Intelligent auxiliary mechanical arm for pile sinking construction

Abstract

The invention relates to the technical field of pile sinking construction equipment, in particular to an intelligent auxiliary mechanical arm for pile sinking construction, which comprises a working platform, a base, a switching structure, a sliding connection structure, a mechanical arm main body and a control mechanism, the switching structure is used for adjusting the positions of the two mechanical arm bodies. The two mechanical arm main bodies are arranged on the sliding connection structure in a sliding manner; the control mechanism comprises a transverse moving structure and a clutch structure, the transverse moving structure is used for controlling the position of the mechanical arm body on the sliding connection structure, the clutch structure has two control effects on the transverse moving structure, under the first control effect, movement of the mechanical arm body on the sliding connection structure is controlled by the transverse moving structure, and under the second control effect, movement of the mechanical arm body on the sliding connection structure is controlled by the clutch structure. The mechanical arm main body freely moves on the sliding connection structure; the switching structure, the sliding connection structure, the mechanical arm body and the control mechanism are arranged, so that continuous connection between the working platform and the sunken pile driven into the water bottom is kept, and adjustment of the posture of the working platform is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of pile driving construction equipment, and specifically relates to an intelligent auxiliary robotic arm for pile driving construction. Background Art

[0002] During the pile driving construction process, there are many deficiencies in the traditional manual operation method, such as low operation efficiency, difficulty in ensuring construction accuracy, and high labor intensity of operators. With the progress of technology and the development of intelligent technologies, intelligent and automated construction equipment has gradually become the key to solving these problems. Especially in large-scale infrastructure construction such as ocean engineering, bridge construction, and port terminals, the quality and efficiency of pile driving construction are directly related to the progress and safety of the entire project.

[0003] The patent with the publication number CN221756039U discloses a movable auxiliary robotic arm and an offshore pile driving robot. By setting a sliding structure on the operation platform and connecting the installation end of the robotic arm main body to the sliding seat, the robotic arm main body can slide along the arrangement direction of multiple preset pile positions. On the one hand, it can slide along the arrangement direction of multiple preset pile positions according to the position of the already constructed pipe piles, and then use the pile clamping structure to clamp and fix the pipe piles, so as to improve the stability of the operation platform with the fixed points formed by the already constructed pipe piles; on the other hand, it can also clamp the pipe piles on the pipe pile transportation equipment and transfer them to the operation platform; on the third hand, it can also "feed piles", that is, assist the pile driving device to grab the pipe piles to be constructed on the operation platform.

[0004] Although in the above solution, the operation platform is fixed by clamping the already fixed pipe piles with the robotic arm main body, for multiple robotic arm main bodies arranged on the same sliding structure, the multiple robotic arm main bodies can only move linearly along the sliding structure and cannot change the relative positions between the multiple robotic arm main bodies. After pipe piles are driven into all the multiple robotic arm main bodies, the multiple robotic arm main bodies need to release the clamping of the pipe piles. During this process, the operation platform will shift under the action of water flow. After the operation platform moves a certain distance, the position of the operation platform needs to be adjusted, and then some robotic arm main bodies will clamp some of the already fixed pipe piles again. Summary of the Invention

[0005] In view of the above problems, an intelligent auxiliary robotic arm for pile driving construction is provided. By setting a switching structure, a sliding connection structure, two robotic arm main bodies, and two control mechanisms, the continuous connection between the operation platform and the piles driven into the water bottom is maintained, and the adjustment of the posture of the operation platform is reduced.

[0006] To solve the problems of the existing technology, the present invention provides an intelligent auxiliary robotic arm for pile driving construction, which includes an operation platform and a base that is rotatably connected to the operation platform and can be lifted. A switching structure, a sliding connection structure, two robotic arm bodies, and two control mechanisms are provided on one side of the base; the switching structure is used to adjust the front and rear positions of the two robotic arm bodies relative to the operation platform; the middle of the sliding connection structure is connected to one end of the switching structure, and both robotic arm bodies are slidably arranged on the sliding connection structure; the two control mechanisms are respectively connected to the two robotic arm bodies, and the control mechanism includes a lateral movement structure and a clutch structure. The lateral movement structure is used to control the position of the robotic arm body on the sliding connection structure. The clutch structure has two control effects on the lateral movement structure. Under the first control effect, the movement of the robotic arm body on the sliding connection structure is controlled by the lateral movement structure. Under the second control effect, the robotic arm body moves freely on the sliding connection structure.

