Building construction mechanical arm

Abstract

The invention discloses a building construction mechanical arm, and relates to the technical field of construction mechanical equipment, the building construction mechanical arm comprises a rotating base, a movable joint and a connecting joint, a main frame is fixedly mounted on the connecting joint, a center shaft is fixedly mounted on the main frame, two main clamping jaws are rotatably mounted on the center shaft, and the main clamping jaws are symmetrically arranged on the main frame; the two main clamping jaws are rotatably connected, the main clamping jaws are used for supporting a main body of the device, each main clamping jaw is a quarter arc, an auxiliary clamping jaw is installed on the outer side arc surface of each main clamping jaw in a sliding mode, and the radian of each auxiliary clamping jaw is the same as that of the corresponding main clamping jaw. And therefore, the single-time clamping capacity of the device is increased, some objects of this kind can be rapidly clamped, and the working efficiency of the device is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery and equipment, in particular to a construction mechanical arm. Background Art

[0002] In the field of modern construction, with the continuous expansion of the scale of engineering projects and the increasing construction requirements, higher requirements are placed on the performance and efficiency of construction machinery and equipment. As an important construction equipment, construction robotic arms play a key role in material handling, component installation and other operations.

[0003] Traditional construction robotic arms have certain limitations in actual handling work. Their clamping capacity is often subject to the inherent limitations of the robotic arm's structural design. When faced with some large or large objects, the number of objects that can be clamped at a time is limited, which requires frequent multiple clamping operations. This not only reduces handling efficiency, but also increases construction time and costs. For example, in the process of handling construction materials such as steel pipes and wooden blocks, the clamping capacity of the robotic arm is insufficient at a single time, and it is unable to quickly transport enough materials, resulting in slow transportation progress during construction.

[0004] Furthermore, during the normal gripping process, traditional robotic arms struggle to maintain stable grip on irregularly shaped or unevenly textured objects. Objects can easily wobble during gripping, which not only impacts the accuracy and quality of construction but also poses safety risks. For example, when hoisting large machinery or steel structures, unstable gripping can cause objects to shift mid-air or fall, posing a serious threat to personnel and equipment on the construction site. Summary of the Invention

[0005] In view of the above technical problems, the present invention proposes the following technical solutions:

[0006] A construction robot arm includes a rotating base, a movable joint, and a connecting joint. The connecting joint is the last joint at the end of the movable joint. A main frame is fixedly installed on the connecting joint. A central axis is fixedly installed on the main frame. Two main jaws are rotatably installed on the central axis. The main jaws are symmetrically arranged on the main frame and are rotatably connected to each other. The main jaws are used to support the main body of the device. The main jaws are a quarter arc. A secondary jaw is slidably installed on the outer arc surface of the main jaw. The curvature of the secondary jaw is the same as that of the main jaw.

[0007] Furthermore, a clamping tool is rotatably mounted on one end of the auxiliary clamp away from the side frame, a protruding pressure plate is fixedly mounted on one end of the clamping tool, and an anti-slip hook is provided on the other end of the clamping tool. The protruding pressure plate on the clamping tool is used to contact the building material.

[0008] Furthermore, a side frame is fixedly installed on the arc surface of the main clamp, a main motor is fixedly installed on one side of the side frame, a winch is rotatably installed in the side frame, a steel cable is provided on the winch, the steel cable is in contact with the side frame, one end of the steel cable is provided on the auxiliary clamp, and a telescopic spring is fixedly installed on the end of the auxiliary clamp away from the side frame, and the other end of the telescopic spring is fixedly installed on the side frame.

[0009] Furthermore, a fixed hexagonal block is provided at the rotation connection between the auxiliary clamping jaw and the clamping tool. The fixed hexagonal block is slidingly connected to the auxiliary clamping jaw and the clamping tool. The fixed hexagonal block is provided between the clamping tool and the auxiliary clamping jaw to limit the rotation of the clamping tool.

[0010] Furthermore, a sliding rack is slidably installed in the main frame, one end of the sliding rack is fixedly installed with a cross-pressing frame, a sliding shaft is slidably installed in the cross-pressing frame, the sliding shaft is symmetrically arranged in the cross-pressing frame, a plurality of side pressure strips are provided on the sliding shaft, two side pressure strips are rotatably installed at both ends of the sliding shaft, and the other end of the side pressure strip is rotatably connected to the main clamping claw,

[0011] Furthermore, the side pressure strip has the same curvature as the main clamping jaw, and is embedded in the inner wall of the main clamping jaw in the initial state. The side pressure strip is used to apply squeezing force to the article in the main clamping jaw after clamping.

