Mechanical arm based on multifunctional reinforcing steel bar and embedded part mounting equipment

Abstract

The invention discloses a mechanical arm based on multifunctional reinforcing steel bar and embedded part mounting equipment. The mechanical arm based on the multifunctional reinforcing steel bar and embedded part mounting equipment comprises a supporting module, a folding arm module, a telescopic arm module and a tail end adaptation module which are connected in sequence. The folding arm module comprises a plurality of folding arms, and the telescopic arms comprise a plurality of telescopic arms, so that a composite structure capable of being folded in multiple sections and telescopic in multiple sections is formed; the composite structure can be folded in a large range based on multi-section folding and can work in a large range based on multi-section stretching. The folding arm module and the telescopic arm module are matched with each other to form a composite structure, the folding angle range is increased through the arrangement of the multiple folding arms, the total arm length is prolonged, the coverage range is enlarged, and a wider three-dimensional space can be covered; through the arrangement of the telescopic arms, the maximum horizontal operation radius is effectively increased, a large factory building can be covered, the factory building can be spanned for operation, and the limitation of the length and the angle in the prior art is effectively broken through.

Description

Technical Field

[0001] This invention relates to the field of construction equipment technology, specifically to a robotic arm based on a multifunctional steel bar and embedded part installation device. Background Technology

[0002] In large-scale construction projects, the installation of steel bars and embedded parts in reinforced shear walls currently relies mainly on manual layout and installation. In the field of steel bar installation, the use of simple robotic arms (such as manually adjustable telescopic arms) with pure manual assistance in steel bar and embedded part installation is a well-known and common technology in the construction industry. It was widely used in small and medium-sized construction projects before 2010. Its automation is low, safety hazards are high, and construction efficiency is low.

[0003] Currently available robotic arm technology has significant limitations in various buildings at large nuclear power plant construction sites. Specifically:

[0004] First, using large robotic arms directly has limited spatial coverage capabilities, making it impossible to achieve a spherical working range that can cover the entire factory. Working at heights and in confined areas requires multiple adjustments to the equipment position.

[0005] Secondly, it lacks stability and safety, has no anti-instability counterweight design, and is prone to swaying when the boom is extended to its maximum length, requiring construction personnel to be off the ground for assistance, posing a risk of falling.

[0006] Third, when not in operation, it occupies too much space, while the space in the nuclear power plant is relatively small, making it difficult to place in the plant and requiring a lot of time to transfer the equipment. Summary of the Invention

[0007] The technical problem to be solved by this invention is that existing robotic arms are not suitable for the construction of large-scale plants such as nuclear power plants. The purpose is to provide a robotic arm based on a multi-functional steel bar and embedded part installation device to solve the above-mentioned problem.

[0008] This invention is achieved through the following technical solution:

[0009] A robotic arm based on a multifunctional rebar and embedded part installation equipment includes a support module, a folding arm module, a telescopic arm module and an end adapter module connected in sequence.

[0010] The folding arm module includes multiple folding arms, and the telescopic arm includes multiple telescopic arms, to form a composite structure capable of multi-segment folding and multi-segment telescopic extension;

[0011] Correspondingly, the composite structure can be folded over a wide range based on multi-segment folding and can operate over a wide range based on multi-segment telescopic.

[0012] In one possible design, the folding angle of the composite structure is -120° to +180°, and the radius of the working range is 3m.

[0013] In one possible design, the folding arm module includes a first folding arm, a second folding arm, and a third folding arm connected in sequence, with adjacent folding arms connected by a pin.

[0014] The first folding arm is rigidly connected to the support module. The first folding arm is equipped with a first driver whose working end is connected to the second folding arm. The second folding arm is equipped with an attitude fine adjuster whose working end is connected to the third folding arm.

[0015] In one possible design, the first folding arm includes a bottom ring, an intermediate cylinder and a first base plate connected sequentially from bottom to top. Two first base plates are provided and arranged in parallel and spaced apart. The two first base plates are connected by at least two first connecting shafts, and the first connecting shafts are selected as pins.

[0016] The second folding arm includes two opposing second substrates and several second connecting shafts for connecting the two second substrates. The two ends of the second substrates are connected by pins respectively.

[0017] The third folding arm includes two opposing third base plates and a third connecting shaft for connecting the two third base plates. The third connecting shaft is a pin, and the third base plate is also provided with an additional plate for connecting the telescopic arm module.

[0018] In one possible design, the telescopic arm module includes a first telescopic arm, a second telescopic arm, and a third telescopic arm that are slidably connected in sequence, with the first telescopic arm connected to the folding arm module.

