Mechanical arm for constructional engineering

Abstract

The invention discloses a mechanical arm for building engineering, which belongs to the field of building steel structure lifting and comprises a base with a crawler belt, a plurality of dynamic gravity center adjusting mechanisms for adjusting balance are arranged on the base, and each dynamic gravity center adjusting mechanism comprises a balancing weight. The balancing weight is connected with the base through a multifunctional adjusting assembly with lifting, stretching and rotating functions, a double-position cooperative fixing mechanical arm is arranged on the base, and the tail end of the mechanical arm is provided with a multi-section mechanical claw arm used for fixing building materials and a steel structure magnetic attraction structure. According to the mechanical arm for constructional engineering adopting the structure, the mechanical arm with the lifting and stretching functions fixes a steel structure through magnetic attraction and cooperates with the multi-section type mechanical claw arm to secondarily fix the steel structure, so that the position adjustment of the steel structure is achieved while fixed lifting of different steel structures is achieved, manual participation is reduced, and the construction efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lifting technology of building steel structure, and particularly to a mechanical arm for building engineering. BACKGROUND

[0002] Construction is the production activity in the implementation phase of engineering construction, and is the construction process of various buildings, or can be said to be the process of changing various lines on design drawings into real objects at specified locations. It includes foundation engineering construction, main structure construction, roof engineering construction, decoration engineering construction, etc. During construction, materials often need to be lifted. The traditional method is to use a crane to hoist and transport wall bodies, steel structures and other materials to the construction site, and then place them at the target location manually.

[0003] During the hoisting of steel structures, due to the complexity and diversity of the structure and shape of the steel structure, the traditional crane can hoist and lift different steel structures, but manual assistance is required for unloading and adjusting the hoisting position. The position of the steel structure cannot be adjusted after being fixed by the crane, and only vertical hoisting can be achieved. The hoisting is prone to shaking, which greatly reduces the efficiency of construction. SUMMARY

[0004] The purpose of the present application is to provide a mechanical arm for building engineering, which can fix steel structures by a mechanical arm with lifting and telescopic functions, and can fix steel structures again by a multi-section mechanical claw arm, so as to realize the fixing and lifting of different steel structures and the adjustment of the position of the steel structure, reduce the participation of manual labor, and improve the efficiency of construction.

[0005] To achieve the above purpose, the present application provides a mechanical arm for building engineering, which comprises a base provided with a track, a plurality of dynamic gravity center adjusting mechanisms for adjusting balance are arranged on the base, the dynamic gravity center adjusting mechanism comprises a counterweight, the counterweight is connected with the base through a multifunctional adjusting assembly with lifting, telescopic and rotating functions, a two-position cooperative fixing mechanical arm is arranged on the base, a multi-section mechanical claw arm for fixing building materials and a steel structure magnetic attraction structure are arranged at the end of the mechanical arm, the existing track structure is used to drive the movement of the whole device, the position of the device is adjusted, and the steel structure is subsequently fixed and lifted to prepare.

[0006] Preferably, the multifunctional adjusting assembly comprises a displacement track for the extension and retraction of the counterweight, the displacement track is connected with the base through a rotating structure, a hollow displacement frame is slidably arranged on the displacement track, a fixed plate is arranged on the displacement frame, the fixed plate is connected with a telescopic structure, a sliding plate is slidably arranged on the fixed plate, the sliding plate is connected with the fixed plate through a lifting structure, the sliding plate is connected with a counterweight seat through a descending structure, and the counterweight is arranged on the counterweight seat.

[0007] Preferably, the rotating structure includes a rotating seat disposed at the top of the base, the rotating seat being rotatably connected to the base, and a motor being disposed inside the base, the output shaft of the motor being connected to the bottom end of the rotating seat.

