A robot beam arm applied to the construction of a pier corner

Abstract

A robot beam arm applied to the construction of the corner of a pier platform, comprising a first sliding unit and a second sliding unit, the two sliding units respectively comprising two bearing platforms moving along two sliding rails, and two clamps respectively fixed on the two bearing platforms; the two clamps respectively comprising a support frame and a fixed frame hinged to each other, so that one end of the support frame and the fixed frame can approach or move away from each other, so that the support frame and the fixed frame of the clamp form a connection area or an opening, and when the two bearing platforms approach each other to the limit position, the projection range of the connection area of the two clamps overlaps each other. The application adopts the sliding rails connected by rotation, so that the movement path can adapt to the corner of the pier platform, and through the clamps on the two bearing platforms, the working components clamped in the process of the two bearing platforms approaching each other can be connected with the two bearing platforms, so that the construction movement path can be quickly changed to construct the corner of the pier platform.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and in particular relates to a robotic beam arm used in construction at the corner of a pier. Background Technology

[0002] In the design and construction of bridge piers, in order to reduce stress concentration at the corners of the piers and improve their strength, chamfers need to be set at the corners of the piers. Usually, a 45° chamfer is designed to meet the requirements of aesthetics and ease of construction. After the process of tying the reinforcing bars, fixing the formwork, and pouring the concrete is completed, the piers need to be inspected by processes such as surface smoothing and internal flaw detection. At the same time, in order to improve the piers' resistance to water vapor corrosion and aesthetic requirements, appropriate coatings need to be sprayed on the surface of the piers. Currently, workers typically use lifting platforms on engineering vehicles to carry out the above-mentioned processes. However, this is not only time-consuming and labor-intensive, but also poses a risk to the workers' health and safety during construction. Some robots currently exist that adhere to piers using negative pressure and drive corresponding equipment on the piers via a walking mechanism. However, at the corners of the piers, since most of the robot's arms are straight arms, when facing the corner, the straight arms extend beyond the surface to be inspected or processed. As the inspection or processing module moves along the straight arms to the corner, the structural design at the corner causes the distance between the module and the surface to be processed to gradually increase, affecting the inspection and spraying effect. Alternatively, the module's movement speed at the corner may be slow, or the spraying and inspection areas may overlap and repeat, which is not conducive to the uniform distribution of paint and the collection of inspection data. Summary of the Invention

[0003] In view of this, the present invention aims to provide a robotic beam arm for construction at the corner of a pier, so as to facilitate construction in the corner area of ​​the pier.

[0004] To achieve the above objectives, the technical solution created by this invention is implemented as follows:

[0005] A robotic beam arm used in construction at the corner of a pier, including

[0006] The first sliding unit includes a slider that moves along a first slide rail and a first bearing platform fixed on the slider, wherein a first gripper is fixed on the first bearing platform.

[0007] The second sliding unit includes a slider that moves along a second slide rail and a second bearing platform connected to the slider. The second bearing platform is provided with a second gripper, and the second bearing platform and the first bearing platform can approach each other. The first slide rail and the second slide rail are rotatably connected.

[0008] The first gripper and the second gripper each include a support frame and a fixed frame. One end of the support frame and the fixed frame are hinged together, and the other end can move closer to or further away from each other. When the ends of the support frame and the fixed frame move away from each other, an opening is formed between the support frame and the fixed frame. The opening of the first gripper faces the second bearing platform, and the opening of the second gripper faces the first bearing platform. When the support frame and the fixed frame move closer to each other to their extreme positions, the support frame and the fixed frame surround and form a connection area. When the first bearing platform and the second bearing platform move closer to each other to their extreme positions, the projection range of the connection area of ​​the first gripper and the second gripper overlaps with each other.

[0009] Furthermore, the first slide rail and the second slide rail each include two parallel connecting beams, and the connecting beams of the first slide rail and the second slide rail are hinged to each other.

[0010] Furthermore, the second bearing platform includes a connecting plate, an equipment mounting plate, a first auxiliary connecting strip, and a second auxiliary connecting strip. The equipment mounting plate and the first auxiliary connecting strip are respectively fixedly connected to the sliders of the second slide rails on the two connecting beams. The two ends of the second auxiliary connecting strip are respectively rotatably connected to one end of the equipment mounting plate and one end of the first auxiliary connecting strip. The connecting plate is rotatably connected to the other end of the equipment mounting plate and the other end of the first auxiliary connecting strip. The points where the connecting plate, the equipment mounting plate, the first auxiliary connecting strip, and the second auxiliary connecting strip are rotatably connected in sequence to form a parallelogram.