[0019] The telescopic boom module also includes a hydraulic unit, which controls the telescopic boom module to retract in sequence from the first telescopic boom to the second telescopic boom to the third telescopic boom, and to extend out in sequence from the third telescopic boom to the second telescopic boom to the first telescopic boom.

[0020] In one possible design, the first telescopic boom includes a first cylinder, a plurality of tubular cylinders disposed on the outer surface of the first cylinder, and an additional plate extending to the first cylinder.

[0021] The second telescopic boom includes a second cylinder and a guide rod. One end of the second cylinder is open and inserted into the first cylinder, while the other end of the second cylinder is closed and equipped with a baffle. The guide rod connects to the baffle and extends towards the first cylinder. There are two guide rods, one of which is located above the second cylinder and parallel to the axis of the second cylinder, and the other is located outside the second cylinder and parallel to the axis of the second cylinder. Correspondingly, the additional piece on the first cylinder forms a guide groove adapted to the guide rod.

[0022] The structure of the third telescopic arm is the same as that of the second telescopic arm.

[0023] In one possible design, the hydraulic unit includes a hydraulic pump, a valve assembly, and hydraulic cylinders. The hydraulic pump is connected to the hydraulic cylinders through the valve assembly. The hydraulic cylinders are used to receive high-pressure oil delivered by the valve assembly and drive the telescopic boom to extend and retract. Accordingly, there are three hydraulic cylinders, each used to drive the three telescopic booms to extend and retract.

[0024] In one possible design, the telescopic boom module is equipped with a stabilization control module for controlling the attitude of the telescopic boom;

[0025] The stability control module includes an attitude sensor, a hydraulic lock, and an anti-sway damper;

[0026] An attitude sensor is installed at the end of the third telescopic arm and is used to monitor the tilt angle of the telescopic arm module in real time.

[0027] A hydraulic lock is installed at the end of the third telescopic boom and is used to lock the third telescopic boom;

[0028] Multiple anti-sway dampers are provided and positioned between two adjacent telescopic arms. The anti-sway dampers are used to prevent the telescopic arm module from swaying after it is extended.

[0029] In one possible design, the end-capsulation module includes a modular interface located at the end of the telescopic arm module;

[0030] The support module includes a slewing bearing and a support base. The slewing bearing has a reciprocating rotation function, and the support base is used to connect the slewing bearing and the folding arm module.

[0031] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0032] The folding arm module and the telescopic arm module work together to form a composite structure. The multiple folding arms increase the folding angle range and extend the total arm length, expanding the coverage area. This allows the robotic arm based on the multifunctional steel bar and embedded part installation equipment to cover a wider three-dimensional space. The multiple telescopic arms effectively increase the maximum horizontal working radius, enabling it to cover large factories and operate across factory buildings, effectively breaking through the limitations of length and angle in the existing technology.

[0033] Both the folding arm module and the telescopic arm module have two states: extended and retracted. During operation, the extension is performed according to the actual construction situation, and during non-operation periods, the retracted state is maintained to reduce the space occupied by the robotic arm based on the multi-functional rebar and embedded part installation equipment. This allows the robotic arm based on the multi-functional rebar and embedded part installation equipment to meet the needs of both large-space operation and confined space storage, thus adapting to narrow construction scenarios. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the drawings:

[0035] Figure 1 This is a schematic diagram of a robotic arm based on a multifunctional steel bar and embedded part installation equipment.

[0036] Figure 2 for Figure 1 A schematic diagram of the isometric structure.

[0037] Figure 3 This is a schematic diagram of the structure of a robotic arm for storing a multifunctional steel bar and embedded part installation device.

[0038] Figure 4 This is a schematic diagram of the first folding arm.

[0039] Figure 5 This is a schematic diagram of the second folding arm.

[0040] Figure 6 This is a schematic diagram of the third folding arm.

[0041] Figure 7 This is a schematic diagram of the first telescopic arm.

[0042] Figure 8 This is a schematic diagram of the second telescopic arm from a first-person perspective.

[0043] Figure 9 This is a schematic diagram of the second telescopic arm from a second-person perspective.

[0044] Figure 10 This is a schematic diagram of the hydraulic unit.

[0045] The attached diagram shows the markings and corresponding component names:

[0046] 1. Support module; 2. Folding arm module; 3. Telescopic arm module; 4. Stability control module; 5. End adapter module; 6. Rotary support; 7. Support base; 8. First folding arm; 801. Bottom ring; 802. Intermediate cylinder; 803. First base plate; 804. First connecting shaft; 9. Second folding arm; 901. Second base plate; 902. Second connecting shaft; 10. Third folding arm; 1001. Third base plate; 1002. Third connecting shaft; 1003. Additional plate; 11. First extension arm 1101, First cylinder; 1102, Pipeline cylinder; 1103, Additional plate; 12, Second telescopic boom; 1201, Second cylinder; 1202, Guide rod; 1203, Baffle; 13, Third telescopic boom; 14, Attitude sensor; 15, Hydraulic lock; 16, Anti-sway damper; 17, Modular interface; 18, Hydraulic cylinder; 19, Displacement sensor; 20, Hydraulic pump; 21, Oil tank; 22, Solenoid directional valve; 23, Sequence valve; 24, Check valve; 25, Relief valve. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0048] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that these specific details are not necessary to practice the invention. In other embodiments, well-known structures, circuits, materials, or methods have not been specifically described in order to avoid obscuring the invention.