[0008] Preferably, the telescopic structure includes an electric hydraulic cylinder 1 disposed at the top of the rotating seat, and the telescopic rod of the electric hydraulic cylinder 1 is connected to the fixed plate; The output shaft of motor one drives the rotating seat to rotate, which in turn drives the displacement track to rotate. The rotation of the displacement track drives the displacement frame to rotate, which in turn drives the fixed plate to rotate. The rotation of the fixed plate drives the sliding plate to rotate, which in turn drives the counterweight seat to rotate, thereby rotating the counterweight and adjusting its position. The extension rod of electric hydraulic cylinder one pushes the fixed plate to move, and the movement of the fixed plate causes the displacement frame to slide on the displacement track, thus adjusting the position of the counterweight.

[0009] Preferably, the displacement track includes two symmetrically arranged grooved tracks, one end of which is connected to the rotating seat, and a slider is provided at the bottom of the displacement frame. The grooved track is provided with a groove that matches the slider, and the slider is inserted into the groove and slidably connected to the groove.

[0010] Preferably, the lifting structure includes an electric hydraulic cylinder two, which are symmetrically arranged on both sides of the fixed plate. The telescopic rod of the electric hydraulic cylinder two extends upward and connects to the fixed block, which is set on the sliding plate. A sliding block is provided on one side of the sliding plate that is slidably connected to the fixed plate. A sliding groove adapted to the sliding block is provided on the fixed plate. The sliding block is inserted into the sliding groove and slidably connected to the sliding groove.

[0011] Preferably, the lowering structure includes an electric hydraulic cylinder three, which is located on the side of the sliding plate away from the fixed plate. The telescopic rod of the electric hydraulic cylinder three extends downward and connects to the counterweight seat, which is located in the hollow part of the displacement frame.

[0012] Preferably, the dual-position cooperative fixed robotic arm includes two robotic arms mounted on a base. Each robotic arm includes a multi-stage telescopic structure I with vertical lifting function and a multi-stage telescopic structure II with horizontal telescopic function. The bottom end of the multi-stage telescopic structure I is mounted on the base and connected to the base via a rotational displacement structure. A fixed seat is mounted at the top of the multi-stage telescopic structure I, and the multi-stage telescopic structure II is mounted on the fixed seat. A motor II is mounted at the end of the multi-stage telescopic structure II.

[0013] Preferably, the rotary displacement structure includes a motor three installed in the base, the output shaft of the motor three being connected to the bottom end of the rotary table, a multi-stage telescopic structure one installed at the top of the rotary table, a sliding ring installed on the side of the rotary table, an opening for the rotary table to rotate and slide at the bottom end of the base, a sliding groove installed in the opening, a sliding block inserted into the sliding groove and rotatably slidably connected to the sliding groove, and a moving block being translated by a screw structure to adjust the distance between the two robotic arms.

[0014] Preferably, the output shaft of motor two is connected to a mounting block, and the multi-segment mechanical claw arm and the steel structure magnetic suction structure are located at the bottom of the mounting block; The steel structure magnetic chuck includes a ring-shaped electromagnetic chuck, the top of which is connected to the bottom of the mounting block via a connecting column. The multi-segment mechanical gripper arm includes several sets of mechanical gripper arms arranged around the side of the electromagnetic chuck. The mechanical gripper arm includes several unit arms that are hinged in sequence. The unit arm at the end of the mechanical gripper arm near the mounting block is hinged to the mounting base. The mounting base and the mounting block are detachably connected. The hinges between the unit arms are detachably connected. A drive motor that drives the unit arm to rotate is provided at the hinges between the unit arms. The hinges between the unit arm and the mounting base, and between unit arms, employ the same detachable structure. One end of the unit arm has a rotating plate, and the other end has a rotating slot. The rotating plate of the unit arm is inserted into the rotating slot of the adjacent unit arm and slidably connected to the rotating slot. The rotating plate has a threaded hole, and the end of the unit arm with the rotating slot has a rotating hole. After the rotating plate is inserted into the rotating slot, the threaded hole is aligned with the rotating hole, and then a bolt with threads in the middle and at both ends is inserted. The bolt is locked in place through the threads and threaded hole. The unthreaded part of the bolt is slidably connected to the rotating hole. A nut is screwed onto the threaded end of the bolt. The output shaft of the drive motor drives the bolt to rotate, which in turn drives the rotating plate to rotate, achieving the rotational bending of the unit arm. The bolt rotates within the rotating hole, but the unit arm with the rotating slot does not rotate with the bolt. The drive motor is mounted on the unit arm with the rotating slot. The nut is only installed on the bolt as a limit and will not compress the unit arm with the rotating slot after tightening, preventing two adjacent unit arms from rotating. A three-dimensional force sensor is installed at the geometric center of the base to collect real-time data on the vertical pressure and horizontal shear force of the tracks contacting the ground. The center of gravity shift trend is calculated based on the force distribution. High-precision tilt sensors are installed at the four corners of the base to monitor the tilt angles of the base along the X-axis (longitudinal) and Y-axis (lateral), indirectly reflecting the direction of the center of gravity shift. Displacement sensors are installed on each set of counterweights to record the real-time extension and retraction length of the counterweights. Load sensors are installed on the robotic arm to provide real-time feedback on the weight of the hoisted object and the current extension and retraction length and rotation angle of the arm. The impact of the load on the center of gravity of the base is calculated using existing dynamic models. Data from all sensors is transmitted to the counterweight coordination controller via a high-speed CAN bus. Existing Kalman filtering algorithms are used to fuse multi-source data, eliminating interference signals caused by vibration and uneven ground to ensure the stability of the center of gravity detection. The counterweight coordination controller adjusts the vertical and horizontal positions of each counterweight to maintain dynamic balance.