[0011] Furthermore, the fixing frame has an arc-shaped section, an unlocking section, and a contact section around the connection area, and the two ends of the arc-shaped section are respectively fixed to the unlocking section and the guide section. The hinge of the fixing frame and the support frame is located outside the connection area, and when the fixing frame rotates around the hinge, the unlocking section and the support frame move away from each other, and the contact section extends into the connection area.

[0012] Furthermore, when the contact segment extends into the connection area, the end of the contact segment is positioned on the side of the connection area closer to the support frame.

[0013] Furthermore, a tension spring is provided on the outside of the connecting area. One end of the tension spring is connected to the fixed frame, and the other end is connected to the support frame. When the fixed frame rotates around the hinge, the tension spring can pass through the axis of the hinge.

[0014] Furthermore, the fixing frame also includes a limiting handle, and when the unlocking section moves away from the limit position of the support frame, the end of the limiting handle abuts against the upper surface of the support frame.

[0015] Furthermore, a rack is fixedly installed below the first slide rail and the second slide rail respectively, and the two racks are parallel to the first slide rail and the second slide rail respectively. A drive motor is fixedly installed on the first support platform and the second support platform respectively, and the output shaft of the drive motor is connected to the rack and pinion transmission through gears.

[0016] Furthermore, the drive motor below the second slide rail is fixedly connected to one side of the equipment mounting plate, and a counterweight is fixedly installed on the other side of the equipment mounting plate. The counterweight and the drive motor are respectively placed on both sides of a second slide rail.

[0017] Furthermore, the upper surface of the device mounting plate is provided with a supporting protrusion, and the lower surface of the connecting plate can rest on the supporting protrusion.

[0018] Compared with existing technologies, the robotic beam arm described in this invention, applied to construction at the corner of abutment, has the following advantages:

[0019] This invention employs two mutually rotating and connected slide rails, enabling the movement paths of the first and second sliding units to adapt to the corners of the pier. Simultaneously, through the grippers on the two bearing platforms, the working parts held by the two bearing platforms can switch between the grippers on the two bearing platforms as they approach each other. This allows the working parts to quickly change their movement paths, reducing speed changes at turns and overlaps at construction sites, thus facilitating construction at the corners of the pier.

[0020] The connecting plate, equipment mounting plate, first auxiliary connecting strip and second auxiliary connecting strip are spliced ​​together at the pivot point to form a parallelogram, so that after the second slide rail rotates, the projections of the connection areas of the second gripper and the first gripper can still overlap with each other.

[0021] A spring is installed outside the connection area that can pass through the rotation axis of the fixed frame, so that the fixed frame can remain stationary at its extreme positions before and after rotation, waiting for the next clamping of the working unit. Attached Figure Description

[0022] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0023] Figure 1 This is a schematic diagram of the overall beam arm structure in this embodiment;

[0024] Figure 2 This is a schematic diagram of the second carrier platform in this embodiment;

[0025] Figure 3 This is a schematic diagram of the gripper in the closed state;

[0026] Figure 4 This is a diagram showing the gripper in the open position.

[0027] Figure 5 This is a schematic diagram of the first sliding unit structure.

[0028] Explanation of reference numerals in the attached figures:

[0029] 1-First sliding unit; 11-First slide rail; 12-First bearing platform; 13-First gripper; 131-Support frame; 132-Fixed frame; 1321-Arc segment; 1322-Unlocking segment; 1323-Contact segment; 1324-Limit handle; 1325-Contact surface; 1326-Connecting area; 1327-Opening; 133-Tension spring; 134-Electromagnet; 14-Rack; 15-Hanger; 2-Second sliding unit; 21-Second slide rail; 22-Second bearing platform; 221-First auxiliary connecting strip; 222-Second auxiliary connecting strip; 223-Connecting plate; 224-Equipment mounting plate; 225-Counterweight block; 226-Supporting protrusion; 23-Second gripper; 3-Connecting beam. Detailed Implementation