[0012] Furthermore, an inner spring is fixedly mounted on the sliding shaft, and the other end of the inner spring is fixedly mounted on the inner wall of the transverse pressure frame.

[0013] Compared with the prior art, the present invention has the following advantages: (1) the device extends the length of the main jaw by means of the auxiliary jaw, thereby increasing the single clamping capacity of the device, thereby quickly clamping some such objects and improving the working efficiency of the device; (2) the device allows the side pressure strip to squeeze the object in the middle of the main jaw to place the object in the main jaw and shake it, thereby improving the clamping effect of the device and making the clamped object more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0015] Figure 2 It is a schematic diagram of the main frame structure of the present invention.

[0016] Figure 3 This is a schematic diagram of the double-end telescopic rod structure of the present invention.

[0017] Figure 4 This is a schematic diagram of the cross-section structure of the clamping tool and auxiliary clamping jaws of the present invention.

[0018] Figure 5This is a schematic diagram of the cross-section structure of the main frame, main clamping jaws, side frames, winch, and auxiliary clamping jaws of the present invention.

[0019] Figure 6 This is a schematic diagram of the cross-section structure of the main frame of the present invention.

[0020] Figure 7 This is a schematic diagram of the cross-section structure of the main clamping jaw and side frame of the present invention.

[0021] Figure 8 This is a structural schematic diagram of the auxiliary clamping jaw of the present invention in an extended state.

[0022] Figure markings: 101-rotating base; 102-lifting screw; 103-sliding seat; 104-movable joint; 105-connecting joint; 201-main frame; 202-double-end telescopic rod; 203-lifting electric cylinder; 204-center axis; 205-main clamp; 206-clamping tool; 208-fixed hexagonal block; 301-main motor; 302-side frame; 303-winch; 304-steel cable; 305-auxiliary clamp; 306-telescopic spring; 401-extrusion motor; 402-drive gear; 403-sliding rack; 404-horizontal pressure frame; 405-side pressure strip; 406-inner spring; 407-sliding shaft. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0024] like Figure 1 As shown, a construction robot arm includes a rotating base 101, which is rotatably mounted on an external device. When in use, it is generally mounted on a rotating disk to increase the degree of freedom of the device. A lifting screw rod 102 is rotatably mounted on the rotating base 101, and a sliding seat 103 is slidably mounted on the rotating base 101. The lifting screw rod 102 is connected to the sliding seat 103 by a thread. The lifting screw rod 102 is used to drive the sliding seat 103 to move on the rotating base 101, so as to adjust the height of the sliding seat 103 on the rotating base 101. A movable joint 104 is provided on the side of the sliding seat 103, and multiple movable joints are provided on the movable joint 104. The movable joint 104 is driven by hydraulic pressure or a motor, so that the movable joint 104 increases the degree of freedom of use of the device. The end of the movable joint 104 away from the rotating base 101 is rotatably mounted with a connecting joint 105, and the connecting joint 105 is the last section of the joint of the movable joint 104.

