro-bending mechanism includes a cylinder (6), and the telescopic end of the cylinder (6) is fixedly connected to an outward push plate (601).

2. The intelligent construction site robot according to claim 1, characterized in that: Side walls of the two inner clamping plates (501) that are away from each other are fixedly connected to a secondary clamping mechanism, the secondary clamping mechanism comprising an arc frame (7), and the bottom end of the arc frame (7) is slidably connected to the outer clamping plate (701).

3. The intelligent construction site robot according to claim 2, characterized in that: A clamping motor (703) is fixedly connected to the side wall of the arc frame (7); an output end of the clamping motor (703) is rotatably connected to a threaded rod (702); the threaded rod (702) passes through the outer clamping plate (701) and is threadedly connected thereto.

4. The intelligent construction site robot according to claim 3, characterized in that: The micro-bending mechanism further comprises a middle frame (8), the top end of the middle frame (8) being fixedly connected to an electric push rod (801), and the output end of the electric push rod (801) being fixedly connected to an inner frame (802).

5. The intelligent construction site robot according to claim 4, characterized in that: The inner wall of the inner frame (802) is fixedly connected to a torsion motor (803), and the output end of the torsion motor (803) is fixedly connected to a gear (804).

6. The intelligent construction site robot according to claim 5, characterized in that: Both ends of the lower side of the inner frame (802) are provided with sliding grooves (805), and the inner wall of the sliding groove (805) is slidably connected to a push rod (806), and the two push rods (806) are respectively located on both sides of the gear (804).

7. The intelligent construction site robot according to claim 6, characterized in that: One end of the push rod (806) is located outside the inner frame (802) and is fixedly connected to an inner push plate (807); one end of the two push rods (806) close to each other is fixedly connected to a rack (808), and the rack (808) is meshed with the gear (804).

8. The intelligent construction site robot according to claim 7, characterized in that: An external pressure sensor (9) is fixedly connected between the cylinder (6) and the external push plate (601), and the external pressure sensor (9) is electrically connected to the drive motor (504). An internal pressure sensor (10) is fixedly connected between the push rod (806) and the internal push plate (807), and the internal pressure sensor (10) is electrically connected to the torsion motor (803).

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