[0007] Preferably, the sliding connection structure includes a sliding structure, two rotary connection structures slidably arranged on the sliding structure, and two fixing structures; the two rotary connection structures are respectively connected to the two robotic arm bodies; the two fixing structures are respectively arranged on the two rotary connection structures, and the fixing structures are used to fix the robotic arm bodies.

[0008] Preferably, the rotary connection structure includes a first mounting plate slidably connected to the sliding structure. A second rotating shaft is rotatably connected to the first mounting plate, and one end of the second rotating shaft is connected to the robotic arm body. The fixing structure includes two clamping components, and the clamping components are used to clamp the second rotating shaft.

[0009] Preferably, the clamping component includes a clamping plate, a clamping block, and a first linear driver; a groove with the same diameter as the second rotating shaft is provided in the middle of the clamping plate; the clamping block is arranged in the groove, and a clamping groove matching the clamping block is provided on the second rotating shaft along its axial direction; the first linear driver is used to drive the clamping block to be docked with the clamping groove.

[0010] Preferably, the fixing structure further includes a limiting component, and the limiting component is used to guide and limit the moving direction of the clamping component.

[0011] Preferably, the lateral movement structure includes a second mounting plate and two lateral movement driving components; the second mounting plate is connected to the sliding connection structure; the two lateral movement driving components are respectively arranged on the upper and lower sides of the second mounting plate, and the lateral movement driving components are used to drive the robotic arm body to move along the sliding connection structure.

[0012] Preferably, the lateral movement driving component includes a second motor, a gear, and a rack; the second motor is arranged on the second mounting plate; the gear is connected to the output end of the second motor; the rack is arranged along the guiding direction of the sliding connection structure, and the gear meshes with the rack.

[0013] Preferably, the clutch structure includes a clutch driving assembly, which includes two driving plates and a second linear driver; the two driving plates are hinged to each other, and one end of each driving plate is hinged to the second motor; the second linear driver is connected to the hinge between the two driving plates.

[0014] Preferably, the clutch structure further includes a guiding and resetting assembly for guiding and restricting the movement of the two second motors.

[0015] Preferably, the switching structure includes a first rotating shaft, a first motor and a worm and worm gear transmission assembly; the first rotating shaft is horizontally arranged, and both ends of the first rotating shaft are respectively connected to the base and the sliding connection structure; the first motor is arranged on one side of the first rotating shaft; the worm and worm gear transmission assembly is used to transmit the mechanical energy of the first motor to the first rotating shaft.

[0016] The beneficial effects of the present invention compared with the prior art are as follows: 1. The present invention is provided with a switching structure, a sliding connection structure, two manipulator bodies and two control mechanisms. The switching structure realizes the continuous coverage of the working area by the two manipulator bodies by adjusting the front and rear positions of the two manipulator bodies relative to the working platform. The sliding connection structure provides a sliding track for the manipulator body, ensuring the stability and flexibility of the manipulator body during the operation. The sliding of the manipulator body on the sliding connection structure enables the two manipulator bodies to quickly adjust their positions to meet different construction requirements. The transverse movement structure in the control mechanism realizes the positioning of the pile driving position by controlling the position of the manipulator body on the sliding connection structure. The clutch structure in the control mechanism provides two control modes, which can not only ensure the stability of the manipulator body when needed, but also allow the manipulator body to slide freely when necessary. During the switching process, the first manipulator body first moves upward and then downward to the same height as the second manipulator body, while the second manipulator body remains at a constant horizontal height, thus maintaining the continuous connection between the working platform and the pile already driven into the water bottom and reducing the adjustment of the attitude of the working platform.

[0017] 2. The present invention is provided with a sliding structure, two rotating connection structures and two fixing structures. The two rotating connection structures are respectively connected to the two manipulator bodies, realizing the relative rotation between the manipulator body and the sliding connection structure. When the sliding connection structure rotates as a whole, the manipulator body rotates relative to the sliding seat through the rotating connection structure. This rotation can compensate for the inclination of the manipulator body caused by the overall rotation of the sliding connection structure, thus ensuring that the manipulator body always maintains a horizontal clamping state during the movement.