[0015] Therefore, the robotic arm for construction engineering of the present invention, which adopts the above-described structure, has the following beneficial effects: 1. This invention uses a dual-position robotic arm with lifting and telescopic functions to lift steel structures. The dual-position robotic arm has the functions of rotation and spacing adjustment. The two robotic arms work together and use magnetic attraction and multi-segment robotic claw arms to fix the steel structure for a secondary time. This achieves the fixing and lifting of different steel structures while also adjusting the position of the steel structure, reducing manual intervention and improving construction efficiency. 2. This invention uses a dynamic center of gravity adjustment mechanism to allow multiple counterweights to rotate and adjust their extension and retraction angles, extending and retracting in different directions. It also has the functions of rising, falling, and lowering the center of gravity. By adjusting the position of each counterweight, the dynamic balance of the entire device is achieved, improving the stability of the device during operation.

[0016] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0017] Figure 1 This is a perspective view of an embodiment of a robotic arm for construction engineering according to the present invention; Figure 2 This is a front view of an embodiment of a robotic arm for construction engineering according to the present invention; Figure 3 This is a top view of an embodiment of a robotic arm for construction engineering according to the present invention; Figure 4 This is a perspective view of the dynamic center of gravity adjustment mechanism according to an embodiment of the present invention; Figure 5 This is a top view of the dynamic center of gravity adjustment mechanism according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the rotational displacement structure of the robotic arm according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the rotating platform structure of the present invention; Figure 8 This is a schematic diagram of the multi-segment mechanical claw arm and the magnetic attraction structure of the steel structure in an embodiment of the present invention; Figure 9 This is a schematic diagram of the unit arm connection in an embodiment of the present invention; Figure 10 for Figure 10 Enlarged diagram of point A.

[0018] Figure Labels 1. Base; 2. Track; 3. Dynamic center of gravity adjustment mechanism; 4. Rotary seat; 5. Motor 1; 6. Electro-hydraulic cylinder 1; 7. Displacement track; 8. Grooved track; 9. Displacement frame; 10. Fixed plate; 11. Electro-hydraulic cylinder 2; 12. Fixed block; 13. Sliding plate; 14. Electro-hydraulic cylinder 3; 15. Counterweight seat; 16. Robotic arm; 17. Multi-stage telescopic structure 1; 18. Multi-stage telescopic structure 2; 19. Fixed seat; 20. Motor 2; 21. Motor 3; 22. Rotary table; 23. Sliding ring; 24. Opening; 25. Moving block; 26. Screw structure; 27. Mounting block; 28. Electromagnetic chuck; 29. ​​Connecting column; 30. Robotic claw arm; 31. Unit arm; 32. Mounting seat; 33. Rotating slot; 34. Rotating plate; 35. Bolt; 36. Nut; 37. Rotating hole; 38. Counterweight block. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages disclosed in the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the embodiments of the present invention and are not intended to limit the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments in this application without creative effort are within the scope of protection of this application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout.