[0030] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0031] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, 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, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0032] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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 will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0033] The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0034] like Figure 1As shown, the robotic arm for construction at the corner of a pier, as described in this invention, includes two sets of mutually rotating connecting beams 3. Each set contains two connecting beams 3, which are parallel to each other. A first sliding unit 1 is fixed to one of the connecting beams 3 in one set, and a second sliding unit 2 is fixed to the other set of connecting beams 3. The first sliding unit 1 includes a first slide rail 11 fixed to the connecting beam 3 and a first bearing platform 12 that moves along the slide rail. More specifically, the first slide rail 11 and the first bearing platform 12 are connected by a slider slidably connected to the first slide rail 11. Those skilled in the art can set two first slide rails 11 or one first slide rail 11 according to the requirements of connection reliability. The second sliding unit 2 includes two parallel second slide rails 21, and one end of each second slide rail 21 is hinged to the connecting beam 3 of the first sliding unit 1 through a connecting beam 3. A connecting sealing plate is hinged to the end of each second slide rail 21 away from the first sliding unit 1, and the width of the connecting sealing plate is the same as the distance between the two connecting beams 3 connected to the first sliding unit 1. This arrangement ensures that the lines connecting the two ends of the two second slide rails 21 of the second sliding unit 2 form a parallelogram. When the second sliding unit 2 is rotated, the two second slide rails 21 remain parallel to each other. Two sliders are slidably connected to each second slide rail 21. The two sliders on one second slide rail 21 are connected by a first auxiliary connecting strip 221, and the two sliders on the other second slide rail 21 are fixed by a device mounting plate 224, so that the distance between the two sliders on the same second slide rail 21 is fixed. The two ends of a connecting plate 223 are rotatably connected to one end of the device mounting plate 224 and one end of the first auxiliary connecting strip 221, respectively. The other end of the device mounting plate 224 and the other end of the first auxiliary connecting strip 221 are rotatably connected to a second auxiliary connecting strip 222, respectively. At the same time, the points where the connecting plate 223, the device mounting plate 224, the first auxiliary connecting strip 221 and the second auxiliary connecting strip 222 are rotatably connected to form a parallelogram, so that the connecting plate 223 can be adjacent to and parallel to the first bearing platform 12 before and after the second sliding unit 2 rotates.

[0035] Combination Figure 5 As shown, a rack 14 is fixedly installed below the connecting beam 3 of the first sliding unit 1 and the second sliding unit 2 along its own length. A drive motor is fixedly installed below the first bearing platform 12 and the second bearing platform 22 respectively. The output shaft of the drive motor is connected to the rack 14 through gear meshing. The drive motor drives the first bearing platform 12 and the second bearing platform 22 to move along the first slide rail 11 and the second slide rail 21. Figure 2As shown, in this embodiment, a hanger 15 is fixedly mounted on the lower surface of the first bearing platform 12, and the body of the drive motor is fixedly mounted on the hanger 15; a hanger 15 is fixedly mounted on one side of the lower surface of the equipment mounting plate 224 of the second bearing platform 22, and the drive motor is fixedly mounted on the hanger 15. A counterweight 225 is provided on the other side of the equipment mounting plate 224. The counterweight 225 and the hanger 15 are respectively placed on both sides of a second slide rail 21 so that the slider of the second slide rail 21 is balanced. In this embodiment, a supporting ridge 226 extends upward from the upper surface of the equipment mounting plate 224, and the lower surface of the connecting plate 223 can rest on the supporting ridge 226, thereby reducing the contact area between the equipment mounting plate 224 and the connecting plate 223 during rotation and reducing frictional resistance. An angle is provided between the length direction of the supporting ridge 226 and the line connecting the two rotational connection points of the connecting plate 223 to improve the stability of the connecting plate 223.