[0049] Throughout this specification, references to "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with that embodiment or example is included in at least one embodiment of the invention. Therefore, the phrases "an embodiment," "an example," "an example," or "an example" appearing in various places throughout the specification do not necessarily refer to the same embodiment or example. Furthermore, specific features, structures, or characteristics can be combined in one or more embodiments or examples in any suitable combination and / or sub-combination. Moreover, those skilled in the art will understand that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0050] In the description of this invention, the terms "front", "rear", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. 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 the scope of protection of this invention.

[0051] Example:

[0052] like Figures 1-10 As shown, a robotic arm based on a multifunctional steel bar and embedded part installation equipment includes a support module 1, a folding arm module 2, a telescopic arm module 3 and an end adapter module 5 connected in sequence.

[0053] The folding arm module 2 includes multiple folding arms, and the telescopic arm includes multiple telescopic arms to form a composite structure capable of multi-segment folding and multi-segment telescopic extension;

[0054] Correspondingly, the composite structure can be folded over a wide range based on multi-segment folding and can operate over a wide range based on multi-segment telescopic.

[0055] In the robotic arm based on the multifunctional rebar and embedded part installation equipment, the folding arm module 2 and the telescopic arm module 3 cooperate to form a composite structure. The setting of multiple folding arms increases the folding angle range and extends the total arm length, expanding the coverage area, so that the robotic arm based on the multifunctional rebar and embedded part installation equipment can cover a wider three-dimensional space. The setting of multiple telescopic arms effectively increases the maximum horizontal working radius, which can cover large factories and perform operations across factories, effectively breaking through the length and angle limitations of the prior art.

[0056] Meanwhile, both the folding arm module 2 and the telescopic arm module 3 have two states: extended and retracted. During operation, they are extended according to the actual construction situation, and during non-operation periods, they are retracted to reduce the space occupied by the robotic arm based on the multi-functional steel bar and embedded part installation equipment. This allows the robotic arm based on the multi-functional steel bar and embedded part installation equipment to meet the needs of both large-space operation and confined space storage, thus adapting to narrow construction scenarios.

[0057] Notably, the folding arm module 2 extends upwards and can fold vertically, enabling the robotic arm based on the multi-functional rebar and embedded part installation equipment to move vertically and ensuring that the robotic arm's height meets construction requirements. The telescopic arm module 3 extends horizontally to expand the maximum horizontal working radius, thereby covering large factory buildings and ensuring that the robotic arm's width meets construction requirements. Furthermore, the two modules work together, allowing the robotic arm to move flexibly to any suitable position within the cylindrical space formed by the maximum height of the folding arm module 2 and the maximum length of the telescopic arm module 3, making it flexible, convenient, and highly practical.

[0058] Support module 1 features a rotation function, allowing for flexible adjustment of the orientation of the robotic arm based on the multi-functional rebar and embedded part installation equipment, ensuring versatile operation. Furthermore, support module 1 is equipped with a torque compensation device, which automatically adjusts the rotational resistance to prevent swaying of the robotic arm and ensure stable operation at any rotation angle. This eliminates the need for frequent equipment position adjustments to cover the entire factory work area. It is easy to understand that any suitable existing model of torque compensation device can be selected, offering a wide range of choices and good practicality.

[0059] The end effector module 5 is used to connect to the working component, which grasps the building materials and, in conjunction with the movement of the robotic arm of the multi-functional rebar and embedded part installation equipment, moves the building materials and places them in the desired position. It is easy to understand that the end effector module 5 can be constructed in any suitable structure to adapt to different types of working components.

[0060] During operation, the worker connects to the compatible working component via the end-effector adapter module 5. Any suitable existing component can be selected as the working component. The worker then operates the robotic arm of the multi-functional rebar and embedded part installation equipment to fold and / or extend / retract, thereby moving the building materials from the placement point to the installation point via the working component.

[0061] In one possible implementation, the composite structure has a folding angle of -120° to +180°, and a working radius of 3m. Based on this design, the folding arm module 2 can fold downwards to cover low-lying areas on the ground and fold upwards to reach high-altitude work points, resulting in a large folding angle range to cover a wider three-dimensional space. The horizontal working radius of the telescopic arm module 3 is increased from 1m to 3m, enabling it to cover large factory buildings and allow machinery to operate across factory buildings.