[0025] like Figures 1 to 8As shown, a main frame 201 is fixedly mounted on the connecting joint 105, a central shaft 204 is fixedly mounted on the main frame 201, two main jaws 205 are rotatably mounted on the central shaft 204, the main jaws 205 are symmetrically arranged on the main frame 201, and the two main jaws 205 are rotatably connected. The main jaws 205 are used to support the main body of the device, the main jaws 205 are a quarter arc, a side frame 302 is fixedly mounted on the arc surface of the main jaw 205, a main motor 301 is fixedly mounted on one side of the side frame 302, and a winch 303 is fixedly mounted on the output shaft of the main motor 301. The winch 303 is rotatably mounted in the side frame 302, and a steel cable 304 is provided on the winch 303. The steel cable 304 contacts the side frame 302. A secondary clamp 305 is slidably mounted on the outer arc surface of the main clamp 205. The curvature of the secondary clamp 305 is the same as that of the main clamp 205. One end of the steel cable 304 is set on the secondary clamp 305, and the end of the secondary clamp 305 away from the side frame 302 is fixedly mounted with a telescopic spring 306. The other end of the telescopic spring 306 is fixedly mounted on the side frame 302. The telescopic spring 306 is also arc-shaped. The telescopic spring 306 is Figure 3 The middle is in a compressed state, and the telescopic spring 306 is used to change the clamping state of the device. The end of the auxiliary clamp 305 away from the side frame 302 is also rotatably installed with a telescopic spring 306. One end of the telescopic spring 306 is fixedly installed with a protruding pressure plate. The other end of the clamping tool 206 is provided with an anti-slip hook. The protruding pressure plate on the clamping tool 206 is used to contact with the building materials, and the anti-slip hook on the clamping tool 206 is used to facilitate workers to use their respective items on the lifting site, such as cement buckets, sand and gravel bags, plastic pipes and other items. The auxiliary clamp A fixed hexagonal block 208 is provided at the rotating connection between 305 and the clamping tool 206. The fixed hexagonal block 208 is slidably connected to the auxiliary clamping jaw 305 and the clamping tool 206. The fixed hexagonal block 208 is provided between the clamping tool 206 and the auxiliary clamping jaw 305 to limit the rotation of the clamping tool 206. When the clamping tool 206 is to be rotated to switch the anti-slip hook or the protruding pressure plate for use, the fixed hexagonal block 208 can be pulled to disengage the fixed hexagonal block 208 from the clamping tool 206, so that the clamping tool 206 can be rotated for adjustment.

[0026] like Figures 3 to 8As shown, a lifting electric cylinder 203 is fixedly installed on the main frame 201, and a double-end telescopic rod 202 is fixedly installed on the moving end of the lifting electric cylinder 203. The telescopic ends on both sides of the double-end telescopic rod 202 are rotatably connected to the side frames 302. The lifting electric cylinder 203 drives the side frames 302 and the main clamping claw 205 to rotate on the main frame 201 through the double-end telescopic rod 202. An extrusion motor 401 is fixedly installed in the main frame 201, and a driving gear 402 is fixedly installed on the output shaft of the extrusion motor 401. A sliding rack 403 is slidably installed in the main frame 201, and the sliding rack 403 is meshed with the driving gear 402. A cross-pressing frame 404 is fixedly installed on one end of the sliding rack 403, and a sliding rack 404 is slidably installed in the cross-pressing frame 404. There is a sliding shaft 407, which is symmetrically arranged in the cross-pressure frame 404. An inner spring 406 is fixedly installed on the sliding shaft 407, and the other end of the inner spring 406 is fixedly installed on the inner wall of the cross-pressure frame 404. A plurality of side pressure strips 405 are provided on the sliding shaft 407, and two side pressure strips 405 are rotatably installed at both ends of the sliding shaft 407. The other end of the side pressure strip 405 is rotatably connected to the main clamping jaw 205. The side pressure strip 405 has the same curvature as the main clamping jaw 205. The side pressure strip 405 is embedded in the inner wall of the main clamping jaw 205 in the initial state, and the side pressure strip 405 is used to apply extrusion force to the items in the main clamping jaw 205 after clamping, so that the items in the main clamping jaw 205 can be clamped.

[0027] During the use of this device, this device is moved in the construction site through external equipment, and this device is generally installed at a specific position of a mobile vehicle, such as a small truck and a construction transfer vehicle, so that such vehicles can be conveniently loaded or unloaded at the construction site. In this process, building materials that have been packaged into bundles, bags, and boxes are generally transferred. This embodiment uses the use of this device on a small truck as an example, and the rotating base 101 of this device is rotatably connected to the inner wall of the truck compartment. Generally, the rotating base 101 is rotated on the truck compartment by a motor or manually. At this time, the movable joint 104 of this device is driven by a motor to adjust its state so that the main clamping jaw 205 of this device is outside the clamped object.

[0028] When the object is clamped, the double-end telescopic rod 202 is generally moved away from the main frame 201 by the lifting electric cylinder 203, and the double-end telescopic rod 202 drives the side frame 302 and the main clamping jaw 205 to rotate around the central axis 204, so that the two main clamping jaws 205 on the central axis 204 can begin to close. The end closed here is provided with one end of the clamping tool 206, so that the main clamping jaw 205 at this time will clamp the clamped object. After the clamping of this device is completed, the extrusion motor 401 can be started to allow the extrusion motor 401 and the driving gear 402 to drive the side pressure bar 405 to rotate on the main clamping jaw 205, so that the side pressure bar 405 can squeeze the object between the main clamping jaw 205 to place the object in the main clamping jaw 205 and shake it. This can improve the clamping effect of the device and make the clamped object more stable.