[0036] Combination Figure 3 and Figure 4As shown, a first gripper 13 and a second gripper 23 are respectively fixed on the first support platform 12 and the second support platform 22. More specifically, in this embodiment, the second gripper 23 is fixed on the connecting plate 223 of the second support platform 22. The first gripper 13 and the second gripper 23 respectively include a support frame 131 and a fixing frame 132. The middle part of the support frame 131 is hinged to one end of the fixing frame 132. The fixing frame 132 includes an arc-shaped segment 1321, an unlocking segment 1322 and a contact segment 1323. The unlocking segment 1322 is fixed at one end of the arc-shaped segment 1321 and is arranged along the tangent direction of the arc-shaped segment 1321. When the fixing frame 132 rotates around the hinge point between itself and the support frame 131, the unlocking segment 1322 can move closer to or away from the support frame 131. The contact segment 1323 is fixed at the other end of the arc-shaped segment 1321 and is arc-shaped. The arc of the contact segment 1323 is concentric with the arc of the arc-shaped segment 1321. Furthermore, when the unlocking section 1322 moves towards the support frame 131 to its limit position, the unlocking section 1322, the arc-shaped section 1321, the contact section 1323, and the support frame 131 surround and form a connecting area 1326, where equipment such as nozzles, laser rangefinders, and ultrasonic flaw detectors used in construction can be inserted into the connecting area 1326. When the unlocking section 1322 moves away from the support frame 131 to its limit position, an opening 1327 is formed between the end of the unlocking section 1322 and the support frame 131, allowing the equipment used in construction to be moved out of the connecting area 1326 from the opening 1327. At the same time, the end of the contact section 1323 moves into the connecting area 1326. The end of the unlocking section 1322 has rounded corners and is located in the lower half of the connecting area 1326, that is, the unlocking section 1322 is located in the area of ​​the connecting area 1326 near the support frame 131. The fixing frame 132 extends a limiting handle 1324 outward from the connecting area 1326. When the unlocking section 1322 moves away from the extreme position of the support frame 131, the end of the limiting handle 1324 abuts against the upper surface of the support frame 131 to avoid the fixing frame 132 rotating too much, causing the contact section 1323 to extend too far into the connecting area 1326.A tension spring 133 is also provided on the outer side of the connecting area 1326. Pull rings are fixed on the outer side of the arc-shaped section 1321 of the fixed frame 132 and the upper surface of the support frame 131, respectively. The two ends of the tension spring 133 are respectively hooked to the pull rings. When the fixed frame 132 rotates, the tension spring 133 can rotate in the vertical plane with the pull ring on the support frame 131 as the point. When the fixed frame 132 rotates between two extreme positions, the tension spring 133 can pass through the axis of rotation of the fixed frame 132 and the support frame 131. Thus, when the fixed frame 132 moves to the two extreme positions, the tension spring 133 can be on both sides of the rotation axis. When the tension spring 133 intersects the axis, the tension spring 133 is at its maximum length of extension. So that when the fixed frame 132 is in the extreme position without external interference, the tension spring 133 can apply tension to the fixed frame 132, so that the fixed frame 132 has a tendency to continue to rotate in the direction of the extreme position, thus preventing the fixed frame 132 from rotating freely.

[0037] The opening 1327 of the first gripper 13 on the first support platform 12 faces the direction of the second support platform 22, and the opening 1327 of the second gripper 23 on the second support platform 22 faces the direction of the first support platform 12. When the first support platform 12 and the second support platform 22 move to their extreme positions where they are close to each other, the projection range of the connection area 1326 of the first gripper 13 and the second gripper 23 on the two support platforms overlaps with each other. In this embodiment, an electromagnet 134 is provided at the end of the support frame 131 of the first gripper 13, and a contact surface 1325 corresponding to the electromagnet 134 is provided on the fixing frame 132 of the first gripper 13. When the fixing frame 132 rotates to the limit position in the direction of the support frame 131, the contact surface 1325 contacts the electromagnet 134. The elastic coefficient of the tension spring 133 of the first gripper 13 is less than the elastic coefficient of the tension spring 133 of the second gripper 23, so that when the fixing frame 132 of the first gripper 13 is in the limit position close to the support frame 131, the initial tension of the tension spring 133 on the first gripper 13 is less than the initial tension on the second gripper 23. A first infrared grating is provided on both sides of the first sliding unit 1 near the end of the second sliding unit 2. A second infrared grating is provided on the middle of the second sliding unit 2 or on both sides near the end of the first sliding unit 1. When the hanger 15 of the first sliding unit 1 or the counterweight 225 of the second sliding unit 2 moves to the first infrared grating or the second infrared grating, the first infrared grating or the second infrared grating is triggered once. During operation, every two triggers of the first infrared grating or the second infrared grating send an electrical signal to the controller that controls the current of the electromagnet 134, causing the electromagnet 134 to be energized or de-energized. For example, when the first bearing plate... When platform 12 moves away from the second sliding unit 2, it triggers the first infrared grating for the first time. When platform 12 moves to the end of the first slide rail 11 and then moves to the limit position towards the second sliding unit 2, it triggers the first infrared grating for the second time, thereby emitting an electrical signal to de-energize electromagnet 134. When platform 22 moves away from the first sliding unit 1, it triggers the second infrared grating for the first time. When platform 22 moves to the end of the second slide rail 21 and then moves to the limit position towards the first sliding unit 1, it triggers the infrared grating for the second time, thereby emitting an electrical signal to energize electromagnet 134. The specific control circuit switching method and circuit connection structure are existing technologies in this field and will not be described in detail here.