[0020] It should be noted that the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such processes, methods, products, or devices.

[0021] Similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0022] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0023] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] Example like Figure 1 , Figure 2 , Figure 3 As shown, the robotic arm 16 for construction engineering of the present invention includes a base 1 with tracks 2. The existing track 2 structure drives the entire device to move, facilitating the adjustment of the device's position, subsequent fixing of the steel structure, and preparation for lifting. Figure 1 The specific structures of the track 2, the multi-segment robotic arms 30, and the steel magnetic suction structure are not shown in the attached drawings. The base 1 is equipped with several dynamic center of gravity adjustment mechanisms 3 for adjusting balance. For example... Figure 4 , Figure 5 As shown, the dynamic center of gravity adjustment mechanism 3 includes a counterweight 38, which is connected to the base 1 via a multi-functional adjustment assembly with lifting, telescopic, and rotation functions. The multi-functional adjustment assembly includes a displacement rail 7 for extending and retracting the counterweight 38, which is connected to the base 1 via a rotating structure. A hollow displacement frame 9 is slidably mounted on the displacement rail 7, and a fixed plate 10 is mounted on the displacement frame 9, connected to the telescopic structure. A sliding plate 13 is slidably mounted on the fixed plate 10, connected to the fixed plate 10 via a rising structure and connected to the counterweight seat 15 via a descending structure. The counterweight 38 is mounted on the counterweight seat 15.

[0025] The rotating structure includes a rotating seat 4 mounted on top of the base 1, rotatably connected to the base 1. A motor 5 is housed within the base 1, and the output shaft of the motor 5 is connected to the bottom end of the rotating seat 4. The telescopic structure includes an electric hydraulic cylinder 6 mounted on top of the rotating seat 4, with its telescopic rod connected to a fixed plate 10. The displacement track 7 includes two symmetrically arranged grooved tracks 8, one end of which is connected to the rotating seat 4. A slider is mounted on the bottom end of the displacement frame 9, and a groove on the grooved track 8 that matches the slider. The slider is inserted into and slidably connected to the groove. The output shaft of the motor 5 drives the rotating seat 4 to rotate, which in turn drives the displacement track 7 to rotate. The rotation of the displacement track 7 drives the displacement frame 9 to rotate, which in turn drives the fixed plate 10 to rotate. The rotation of the fixed plate 10 drives the sliding plate 13 to rotate, which in turn drives the counterweight seat 15 to rotate, thereby rotating the counterweight block 38 and adjusting its position. The telescopic rod of the electric hydraulic cylinder 6 pushes the fixed plate 10 to move, and the movement of the fixed plate 10 causes the displacement frame 9 to slide on the displacement track 7, thereby adjusting the position of the counterweight 38.

[0026] The lifting structure includes an electric hydraulic cylinder 11, which is symmetrically arranged on both sides of the fixed plate 10. The telescopic rod of the electric hydraulic cylinder 11 extends upward and connects to the fixed block 12, which is mounted on the sliding plate 13. A sliding block is provided on the side of the sliding plate 13 that is slidably connected to the fixed plate 10. The fixed plate 10 has a sliding groove that matches the sliding block, and the sliding block is inserted into and slidably connected to the sliding groove. The lowering structure includes an electric hydraulic cylinder 14, which is located on the side of the sliding plate 13 away from the fixed plate 10. The telescopic rod of the electric hydraulic cylinder 14 extends downward and connects to the counterweight 15, which is located in the hollow part of the displacement frame 9. The telescopic rod of the second electric hydraulic cylinder 11 drives the sliding plate 13 to slide on the fixed plate 10, thereby causing the counterweight 38 to rise; the telescopic rod of the third electric hydraulic cylinder 14 drives the counterweight seat 15 to descend in the hollow part of the displacement frame 9, thereby causing the counterweight 38 to descend and adjusting the position of the counterweight 38.

