A robotic arm for construction sites in intelligent construction

Abstract

The present invention relates to a robotic arm for construction sites in the field of intelligent construction, which includes a base. A support is rotatably connected to the top end of the base. A driver is fixedly connected to the side wall of the support and a lifting frame is slidably connected thereto. The output end of the driver is fixedly connected to the lifting frame. Inner clamping mechanisms are fixedly connected to both ends of the lower side of the lifting frame. The inner clamping mechanism includes an installation box. Two inner clamping plates are slidably connected to the bottom end of the installation box. The top ends of the inner clamping plates are located inside the installation box and are fixedly connected with threaded sleeves. A bidirectional lead screw is rotatably connected to the inner wall of the installation box. Through the combination of the inner clamping mechanism and the micro-curving mechanism, the present invention can effectively prevent the workpiece from moving towards its end during the clamping process. The inner clamping mechanism adjusts the clamping force of the clamping plates through the bidirectional lead screw to ensure the stability of the workpiece during transportation. At the same time, the micro-curving mechanism pushes the workpiece to bend through the outer pushing plate to effectively limit the workpiece, further increasing the stability of the clamping.

Description

Technical Field

[0001] The present invention relates to a robotic arm, and particularly to a construction site robotic arm for intelligent construction applications in the field of intelligent construction. Background Art

[0002] The construction site robotic arm for intelligent construction is a device designed for material handling on construction sites. It can automatically complete tasks such as item picking, transportation, and stacking, greatly improving the material transportation efficiency on the construction site and reducing the labor intensity of manual handling.

[0003] Chinese Patent with publication number CN116423555A discloses a robotic arm that grabs long construction objects, such as steel bars, steel plates, pipes, etc. with a jaw assembly and then transports the workpieces. Chinese Patent with publication number CN117681227B discloses a handling robotic arm for construction that transports construction supplies by a deformable clamping mechanism.

[0004] When the robotic arm clamps a long workpiece, such as a steel bar, the robotic arm can only grab and lock part of the workpiece. Especially when the workpiece is vertically transported, the force for the workpiece to move towards the end increases, and it is not able to effectively restrict the movement of the workpiece in the direction towards the end. Therefore, further improvement is needed. Summary of the Invention

[0005] Aiming at the above-mentioned prior art, the technical problem to be solved by the present invention is that when the robotic arm vertically transports the workpiece, the force for the workpiece to move towards the end increases, and it is not able to effectively restrict the movement of the workpiece in the direction towards the end.

[0006] To solve the above problems, the present invention provides a construction site robotic arm for intelligent construction, including a base. A support is rotatably connected to the top end of the base. A drive is fixedly connected to the side wall of the support and a lifting frame is slidably connected thereto. The output end of the drive is fixedly connected to the lifting frame. Inner clamping mechanisms are fixedly connected to both ends of the lower side of the lifting frame. The inner clamping mechanism includes an installation box. Two inner clamping plates are slidably connected to the bottom end of the installation box. The top ends of the inner clamping plates are located inside the installation box and are fixedly connected with threaded sleeves. A bidirectional lead screw is rotatably connected to the inner wall of the installation box. The bidirectional lead screw passes through the threaded sleeve and is threadedly connected thereto. A drive motor is fixedly connected to the inner side wall of the installation box. The output end of the drive motor is fixedly connected to one end of the bidirectional lead screw. A micro-curving mechanism is fixedly connected to the middle of the lower side of the lifting frame. The micro-curving mechanism includes a cylinder, and an outer push plate is fixedly connected to the telescopic end of the cylinder.

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

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

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

[0011] As a supplementary improvement of the present application, sliding grooves are provided at both ends of the lower side of the inner frame. Push rods are slidably connected to the inner walls of the sliding grooves, and the two push rods are respectively located on both sides of the gear.

[0012] As a supplementary improvement of the present application, one end of the push rod is located outside the inner frame and is fixedly connected to an inner push plate. Rack bars are fixedly connected to the ends of the two push rods that are close to each other, and the rack bars are engaged with the gear. Through the above settings, 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, improving the protection effect on the workpieces while ensuring the clamping effect.