[0018] 3. The present invention provides a first mounting plate, a second rotating shaft, and two clamping components. The first mounting plate is slidably connected to the sliding structure, ensuring the stability and reliability of the main body of the robotic arm during movement. One end of the second rotating shaft is connected to the main body of the robotic arm, and the other end is rotatably connected to the first mounting plate, realizing the relative rotation between the main body of the robotic arm and the sliding structure. The two clamping components hold the outer peripheral wall of the second rotating shaft, and use friction to keep the main body of the robotic arm in a horizontal state, ensuring that the main body of the robotic arm will not rotate after releasing the clamping of the pile, thereby maintaining the stability and accuracy of guiding and clamping the pile by the main body of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a perspective view of the operation platform, base, switching structure, sliding connection structure, main body of the robotic arm, and control mechanism in an intelligent auxiliary robotic arm for pile driving construction according to the present invention.

[0020] Figure 2 is a perspective view of the base, switching structure, sliding connection structure, main body of the robotic arm, and control mechanism in an intelligent auxiliary robotic arm for pile driving construction according to the present invention Figure 1 .

[0021] Figure 3 is a perspective view of the base, switching structure, sliding connection structure, main body of the robotic arm, and control mechanism in an intelligent auxiliary robotic arm for pile driving construction according to the present invention Figure 2 .

[0022] Figure 4 is a perspective view of the sliding connection structure and the main body of the robotic arm in an intelligent auxiliary robotic arm for pile driving construction according to the present invention.

[0023] Figure 5 is a perspective view of the rotary connection structure, fixed structure, and main body of the robotic arm in an intelligent auxiliary robotic arm for pile driving construction according to the present invention.

[0024] Figure 6 is a perspective view of the second rotating shaft, clamping components, and limiting components in an intelligent auxiliary robotic arm for pile driving construction according to the present invention.

[0025] Figure 7 is a perspective view of the sliding structure, transverse movement structure, and clutch structure in an intelligent auxiliary robotic arm for pile driving construction according to the present invention.

[0026] Figure 8 is a perspective view of the second mounting plate, transverse movement drive assembly, clutch drive assembly, and guiding and resetting assembly in an intelligent auxiliary robotic arm for pile driving construction according to the present invention.

[0027] Figure 9 is a perspective view of the second motor, clutch drive assembly, and guiding and resetting assembly in an intelligent auxiliary robotic arm for pile driving construction according to the present invention.

[0028] Figure 10 It is a three-dimensional view of the base, switching structure and sliding structure in the intelligent auxiliary robotic arm for pile driving construction of the present invention.

[0029] The reference numerals in the figure are: 1, base; 2, switching structure; 21, first rotating shaft; 22, first motor; 23, worm and worm gear transmission assembly; 3, sliding connection structure; 31, sliding structure; 311, connecting plate; 312, slide rail; 313, sliding seat; 32, rotating connection structure; 321, first mounting plate; 322, second rotating shaft; 3221, clamping groove; 33, fixing structure; 331, clamping assembly; 3311, clamping plate; 3312, clamping block; 3313, first linear driver; 332, limiting assembly; 3321, first guide rod; 4, robotic arm main body; 5, control mechanism; 51, transverse movement structure; 511, second mounting plate; 512, transverse movement drive assembly; 5121, second motor; 5122, gear; 5123, rack; 52, clutch structure; 521, clutch drive assembly; 5211, second linear driver; 5212, drive plate; 522, guiding and resetting assembly; 5221, second guide rod; 5222, spring. Detailed implementation manners

[0030] To further understand the features, technical means, specific purposes and functions achieved by the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and specific implementation manners.

[0031] Refer to Figures 1 to 10 As shown: An intelligent auxiliary robotic arm for pile driving construction includes a working platform and a base 1 that is rotatably connected to the working platform and can be lifted. A switching structure 2, a sliding connection structure 3, two robotic arm main bodies 4 and two control mechanisms 5 are arranged on one side of the base 1; the switching structure 2 is used to adjust the front and rear positions of the two robotic arm main bodies 4 relative to the working platform; the middle part of the sliding connection structure 3 is connected to one end of the switching structure 2, and the two robotic arm main bodies 4 are both slidably arranged on the sliding connection structure 3; the two control mechanisms 5 are respectively connected to the two robotic arm main bodies 4, and the control mechanism 5 includes a transverse movement structure 51 and a clutch structure 52. The transverse movement structure 51 is used to control the position of the robotic arm main body 4 on the sliding connection structure 3. The clutch structure 52 has two control effects on the transverse movement structure 51. Under the first control effect, the movement of the robotic arm main body 4 on the sliding connection structure 3 is controlled by the transverse movement structure 51. Under the second control effect, the robotic arm main body 4 can move freely on the sliding connection structure 3.