[0038] In this embodiment, the first sliding unit 1 and the second sliding unit 2 are covered with a shell (not shown in the figure) to prevent paint dust and other substances during the construction process from affecting the transmission structure. During operation, the mechanical beam arm is first installed on the corresponding walking mechanism. During installation, the first sliding module is fixed to the walking mechanism by means of snap-fit ​​or bolt connection. Then, the second sliding module is rotated and its angle is adjusted so that the angle between the first and second sliding modules is the same as the angle at the corner to be constructed. Then, the second sliding module is fixed to the walking mechanism by means of connecting clips. The first bearing platform 12 and the second bearing platform 22 are brought close to each other to their limit positions so that the connection area 1326 of the first gripper 13 and the second gripper 23 overlaps. Then, the limit handle 1324 is pressed down to open the opening 1327 of the first gripper 13 and the second gripper 23. According to the needs of this construction, the nozzle or probe used in this construction is manually inserted into the connection area 1326 of the first gripper 13 and the second gripper 23. The relevant paint tank, control module, information acquisition module, signal transmission and reception module, power supply, connecting pipeline, etc. are fixed in the reserved position of the walking mechanism. The electromagnet 134 is turned on so that the control module can control the on and off of the electromagnet 134 circuit.Then, the negative pressure module of the walking mechanism is activated, enabling the walking mechanism to move on the vertical pier surface. The walking mechanism is placed near the corner of the pier, ensuring that the first sliding unit 1 is parallel to one side of the pier corner surface, and the second sliding unit 2 is parallel to the other side of the pier corner surface. Simultaneously, the distance between the first sliding unit 1 and the pier, and the distance between the second sliding unit 2 and the pier, are the same. For example, a laser rangefinder can be installed on the connecting plate or outer shell of the first sliding unit 1 and the second sliding unit 2, using two laser rangefinders to ensure that one sliding unit and... The distance between the second sliding unit 2 and the pier surface is the same; the drive motors of the first sliding unit 1 and the second sliding unit 2 are put into standby mode, the electromagnet 134 is energized, and then the first drive motor is started. Through the cooperation of the first drive motor and the rack 14, the first bearing platform 12 moves along the first sliding unit 1. At the same time, the device held by the first gripper 13 applies an external force to the second gripper 23, causing the fixing frame 132 of the second gripper 23 to rotate outward, so that the second gripper 23 opens. When the first bearing platform 12 runs one cycle and approaches the second bearing platform... During the extreme position process of platform 22, electromagnet 134 is de-energized under the induction control of grating. Then, the construction equipment held by the first gripper 13 comes into contact with the end of the contact section 1323 of the second gripper 23, causing the fixing frame 132 of the second gripper 23 to rotate inward. Under the action of the spring, the construction equipment is locked into the connecting area 1326 of the second gripper 23 through the arc-shaped section and the unlocking section 1322. At this time, the drive motor of the second sliding unit 2 starts, driving the second support frame to move along the second slide rail 21 until the second support frame moves to the initial position. During this process, the second infrared... The grating senses the movement of the second support frame and sends an electrical signal to control the second electromagnet 134 to be energized until the second support frame moves to a position close to the limit of the first sliding unit 1. This causes the fixing frame 132 of the first gripper 13 to rotate and lock the construction equipment into the connection area 1326. At the same time, the electromagnet 134 attracts the fixing frame 132. Repeating the above actions multiple times causes the construction equipment to move along the slide rails of the first sliding unit 1 and the second sliding unit 2. Simultaneously, the construction equipment and the traveling unit move vertically, thereby processing or inspecting the surface at the corner of the pier. This eliminates the need to slow down the movement speed of the construction equipment or the overlap of construction areas during the construction at the corner of the pier.

[0039] Optionally, this beam arm can be equipped with nozzles, laser inspection equipment, flaw detection equipment, etc. During the spraying process, the nozzles can be positioned to ensure that the sprayed paint is in a vertical line. Therefore, the angle between the nozzle and the surface to be coated has little impact on the spraying effect during the movement along the two sliding units. During the planar inspection, the surface of the pier is inspected by scanning it with a laser, and the surface data of the pier is collected by collecting diffusely reflected laser light. During the flaw detection process, the surface of the object is inspected by scanning it with an ultrasonic transmitter and receiver. Those skilled in the art can also adjust the speed of the drive motors of the first sliding unit 1 and the second sliding unit 2 as needed, so as to make the paint density on both sides at the corners more uniform during the spraying process.