[0013] As another improvement of the present application, an external pressure sensor is fixedly connected between the air cylinder and the outer push plate, and the external pressure sensor is electrically connected to the driving motor. Inner pressure sensors are fixedly connected between the push rods and the inner push plates, and the inner pressure sensors are electrically connected to the torsion motor. Through the above settings, 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 air cylinder stops pushing the workpiece, preventing the situation of insufficient or excessive deformation of the workpiece.

[0014] In summary, through the combination of the inner clamping mechanism and the micro-bending mechanism, the present invention can effectively prevent the workpiece from moving towards its end during the clamping process. The inner clamping mechanism adjusts the clamping force of the clamping plate through a bidirectional lead 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 clamping stability;

[0015] When the present invention clamps multiple workpieces, through the design of the auxiliary clamping mechanism, multiple workpieces can be clamped simultaneously to ensure that they are subjected to uniform forces. During the deformation process of the workpieces, the deformation degree of each workpiece can be accurately controlled to avoid excessive or insufficient deformation, protecting the quality of the workpieces and avoiding damage. Description of the Drawings

[0016] Figure 1 It is a front sectional view of the inner clamping mechanism in the first embodiment of the present application;

[0017] Figure 2 It is a front cross-sectional view of the installation box in the first and second embodiments of the present application;

[0018] Figure 3 It is a front cross-sectional view of the micro-bend mechanism in the first and second embodiments of the present application;

[0019] Figure 4 It is a front cross-sectional view of the middle frame in the first and second embodiments of the present application;

[0020] 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;

[0021] 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;

[0022] Figure 7 This is a three-dimensional diagram of the lifting frame in the first embodiment of the present application;

[0023] Figure 8 This is a three-dimensional view of the inner and outer plates in the first embodiment of the present application.

[0024] Description of the numbers in the figure:

[0025] 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

[0026] Two implementation modes of the present application are described in detail below with reference to the accompanying drawings.

[0027] The first implementation method:

[0028] Figures 1 - 8Disclosed is a robotic arm for a construction site in intelligent construction, including a base 1. 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 with inner clamping mechanisms. The inner clamping mechanism includes an installation box 5. The bottom end of the installation box 5 is slidably connected with two inner clamping plates 501. The top ends of the inner clamping plates 501 are located inside the installation box 5 and fixedly connected with threaded sleeves 502. The inner wall of the installation box 5 is rotatably connected with a bidirectional lead screw 503. The bidirectional lead screw 503 passes through the threaded sleeve 502 and is threadedly connected thereto. The inner side wall of the installation box 5 is fixedly connected with a driving motor 504. The output end of the driving motor 504 is fixedly connected to one end of the bidirectional lead screw 503. The middle part of the lower side of the lifting frame 4 is fixedly connected with a micro-bending mechanism. The micro-bending mechanism includes a cylinder 6. The telescopic end of the cylinder 6 is fixedly connected with an outer pushing plate 601.

[0029] During use, the workpiece is grasped by the inner clamping mechanism. When the inner clamping mechanism works, the driving motor 504 is started to drive the bidirectional lead screw 503 to rotate, driving 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 pushing plate 601 to push the workpiece to bend. At this time, the workpiece and the inner clamping mechanism are not on the same straight line. The inner clamping mechanism can play a role in limiting the workpiece, preventing the workpiece from moving, improving the stability of workpiece clamping. At this time, the workpiece can be vertically transported to improve the stability of the workpiece.

[0030] Through the combination of the inner clamping mechanism and the micro-bending mechanism, it is possible to effectively prevent the workpiece from moving towards its end during the clamping process. The inner clamping mechanism adjusts the clamping force through the bidirectional lead 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 outer pushing plate 601, effectively limiting the workpiece and further increasing the stability of clamping.