[0032] In the initial state, under the adjustment of the switching structure 2, the two robotic arm bodies 4 are at the same height. Through the clutch structure 52 in the control mechanism 5 and with the assistance of the transverse movement structure 51, they are fixed at the predetermined positions of the sliding connection structure 3. The two robotic arm bodies 4 are respectively named the first robotic arm body 4 and the second robotic arm body 4. When the construction starts, the first pile and the second pile are respectively driven into the water bottom under the guidance of the first robotic arm body 4 and the second robotic arm body 4. Subsequently, the first robotic arm body 4 withdraws the guiding effect on the first pile, while the second robotic arm body 4 continues to clamp the second pile. At this time, the clutch structure 52 in the control mechanism 5 corresponding to the second robotic arm body 4 switches to the second control function, enabling the second robotic arm body 4 to freely slide on the sliding connection structure 3. Meanwhile, the switching structure 2 moves with the operation platform and drives the sliding connection structure 3 to rotate 180 degrees. During this process, the first robotic arm body 4 first moves upward and then downward to the same height as the second robotic arm body 4. And the second robotic arm body 4, due to the relative sliding with the sliding connection structure 3 and maintaining the state of clamping the second pile, can keep the horizontal height unchanged during this process. When the first robotic arm body 4 moves to the other side of the second robotic arm body 4, the clutch structure 52 corresponding to the second robotic arm body 4 switches back to the first control function, and the transverse movement structure 51 drives the second robotic arm body 4 to move again. Combining with the movement of the operation platform, the distance between the two robotic arm bodies 4 reaches the preset value. At this time, the third pile is driven into the water bottom under the guidance of the first robotic arm body 4. Then the first robotic arm body 4 clamps the third pile, and the second robotic arm body 4 releases the clamping of the second pile. Subsequently, the above operations are repeated, enabling the second robotic arm body 4 to transfer from one side of the first robotic arm body 4 to the other side, thus maintaining the continuous connection between the operation platform and the piles that have been driven into the water bottom and reducing the adjustment of the attitude of the operation platform.

[0033] Refer to Figure 2 、 Figure 3 and Figure 4 As shown: The sliding connection structure 3 includes a sliding structure 31, two rotary connection structures 32 slidably arranged on the sliding structure 31, and two fixed structures 33; the two rotary connection structures 32 are respectively connected to the two robotic arm bodies 4; the two fixed structures 33 are respectively arranged on the two rotary connection structures 32, and the fixed structures 33 are used to fix the robotic arm bodies 4.

[0034] Specifically, the sliding structure 31 includes a connecting plate 311, a slide rail 312, and two slide seats 313. The middle of the connecting plate 311 is connected to the switching structure 2. The slide rail 312 is arranged on the connecting plate 311. Both of the two slide seats 313 are slidably connected to the slide rail 312, and the two slide seats 313 are respectively connected to the two robotic arm bodies 4.

[0035] If the robot arm main body 4 can only move along the sliding connection structure 3, when the switching structure 2 drives the sliding connection structure 3 to rotate 180 degrees, relative rotation will also occur between the robot arm main body 4 and the sliding connection structure 3, causing the robot arm main body 4 to tilt. By setting the sliding structure 31, the rotary connection structure 32 and the fixing structure 33, during the working process, when the robot arm main body 4 needs to move along the sliding connection structure 3, the fixing structure 33 first removes the fixing effect on the robot arm main body 4. Subsequently, the switching structure 2 starts to work, driving the entire sliding connection structure 3 to rotate 180 degrees. During this process, the sliding seat 313 slides along the slide rail 312, and at the same time, the robot arm main body 4 rotates relative to the sliding seat 313 through the rotary connection structure 32. This rotation can compensate for the tilt of the robot arm main body 4 caused by the overall rotation of the sliding connection structure 3, thus ensuring that the robot arm main body 4 always maintains a horizontal clamping state during the movement process.

[0036] Refer to Figure 4 and Figure 5 As shown: The rotary connection structure 32 includes a first mounting plate 321 slidably connected to the sliding structure 31. A second rotating shaft 322 is rotatably connected to the first mounting plate 321. One end of the second rotating shaft 322 is connected to the robot arm main body 4. The fixing structure 33 includes two clamping components 331, and the clamping components 331 are used to clamp the second rotating shaft 322.