[0027] A dual-position cooperative fixing robotic arm 16 is mounted on the base 1. The end of the robotic arm 16 is equipped with a multi-segment robotic claw arm 30 for fixing building materials and a steel structure magnetic suction structure. The dual-position cooperative fixing robotic arm 16 comprises two robotic arms 16 mounted on the base 1. Each robotic arm 16 includes a multi-stage telescopic structure 17 with vertical lifting function and a multi-stage telescopic structure 28 with horizontal telescopic function. Both the multi-stage telescopic structure 17 and the multi-stage telescopic structure 28 utilize existing multi-stage telescopic hydraulic cylinders or existing large-scale lifting telescopic structures. The bottom end of the multi-stage telescopic structure 17 is mounted on the base 1 and connected to the base 1 via a rotational displacement structure. A fixed seat 19 is mounted at the top of the multi-stage telescopic structure 17, and the multi-stage telescopic structure 28 is mounted on the fixed seat 19. A motor 20 is mounted at the end of the multi-stage telescopic structure 28.

[0028] like Figure 6 , Figure 7 As shown, the rotational displacement structure includes a motor 21 housed within the base 1, with its output shaft connected to the bottom of the rotary table 22. A multi-stage telescopic structure 17 is positioned at the top of the rotary table 22. A sliding ring 23 is provided on the side of the rotary table 22, and an opening 24 for the rotation and sliding displacement of the rotary table 22 is provided at the bottom of the base 1. A sliding groove is provided within the opening 24, and a sliding block is inserted into the sliding groove and rotatably slidably connected to it. The motor 21 is mounted on a moving block 25, which is translated via a lead screw structure 26. The sliding ring 23 has a ring structure and is slidably positioned within the sliding groove of the opening 24. When the output shaft of the motor 21 drives the rotary table 22 to rotate, the sliding ring 23 slides and rotates within the sliding groove of the opening 24, enabling the rotary table 22 to rotate without falling off, thereby driving the entire robotic arm 16 to rotate. By setting two lead screw structures 26 to drive the moving block 25 to translate, the entire robotic arm 16 is translated. Each robotic arm 16 translates along the opening 24 to adjust the distance between the two robotic arms 16.

[0029] like Figure 8 , Figure 9 , Figure 10As shown, the output shaft of motor 20 is connected to mounting block 27, and multi-segment mechanical claw arms 30 and steel structure magnetic suction structure are located at the bottom of mounting block 27. The steel structure magnetic suction structure includes an annular electromagnetic chuck 28, the top of which is connected to the bottom of mounting block 27 via a connecting post 29. The multi-segment mechanical claw arms 30 include several groups of mechanical claw arms 30 arranged around the side of the electromagnetic chuck 28, each comprising several sequentially hinged unit arms 31. The unit arm 31 at the end of the mechanical claw arm 30 closest to mounting block 27 is hinged to mounting base 32, and the mounting base 32 and mounting block 27 are detachably connected by bolts 35. The hinges between the unit arms 31 are detachably connected, and a drive motor for rotating the unit arm 31 is installed at each hinge. The hinge joints between unit arm 31 and mounting base 32, and between unit arms 31, employ the same detachable structure. One end of unit arm 31 is equipped with a rotating plate 34, and the other end has a rotating slot 33. The rotating plate 34 of unit arm 31 is inserted into the rotating slot 33 of adjacent unit arm 31 and slidably connected to the rotating slot 33. The rotating plate 34 has a threaded hole, and the end of unit arm 31 with the rotating slot 33 has a rotating hole 37. After the rotating plate 34 is inserted into the rotating slot 33, the threaded hole is aligned with the rotating hole 37, and then a bolt 35 with threads in the middle and at both ends is inserted. The bolt 35 is locked in place by the threads and the threaded hole. The unthreaded part of the bolt 35 is slidably connected to the rotating hole 37, and a nut 36 is screwed onto the threaded end of the bolt 35. The output shaft of the drive motor drives the bolt 35 to rotate, which in turn drives the rotating plate 34 to rotate, thus achieving the rotational bending of the unit arm 31. Bolt 35 rotates within rotating hole 37. The unit arm 31 with rotating slot 33 does not rotate with bolt 35. The drive motor is mounted on the unit arm 31 with rotating slot 33. Nut 36 is only installed on bolt 35 as a limit and will not compress the unit arm 31 with rotating slot 33 after tightening, preventing two adjacent unit arms 31 from rotating.