[0040] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robotic boom used in construction at the corner of a pier, characterized in that: include The first sliding unit includes a slider that moves along a first slide rail and a first bearing platform fixed on the slider, wherein a first gripper is fixed on the first bearing platform. The second sliding unit includes a slider that moves along a second slide rail and a second bearing platform connected to the slider. The second bearing platform is provided with a second gripper, and the second bearing platform and the first bearing platform can approach each other. The first slide rail and the second slide rail are rotatably connected. The first gripper and the second gripper each include a support frame and a fixed frame. One end of the support frame and the fixed frame are hinged together, and the other end can move closer to or further away from each other. When the ends of the support frame and the fixed frame move away from each other, an opening is formed between the support frame and the fixed frame. The opening of the first gripper faces the second bearing platform, and the opening of the second gripper faces the first bearing platform. When the support frame and the fixed frame move closer to each other to their extreme positions, the support frame and the fixed frame surround and form a connection area. When the first bearing platform and the second bearing platform move closer to each other to their extreme positions, the projection range of the connection area of ​​the first gripper and the second gripper overlaps with each other. The movement paths of the first sliding unit and the second sliding unit are adapted to the corner of the pier. Through the first and second grippers on the first and second bearing platforms, the working parts held by the first and second bearing platforms can switch between the grippers on the first and second bearing platforms as they approach each other, thereby changing the movement path of the workpiece parts.

2. The robotic boom for construction at the corner of a pier as described in claim 1, characterized in that: The first slide rail and the second slide rail each include two parallel connecting beams, and the connecting beams of the first slide rail and the second slide rail are hinged to each other.

3. The robotic boom for construction at the corner of a pier as described in claim 1, characterized in that: The second supporting platform includes a connecting plate, an equipment mounting plate, a first auxiliary connecting strip, and a second auxiliary connecting strip. The equipment mounting plate and the first auxiliary connecting strip are respectively fixed to the sliders of the second slide rails on the two connecting beams. The two ends of the second auxiliary connecting strip are respectively rotatably connected to one end of the equipment mounting plate and one end of the first auxiliary connecting strip. The two ends of the connecting plate are respectively rotatably connected to the other end of the equipment mounting plate and the other end of the first auxiliary connecting strip. The points where the connecting plate, the equipment mounting plate, the first auxiliary connecting strip, and the second auxiliary connecting strip are rotatably connected in sequence form a parallelogram.

4. The robotic boom for construction at the corner of a pier as described in claim 1, characterized in that: The fixed frame has an arc-shaped section, an unlocking section and a contact section around the connection area. The two ends of the arc-shaped section are fixedly connected to the unlocking section and the guide section respectively. The hinge of the fixed frame and the support frame is located outside the connection area. When the fixed frame rotates around the hinge, the unlocking section and the support frame move away from each other, and the contact section extends into the connection area.

5. A robotic boom for construction at the corner of a pier as described in claim 4, characterized in that: When the contact section extends into the connection area, the end of the contact section is positioned on the side of the connection area closer to the support frame.

6. The robotic boom for construction at the corner of a pier as described in claim 4, characterized in that: A tension spring is also provided on the outside of the connecting area. One end of the tension spring is connected to the fixed frame, and the other end is connected to the support frame. When the fixed frame rotates around the hinge, the tension spring can pass through the axis of the hinge.

7. A robotic boom for construction at the corner of a pier as described in claim 4, characterized in that: The fixing frame also includes a limiting handle, and when the unlocking section moves away from the limit position of the support frame, the end of the limiting handle abuts against the upper surface of the support frame.

8. The robotic boom for construction at the corner of a pier as described in claim 1, characterized in that: A rack is fixedly installed below the first slide rail and the second slide rail respectively, and the two racks are parallel to the first slide rail and the second slide rail respectively. A drive motor is fixedly installed on the first support platform and the second support platform respectively, and the output shaft of the drive motor is connected to the rack and pinion transmission through gears.

9. A robotic boom for construction at the corner of a pier as described in claim 8, characterized in that: The drive motor below the second slide rail is fixedly connected to one side of the equipment mounting plate, and a counterweight is fixedly installed on the other side of the equipment mounting plate. The counterweight and the drive motor are respectively placed on both sides of a second slide rail.

10. A robotic boom for construction at the corner of a pier, as described in claim 3, characterized in that: The upper surface of the device mounting plate is provided with a supporting protrusion, and the lower surface of the connecting plate can rest on the supporting protrusion.

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