[0031] The second implementation method:

[0032] Figures 2 - 5There is shown a robotic arm for a construction site in intelligent construction. Different from the first embodiment, on the side walls of the two inner clamping plates 501 that are away from each other, there are fixedly connected with auxiliary clamping mechanisms. The auxiliary clamping mechanism includes an arc-shaped frame 7. The bottom end of the arc-shaped frame 7 is slidably connected with an outer clamping plate 701. On the side wall of the arc-shaped frame 7, there is fixedly connected with a clamping motor 703. The output end of the clamping motor 703 is rotationally connected with a threaded rod 702. The threaded rod 702 penetrates through the outer clamping plate 701 and is threadedly connected therewith. The micro-bending mechanism further includes a middle frame 8. The top end of the middle frame 8 is fixedly connected with an electric push rod 801. The output end of the electric push rod 801 is fixedly connected with an inner frame 802. On the inner wall of the inner frame 802, there is fixedly connected with a torsion motor 803. The output end of the torsion motor 803 is fixedly connected with a gear 804. At both ends of the lower side of the inner frame 802, there are opened with sliding grooves 805. The inner walls of the sliding grooves 805 are slidably connected with push rods 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 outside the inner frame 802 and is fixedly connected with an inner push plate 807. On the ends of the two push rods 806 that are close to each other, there are fixedly connected with racks 808. The racks 808 are meshed with the gear 804.

[0033] When clamping multiple workpieces, such as steel bars, if the inner clamping plates 501 are used for clamping and the outer push plate 601 is used to push the steel bars to bend, since the positions of the multiple steel bars are different, the steel bars will have different deformations, which is not conducive to the recovery of the deformation of the steel bars.

[0034] Through the above settings, 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 workpieces. After the workpieces are 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. Then the torsion motor 803 is started to drive the two sliding grooves 805 to extend outwards, so that the inner push plate 807 squeezes the workpieces on the two auxiliary clamping mechanisms to generate slight deformations.

[0035] Through the above settings, 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. While ensuring the clamping effect, the protection effect on the workpieces is improved.

[0036] Through the above settings, when processing multiple workpieces (such as steel bars), through the design of the auxiliary clamping mechanism, multiple workpieces can be clamped simultaneously to ensure that they are subjected to uniform forces. 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.

[0037] An external pressure sensor 9 is fixedly connected between the air cylinder 6 and the external push plate 601. 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. The internal pressure sensor 10 is electrically connected to the torsion motor 803.

[0038] With the above settings, when the external push plate 601 extrudes the workpiece, the external pressure sensor 9 can obtain the thrust of the external push plate 601 on the workpiece. When the thrust reaches a certain value, the air cylinder 6 stops pushing the workpiece, preventing the situation of insufficient or excessive deformation of the workpiece.

[0039] The application of the external pressure sensor 9 and the internal pressure sensor 10 enables the robotic 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 the balance of the pressure of the internal push plate 807 on the workpiece, effectively improving the accuracy and safety of the clamping operation.

[0040] The present invention improves the stability and safety during transportation, enabling the workpiece to maintain good stability during handling. Especially when the workpiece is vertically transported, it avoids instability or tilting caused by the offset of the workpiece position.

[0041] Through the optimization of multi-workpiece clamping, when multiple workpieces need to be clamped simultaneously, the secondary clamping mechanism and the internal clamping mechanism can work together to ensure that each workpiece can be properly clamped and protected, avoiding problems such as uneven clamping caused by different workpiece shapes.

[0042] Combined with the current actual requirements, the above implementation manner adopted in this application, the protection scope is not limited thereto. Within the knowledge scope of those skilled in the art, various changes made without departing from the concept of this application still fall within the protection scope 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) penetrates 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), the middle part of the lower side of the lifting frame (4) is fixedly connected to a micro-bending mechanism, the micro-bending mechanism comprises a cylinder (6), and the telescopic end of the cylinder (6) is fixedly connected to an outward push plate (601); The 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 comprises an arc frame (7), the bottom end of the arc frame (7) is slidably connected to the outer clamping plate (701), the side wall of the arc frame (7) is fixedly connected to a clamping motor (703), the 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, the micro-bending mechanism also comprises a middle frame (8), the top end of the middle frame (8) is fixedly connected to an electric push rod (801), the output end of the electric push rod (801) is fixedly connected to the inner frame (802), and the inner The inner wall of the 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). Both ends of the lower side of the inner frame (802) are provided with a slide groove (805), and the inner wall of the slide 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), one end of the push rod (806) is located outside the inner frame (802) and is fixedly connected to an inner push plate (807), and the ends of the two push rods (806) that are close to each other are fixedly connected to a rack (808), and the rack (808) is meshed with the gear (804).

2. The intelligent construction site robot according to claim 1, 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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