[0030] A three-dimensional force sensor (range 0-500kN) is installed at the geometric center of base 1 to collect the vertical pressure and horizontal shear force of the track 2 on base 1 in contact with the ground in real time. The center of gravity shift trend is calculated through the force distribution. High-precision tilt sensors (measurement range ±15°, accuracy ±0.01°) are installed at the four corners of base 1 to monitor the tilt angle of base 1 on the X-axis (longitudinal) and Y-axis (lateral), indirectly reflecting the direction of center of gravity shift. Displacement sensors (accuracy ±0.5mm) are installed on each set of counterweights 38 to record the real-time extension and retraction length of counterweights 38. Load sensors are installed on the robotic arm 16 to provide real-time feedback on the weight of the hoisted object and the current extension and retraction length and rotation angle of the arm. The impact of the load on the center of gravity of base 1 is calculated through a dynamic model. Data from all sensors is transmitted to the counterweight coordination controller via a high-speed CAN bus. The existing Kalman filter algorithm is used to fuse the multi-source data and remove interference signals caused by vibration and uneven ground (the data update frequency after filtering is 100Hz) to ensure the stability of center of gravity detection. The vertical and horizontal positions of each counterweight block 38 are adjusted by the counterweight coordination controller to maintain dynamic balance.

[0031] When the robotic arm 16 is in use, the electromagnetic chuck 28 clamps the steel structure, and the multi-segment robotic claw arm 30 drives each unit arm 31 to rotate through the drive motor, "grabbing" the steel structure to achieve secondary fixation. After one robotic arm 16 is fixed, the second motor 20 drives the steel structure to flip, and then the other robotic arm 16 fixes the steel structure in another position. The two robotic arms 16 work together to achieve the flipping and adjustment of the position of the steel structure. (Alternatively, the drive motor can drive each unit arm 31 to rotate upward, so that the multi-segment robotic claw arm 30 moves away from the electromagnetic chuck 28. By controlling the distance and angle between the two robotic arms 16, the electromagnetic chuck 28 clamps and fixes the steel structure.)

[0032] Therefore, the present invention employs a construction engineering robotic arm 16 with the above-mentioned structure. The steel structure is lifted using a dual-position robotic arm 16 with lifting and telescopic functions. The dual-position robotic arm 16 has rotation and spacing adjustment functions. The dual-position robotic arms 16 work collaboratively, using magnetic attraction and multi-segment mechanical claw arms 30 to fix the steel structure secondary, achieving both fixed lifting of different steel structures and adjustment of their positions, reducing manual intervention and improving construction efficiency. A dynamic center of gravity adjustment mechanism 3 allows multiple counterweights 38 to rotate and adjust their telescopic angles, extending and retracting in different directions. It also has functions of rising, falling, and lowering the center of gravity. By adjusting the position of each counterweight 38, the dynamic balance of the entire device is achieved, improving the stability of the device during operation.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A robotic arm for construction engineering, characterized in that: It includes a tracked base, on which are set several dynamic center of gravity adjustment mechanisms for adjusting balance. The dynamic center of gravity adjustment mechanism includes a counterweight, which is connected to the base through a multi-functional adjustment component with lifting, telescopic and rotation functions. A dual-position cooperative fixing robotic arm is set on the base, and the end of the robotic arm is equipped with a multi-segment robotic claw arm for fixing building materials and a steel structure magnetic suction structure.