[0037] If the robot arm main body 4 is not fixed, since relative rotation can occur between the robot arm main body 4 and the sliding connection structure 3, the robot arm main body 4 will rotate due to the vibration of the operation platform, and then the robot arm main body 4 needs to be debugged before it can play the role of guiding and clamping the pile sinking. By setting the first mounting plate 321, the second rotating shaft 322 and two clamping components 331, the second rotating shaft 322 is connected to the robot arm main body 4. During the working process, when the robot arm main body 4 is in the state of clamping the pile sinking, the two clamping components 331 work simultaneously. The clamping components 331 contact the outer peripheral wall of the second rotating shaft 322 and keep the robot arm main body 4 in a horizontal state through friction. When the robot arm main body 4 needs to slide along the sliding structure 31 to adjust the position, the two clamping components 331 simultaneously release the clamping effect on the second rotating shaft 322. At this time, although the robot arm main body 4 is still in the state of clamping the pile sinking, due to the release of the clamping components 331, the robot arm main body 4 can slide along with the movement of the sliding structure 31 while maintaining a horizontal state. After the position adjustment of the robot arm main body 4 is completed, the two clamping components 331 clamp the second rotating shaft 322 again, and the two clamping components 331 contact the outer peripheral wall of the second rotating shaft 322 again, ensuring that the robot arm main body 4 will not rotate after releasing the clamping of the pile sinking, thus maintaining the stability and accuracy of the robot arm main body 4 in guiding and clamping the pile sinking.

[0038] Refer toFigure 5 and Figure 6 As shown in Figure 6 , the clamping assembly 331 includes a clamping plate 3311, a clamping block 3312, and a first linear driver 3313. A groove having the same diameter as the second rotating shaft 322 is formed in the middle of the clamping plate 3311. The clamping block 3312 is arranged in the groove, and a clamping groove 3221 cooperating with the clamping block 3312 is formed on the second rotating shaft 322 along its own axis direction. The first linear driver 3313 is used to drive the clamping block 3312 to dock with the clamping groove 3221.

[0039] When switching the position of the empty robotic arm main body 4, the robotic arm main body 4 is subject to the vibration of the operating platform and its own gravity. When the resultant force of these forces can overcome the static friction between the clamping assembly 331 and the second rotating shaft 322, the robotic arm main body 4 will rotate. Therefore, the clamping plate 3311, the clamping block 3312, and the clamping groove 3221 cooperating with the clamping block 3312 are provided on the second rotating shaft 322. When the clamping assembly 331 clamps the second rotating shaft 322, the first linear driver 3313 drives the clamping plate 3311 to move towards the second rotating shaft 322, and the clamping plate 3311 drives the clamping block 3312 to move towards the clamping groove 3221. After the clamping block 3312 is completely inserted into the clamping groove 3221, the first linear driver 3313 stops driving the clamping plate 3311 to move. The clamping block 3312 inserted into the clamping groove 3221 increases the friction between the second rotating shaft 322 and the second clamping assembly 331. Through the docking of the clamping block 3312 and the clamping groove 3221, a mechanical locking structure is formed, significantly improving the clamping stability of the clamping assembly 331 for the second rotating shaft 322, thereby effectively preventing the unexpected rotation of the robotic arm main body 4 under external forces.

[0040] Referring to Figure 5 and Figure 6 As shown in Figure 6 , the fixing structure 33 further includes a limiting assembly 332, and the limiting assembly 332 is used to guide and limit the moving direction of the clamping assembly 331.

[0041] Specifically, the limiting assembly 332 includes at least two first guide rods 3321. The two first guide rods 3321 are respectively arranged on both sides of the second rotating shaft 322. Both ends of the first guide rod 3321 are fixedly connected to the first mounting plate 321, and both ends of the clamping plate 3311 are respectively slidably connected to the two first guide rods 3321.

[0042] Although the cooperation between the clamping block 3312 and the clamping groove 3221 can effectively prevent the rotation of the second rotating shaft 322, the acting force driving the rotation of the second rotating shaft 322 can still be transmitted to the clamping plate 3311 and the first linear driver 3313 through the clamping groove 3221 and the clamping block 3312. This will cause the connection between the first linear driver 3313 and the clamping plate 3311 to be affected by the shearing force. Therefore, a limiting component 332 is provided. When the first linear driver 3313 drives the clamping plate 3311 to move, the clamping plate 3311 will slide along the two first guide rods 3321. These two first guide rods 3321 not only provide stable support for the clamping plate 3311, but also guide the moving direction of the clamping plate 3311 to ensure that both ends of the clamping plate 3311 can move synchronously. After the clamping plate 3311 clamps the second rotating shaft 322, the acting force transmitted from the second rotating shaft 322 will directly act on the two first guide rods 3321 through the clamping plate 3311. Due to the firm connection between the first guide rods 3321 and the first mounting plate 321, this acting force will be effectively dispersed and absorbed, thus significantly reducing the shearing force between the first linear driver 3313 and the clamping plate 3311.