[0029] When clamping bundled objects such as steel pipes and square timber, the device can rotate the winch 303 to release the steel cable 304 from the restraint on the secondary clamp 305, and the secondary clamp 305 is pushed away from the side frame 302 by the telescopic spring 306. Figure 8 The state shown is the fully extended state of the device. In this case, the length of the main jaw 205 can be extended by the auxiliary jaw 305, thereby increasing the single clamping capacity of the device, so as to clamp some such bundled objects. When the auxiliary jaw 305 slides on the main jaw 205, the sliding distance of the auxiliary jaw 305 is controlled by the length of the steel cable 304 released on the winch 303. On the contrary, when the auxiliary jaw 305 needs to be retracted, the winch 303 can also be used to retract the auxiliary jaw 305 to its initial state.

[0030] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention.

Claims

1. A construction robot arm, comprising a rotating base (101), a movable joint (104), and a connecting joint (105), characterized in that: A main frame (201) is fixedly mounted on the connecting joint (105), a central shaft (204) is fixedly mounted on the main frame (201), two main clamping jaws (205) are rotatably mounted on the central shaft (204), the main clamping jaws (205) are symmetrically arranged on the main frame (201), and the two main clamping jaws (205) are rotatably connected to each other. The main clamping jaws (205) are used to support the main body of the device, and the main clamping jaws (205) are in the shape of a quarter circle. A secondary clamping jaw (305) is slidably mounted on the outer curved surface of the main clamping jaw (205), and the curvature of the secondary clamping jaw (305) is the same as that of the main clamping jaw (205); The end of the secondary clamping jaw (305) away from the side frame (302) is also rotatably mounted with a clamping tool (206), one end of the clamping tool (206) is fixedly mounted with a protruding pressure plate, and the other end of the clamping tool (206) is provided with an anti-slip hook, and the protruding pressure plate on the clamping tool (206) is used to contact with building materials.

2. A construction robot arm according to claim 1, characterized in that: A side frame (302) is fixedly mounted on the arc surface of the main clamping jaw (205), a main motor (301) is fixedly mounted on one side of the side frame (302), a winch (303) is rotatably mounted in the side frame (302), a steel cable (304) is arranged on the winch (303), the steel cable (304) is in contact with the side frame (302), one end of the steel cable (304) is arranged on the auxiliary clamping jaw (305), a telescopic spring (306) is fixedly mounted on one end of the auxiliary clamping jaw (305) away from the side frame (302), and the other end of the telescopic spring (306) is fixedly mounted on the side frame (302).

3. A construction robot arm according to claim 1, characterized in that: A fixed hexagonal block (208) is provided at the rotation connection between the auxiliary clamping jaw (305) and the clamping tool (206). The fixed hexagonal block (208) is slidably connected to the auxiliary clamping jaw (305) and the clamping tool (206). The fixed hexagonal block (208) is provided between the clamping tool (206) and the auxiliary clamping jaw (305) to limit the rotation of the clamping tool (206).

4. A construction robot arm according to claim 1, characterized in that: A sliding rack (403) is slidably installed in the main frame (201), a cross-pressing frame (404) is fixedly installed at one end of the sliding rack (403), a sliding shaft (407) is slidably installed in the cross-pressing frame (404), the sliding shaft (407) is symmetrically arranged in the cross-pressing frame (404), a plurality of side pressure strips (405) are arranged on the sliding shaft (407), two side pressure strips (405) are rotatably installed at the two ends of the sliding shaft (407), and the other end of the side pressure strip (405) is rotatably connected to the main clamping jaw (205).

5. A construction robot arm according to claim 4, characterized in that: The side pressure strip (405) has the same curvature as the main clamping jaw (205). The side pressure strip (405) is embedded in the inner wall of the main clamping jaw (205) in the initial state. The side pressure strip (405) is used to apply a squeezing force to the article in the main clamping jaw (205) after clamping.

6. A construction robot arm according to claim 4, characterized in that: An inner spring (406) is fixedly mounted on the sliding shaft (407), and the other end of the inner spring (406) is fixedly mounted on the inner wall of the horizontal pressure frame (404).

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