2. The robotic arm for construction engineering according to claim 1, characterized in that: The multi-functional adjustment component includes a displacement track for extending and retracting the counterweight. The displacement track is connected to the base via a rotating structure. A hollow displacement frame is slidably mounted on the displacement track. A fixed plate is mounted on the displacement frame. The fixed plate is connected to a telescopic structure. A sliding plate is slidably mounted on the fixed plate. The sliding plate is connected to the fixed plate via a rising structure. The sliding plate is connected to the counterweight seat via a descending structure. The counterweight is mounted on the counterweight seat.

3. The robotic arm for construction engineering according to claim 2, characterized in that: The rotating structure includes a rotating seat located at the top of the base, which is rotatably connected to the base. A motor is installed inside the base, and the output shaft of the motor is connected to the bottom end of the rotating seat.

4. The robotic arm for construction engineering according to claim 3, characterized in that: The telescopic structure includes an electric hydraulic cylinder 1 located at the top of the rotating seat, and the telescopic rod of the electric hydraulic cylinder 1 is connected to the fixed plate.

5. The robotic arm for construction engineering according to claim 3, characterized in that: The displacement track includes two symmetrically arranged grooved tracks. One end of the grooved track is connected to the rotating seat. The bottom end of the displacement frame is provided with a slider. The grooved track is provided with a groove that matches the slider. The slider is inserted into the groove and slidably connected to the groove.

6. The robotic arm for construction engineering according to claim 2, characterized in that: The lifting structure includes an electric hydraulic cylinder two, which are symmetrically arranged on both sides of the fixed plate. The telescopic rod of the electric hydraulic cylinder two extends upward and connects to the fixed block, which is set on the sliding plate. A sliding block is provided on one side of the sliding plate that is slidably connected to the fixed plate. A sliding groove adapted to the sliding block is provided on the fixed plate. The sliding block is inserted into the sliding groove and slidably connected to the sliding groove.

7. The robotic arm for construction engineering according to claim 6, characterized in that: The lowering structure includes an electric hydraulic cylinder three, which is located on the side of the sliding plate away from the fixed plate. The telescopic rod of the electric hydraulic cylinder three extends downward and connects to the counterweight seat, which is located in the hollow part of the displacement frame.

8. The robotic arm for construction engineering according to claim 1, characterized in that: The dual-position cooperative fixed robotic arm includes two robotic arms mounted on a base. Each robotic arm includes a multi-stage telescopic structure I with vertical lifting function and a multi-stage telescopic structure II with horizontal telescopic function. The bottom end of multi-stage telescopic structure I is mounted on the base and connected to the base via a rotational displacement structure. A fixed seat is mounted at the top of multi-stage telescopic structure I, and multi-stage telescopic structure II is mounted on the fixed seat. A motor II is mounted at the end of multi-stage telescopic structure II.

9. The robotic arm for construction engineering according to claim 8, characterized in that: The rotary displacement structure includes a third motor housed in the base, the output shaft of which is connected to the bottom of the rotary table. A multi-stage telescopic structure is located at the top of the rotary table. A sliding ring is provided on the side of the rotary table. An opening for the rotary table to rotate and slide is provided at the bottom of the base. A sliding groove is provided in the opening. A sliding block is inserted into the sliding groove and is rotatably and slidably connected to the sliding groove. The third motor is mounted on a moving block. The moving block is translated and adjusted by a screw structure to adjust the distance between the two robotic arms.

10. The robotic arm for construction engineering according to claim 8, characterized in that: The output shaft of motor two is connected to a mounting block, and a multi-segment mechanical claw arm and a steel magnetic suction structure are located at the bottom of the mounting block; The steel structure magnetic chuck includes a ring-shaped electromagnetic chuck, the top of which is connected to the bottom of the mounting block via a connecting column. The multi-segment mechanical gripper arm includes several sets of mechanical gripper arms arranged around the side of the electromagnetic chuck. Each mechanical gripper arm includes several unit arms that are hinged sequentially. The unit arm at the end of the mechanical gripper arm closest to the mounting block is hinged to the mounting base. The mounting base and the mounting block are detachably connected. The hinges between the unit arms are detachably connected. A drive motor that drives the unit arm to rotate is provided at the hinges between the unit arms.

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