[0043] Refer to Figure 2 and Figure 7 As shown in: The transverse movement structure 51 includes a second mounting plate 511 and two transverse movement driving components 512; the second mounting plate 511 is connected to the sliding connection structure 3; the two transverse movement driving components 512 are respectively arranged on the upper and lower sides of the second mounting plate 511, and the transverse movement driving component 512 is used to drive the manipulator main body 4 to move along the sliding connection structure 3.

[0044] Under different construction requirements, the distance between two driven piles is also different. Therefore, the distance between the two manipulator main bodies 4 needs to be adjusted. When one of the manipulator main bodies 4 is in the state of clamping the driven pile, this manipulator main body 4 is fixed. This manipulator main body 4 thus serves as a reference object to provide a reference for the position of the other manipulator main body 4. Then, the corresponding transverse movement structure 51 of the other manipulator main body 4 is activated, and the two transverse movement driving components 512 work simultaneously to drive the second mounting plate 511 to drive the sliding seat 313 to move along the slide rail 312. The sliding seat 313 drives the manipulator main body 4 mounted thereon to move. After the distance between the two manipulator main bodies 4 reaches the preset distance, the two transverse movement driving components 512 fix the position between the second mounting plate 511 and the sliding structure 31, so that the distance between the two manipulator main bodies 4 is fixed, thereby realizing the adjustment of the distance between the two manipulator main bodies 4 according to different construction requirements.

[0045] Refer to Figure 7 and Figure 8As shown in the figure: The transverse movement drive assembly 512 includes a second motor 5121, a gear 5122, and a rack 5123; the second motor 5121 is arranged on the second mounting plate 511; the gear 5122 is connected to the output end of the second motor 5121; the rack 5123 is arranged along the guiding direction of the sliding connection structure 3, and the gear 5122 meshes with the rack 5123.

[0046] During the process of driving the robotic arm main body 4 to move along the sliding structure 31, the two second motors 5121 in the two transverse movement drive assemblies 512 are started simultaneously. The two second motors 5121 drive the two gears 5122 to rotate through their output ends. Due to the meshing relationship between the gear 5122 and the rack 5123, the rotation of the gear 5122 will be converted into a linear motion on the rack 5123. The two gears 5122 move along the two racks 5123 simultaneously, ensuring that the upper and lower sides of the second mounting plate 511 can be simultaneously subjected to forces in the same direction and of equal magnitude, realizing the smooth movement of the second mounting plate 511. Through the synchronous operation of the two transverse movement drive assemblies 512, it is ensured that the second mounting plate 511 is subjected to uniform and stable forces during the movement process, thereby realizing the smooth movement of the robotic arm main body 4.

[0047] Refer to Figure 8 and Figure 9 As shown in the figure: The clutch structure 52 includes a clutch drive assembly 521. The clutch drive assembly 521 includes two drive plates 5212 and a second linear driver 5211; the two drive plates 5212 are hinged between them, and one end of the drive plate 5212 is hinged to the second motor 5121; the second linear driver 5211 is connected to the hinged part between the two drive plates 5212.

[0048] When the robotic arm main body 4 needs to move freely along the sliding structure 31, usually the power supply of the second motor 5121 is disconnected to enable the gear 5122 to rotate freely. However, when the gear 5122 moves along the rack 5123, due to the meshing relationship, a certain resistance will be generated, and this resistance may hinder the smooth movement of the robotic arm main body 4. Therefore, a clutch drive assembly 521 is provided. A triangular structure with a variable side length is formed between the two drive plates 5212 in the clutch drive assembly 521 and the two second motors 5121. In the initial state, the two gears 5122 are respectively engaged with the two racks 5123 to ensure that the robotic arm main body 4 can maintain a stable position when needed. Before the switching structure 2 rotates integrally to slidably connect with the sliding structure 3, the second linear actuator 5211 starts to work, applying a force towards the middle of the triangle to the two drive plates 5212, resulting in a gradual increase in the included angle between the two drive plates 5212, and further causing the length of the other side of the triangular structure to increase. Therefore, the gear 5122 driven by the second motor 5121 is disengaged from the rack 5123, effectively avoiding the influence of the resistance generated by the meshing between the gear 5122 and the rack 5123 on the movement of the robotic arm main body 4.

[0049] Refer to Figure 8 and Figure 9 As shown: The clutch structure 52 further includes a guiding and resetting assembly 522, and the guiding and resetting assembly 522 is used to guide and limit the movement of the two second motors 5121.

[0050] Specifically, the guiding and resetting assembly 522 includes at least two second guide rods 5221, and springs 5222 are sleeved at both ends of the second guide rods 5221. The second guide rods 5221 are fixedly connected to the second mounting plate 511, the second motor 5121 is slidably connected to the two second guide rods 5221, and both ends of the spring 5222 are respectively abutted against the end of the second guide rod 5221 and the second motor 5121.

[0051] When the second linear driver 5211 applies a force towards the middle of the triangle to the two drive plates 5212, it causes the two second motors 5121 to move away from each other along the second guide rods 5221 in the guide and reset assembly 522. During this process, the second motors 5121 slide smoothly along the second guide rods 5221. At the same time, the two second guide rods 5221 ensure that the two sides of the second motors 5121 are synchronized during movement, maintaining the horizontal state of the second motors 5121 unchanged. In addition, during the movement of the second motors 5121, the two springs 5222 will be compressed, causing the springs 5222 to undergo elastic deformation and store elastic potential energy, providing power for subsequent reset operations. When it is necessary to drive the gear 5122 to reconnect with the rack 5123, the second linear driver 5211 changes the direction of the applied force and applies a force to the two drive plates 5212 to move away from the middle of the triangle. This reverse driving force pulls the two second motors 5121 closer to each other through the drive plates 5212. At this time, the second motors 5121 move smoothly under the guidance of the two second guide rods 5221 until the gear 5122 and the rack 5123 are accurately docked. During the movement, the springs 5222 release the previously stored elastic potential energy to assist the second motors 5121 in smoothly resetting. Through the guide and reset assembly 522, the second motors 5121 can maintain a horizontal state unchanged during the clutch process, and the movement path is controllable, thereby improving the docking accuracy between the gear 5122 and the rack 5123.

[0052] Refer to Figure 2 、 Figure 3 and Figure 10 As shown: The switching structure 2 includes a first rotating shaft 21, a first motor 22, and a worm and worm gear transmission assembly 23; the first rotating shaft 21 is horizontally arranged, and both ends of the first rotating shaft 21 are respectively connected to the base 1 and the sliding connection structure 3; the first motor 22 is arranged on one side of the first rotating shaft 21; the worm and worm gear transmission assembly 23 is used to transmit the mechanical energy of the first motor 22 to the first rotating shaft 21.

[0053] When the switching structure 2 enters the working state, the first motor 22 works, and its rotational power is transmitted to the worm gear through the worm. The worm gear then drives the first rotating shaft 21 to rotate synchronously. Since the worm and worm gear transmission assembly 23 has a speed reduction and torque increase effect, it can easily achieve the smooth and synchronous rotation of the sliding connection structure 3 and the two robotic arm bodies 4 and the two control mechanisms 5 installed thereon. The worm and worm gear transmission assembly 23 also has a self-locking function. When the first motor 22 stops working, due to the large friction coefficient between the worm and the worm gear, the worm and worm gear transmission assembly 23 can effectively limit the rotation of the first rotating shaft 21, and even under the action of an external force, it can maintain the relative static state of the sliding connection structure 3 and its components, thereby effectively preventing the unexpected rotation of the robotic arm bodies 4 and the control mechanisms 5 due to accidents.

[0054] The above embodiments merely represent one or several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the appended claims.

Claims

1. An intelligent auxiliary robotic arm for pile driving construction, comprising an operation platform and a base (1) rotatably connected to the operation platform and capable of lifting, characterized in that, On one side of the base (1), a switching structure (2), a sliding connection structure (3), two robotic arm bodies (4) and two control mechanisms (5) are provided; The switching structure (2) is used to adjust the front-back position of the two robotic arm bodies (4) relative to the working platform; The middle part of the sliding connection structure (3) is connected to one end of the switching structure (2), and the two robotic arm bodies (4) are both slidably arranged on the sliding connection structure (3); The two control mechanisms (5) are respectively connected to the two robotic arm bodies (4). The control mechanism (5) includes a transverse movement structure (51) and a clutch structure (52). The transverse movement structure (51) is used to control the position of the robotic arm body (4) on the sliding connection structure (3). The clutch structure (52) has two control effects on the transverse movement structure (51). Under the first control effect, the movement of the robotic arm body (4) on the sliding connection structure (3) is controlled by the transverse movement structure (51). Under the second control effect, the robotic arm body (4) moves freely on the sliding connection structure (3).

2. The intelligent auxiliary robotic arm for pile driving construction according to claim 1, characterized in that, The sliding connection structure (3) includes a sliding structure (31), two rotary connection structures (32) slidably arranged on the sliding structure (31), and two fixing structures (33); The two rotary connection structures (32) are respectively connected to the two robotic arm bodies (4); The two fixing structures (33) are respectively arranged on the two rotary connection structures (32), and the fixing structure (33) is used to fix the robotic arm body (4).

3. The intelligent auxiliary robotic arm for pile driving construction according to claim 2, wherein, The rotary connection structure (32) includes a first mounting plate (321) slidably connected to the sliding structure (31). A second rotating shaft (322) is rotatably connected to the first mounting plate (321). One end of the second rotating shaft (322) is connected to the robotic arm body (4). The fixing structure (33) includes two clamping components (331), and the clamping component (331) is used to clamp the second rotating shaft (322).

4. The intelligent auxiliary robotic arm for pile driving construction according to claim 3, wherein, The clamping component (331) includes a clamping plate (3311), a clamping block (3312) and a first linear driver (3313); A groove with the same diameter as the second rotating shaft (322) is formed in the middle of the clamping plate (3311); The clamping block (3312) is arranged in the groove, and a clamping groove (3221) matched with the clamping block (3312) is formed on the second rotating shaft (322) along its axis direction; The first linear driver (3313) is used to drive the clamping block (3312) to be docked with the clamping groove (3221).

5. The intelligent auxiliary robotic arm for pile driving construction according to claim 2, characterized in that, The fixing structure (33) further includes a limiting component (332), and the limiting component (332) is used to guide and limit the moving direction of the clamping component (331).

6. The intelligent auxiliary robotic arm for pile driving construction according to claim 1, wherein The transverse movement structure (51) includes a second mounting plate (511) and two transverse movement driving components (512); The second mounting plate (511) is connected to the sliding connection structure (3); The two transverse movement driving components (512) are respectively arranged on the upper and lower sides of the second mounting plate (511), and the transverse movement driving component (512) is used to drive the robotic arm body (4) to move along the sliding connection structure (3).

7. The intelligent auxiliary robotic arm for pile driving construction according to claim 6, characterized in that, The transverse movement driving component (512) includes a second motor (5121), a gear (5122) and a rack (5123); The second motor (5121) is arranged on the second mounting plate (511); The gear (5122) is connected to the output end of the second motor (5121); The rack (5123) is arranged along the guiding direction of the sliding connection structure (3), and the gear (5122) meshes with the rack (5123).

8. An intelligent auxiliary robotic arm for pile driving construction according to claim 1, characterized in that, The clutch structure (52) includes a clutch driving assembly (521), and the clutch driving assembly (521) includes two driving plates (5212) and a second linear driver (5211); The two driving plates (5212) are hinged between them, and one end of the driving plate (5212) is hinged to the second motor (5121); The second linear driver (5211) is connected to the hinge joint between the two driving plates (5212).

9. An intelligent auxiliary robotic arm for pile driving construction according to claim 8, characterized in that, The clutch structure (52) further includes a guiding and resetting assembly (522), and the guiding and resetting assembly (522) is used to guide and limit the movement of the two second motors (5121).

10. The intelligent auxiliary robotic arm for pile driving construction according to claim 1, characterized in that, The switching structure (2) includes a first rotating shaft (21), a first motor (22) and a worm and worm gear transmission assembly (23); The first rotating shaft (21) is horizontally arranged, and the two ends of the first rotating shaft (21) are respectively connected to the base (1) and the sliding connection structure (3); The first motor (22) is arranged on one side of the first rotating shaft (21); The worm and worm gear transmission assembly (23) is used to transmit the mechanical energy of the first motor (22) to the first rotating shaft (21).

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