[0062] In one possible implementation, the folding arm module 2 includes a first folding arm 8, a second folding arm 9 and a third folding arm 10 connected in sequence, with adjacent folding arms connected by a pin.

[0063] The first folding arm 8 is rigidly connected to the support module 1. The first folding arm 8 is provided with a first driver whose working end is connected to the second folding arm 9. The second folding arm 9 is provided with an attitude fine adjuster whose working end is connected to the third folding arm 10.

[0064] Based on the above design, the first folding arm 8 is connected to the support module 1, so that the folding arm module 2 can rotate with the support module 1, thereby adjusting the orientation of the folding arm module 2. The second folding arm 9 is driven by the first driver to achieve folding, and the third folding arm 10 is driven by the attitude fine adjuster to achieve attitude correction, meeting the requirements of complex operation angles.

[0065] Furthermore, each of the three folding arms has a wear-resistant layer with a thickness of 0.6-1.0mm on its surface, and the connection between two connected folding arms is equipped with a dustproof sealing sleeve to prevent dust and impurities at the construction site from affecting the folding flexibility.

[0066] Furthermore, optionally, such as Figures 4-6 As shown, the first folding arm 8 includes a bottom ring 801, an intermediate cylinder 802 and a first base plate 803 connected sequentially from bottom to top. There are two first base plates 803 arranged in parallel and spaced apart. The two first base plates 803 are connected by at least two first connecting shafts 804, and the first connecting shafts 804 are selected as pins.

[0067] The second folding arm 9 includes two opposing second substrates 901 and a plurality of second connecting shafts 902 for connecting the two second substrates 901. The two ends of the second substrates 901 are connected by pins.

[0068] The third folding arm 10 includes two opposing third base plates 1001 and a third connecting shaft 1002 for connecting the two third base plates 1001. The third connecting shaft 1002 is a pin. The third base plate 1001 is also provided with an auxiliary plate 1003 for connecting the telescopic arm module 3.

[0069] Based on this, each of the three folding arms forms extra space through two opposing base plates. The first folding arm 8 uses the extra space to install the first driver, thereby driving the second folding arm 9 to fold relative to each other. The second folding arm 9 uses the extra space to install the attitude fine adjuster. The third folding arm 10 uses the extra space to realize the retraction of the telescopic arm module 3, further reducing the space occupation of the robotic arm based on the multifunctional steel bar and embedded part installation equipment.

[0070] In one possible implementation, the telescopic arm module 3 includes a first telescopic arm 11, a second telescopic arm 12 and a third telescopic arm 13 that are slidably connected in sequence, with the first telescopic arm 11 connected to the folding arm module 2.

[0071] The telescopic boom module 3 also includes a hydraulic unit, which controls the telescopic boom module 3 to retract in the order of the first telescopic boom 11, the second telescopic boom 12 to the third telescopic boom 13, and to extend outward in the order of the third telescopic boom 13, the second telescopic boom 12 to the first telescopic boom 11.

[0072] Based on the above design scheme, the telescopic boom module 3 is powered by a hydraulic unit and its extension and retraction sequence is controlled so that the telescopic boom module 3 extends and retracts in the designed sequence, ensuring that the telescopic boom module 3 achieves the designed performance.

[0073] Furthermore, adjacent telescopic arms are connected by guide sleeves, preferably made of polytetrafluoroethylene (PTFE) to reduce frictional resistance during extension and retraction, ensuring smoother operation. Each telescopic arm is equipped with a displacement sensor 19, which provides real-time feedback on the extension length, ensuring precise and controllable positioning. Additionally, the end of the third telescopic arm 13 is equipped with a buffer device to absorb rigid impacts and extend the service life of the telescopic arm module 3. It is easy to understand that any suitable existing model can be used for the buffer device.

[0074] Furthermore, optionally, such as Figures 7-9 As shown, the first telescopic arm 11 includes a first cylinder 1101, a plurality of pipeline cylinders 1102 disposed on the outer surface of the first cylinder 1101, and an auxiliary piece 1103 extending to the first cylinder 1101. Accordingly, pipelines are threaded through the pipeline cylinders 1102, and the pipelines are used to transmit electrical signals or oil to realize the telescopic control or status monitoring of the telescopic arm module 3.

[0075] The second telescopic arm 12 includes a second cylinder 1201 and a guide rod 1202. One end of the second cylinder 1201 is open and inserted into the first cylinder 1101. The other end of the second cylinder 1201 is closed and provided with a baffle 1203. The guide rod 1202 is connected to the baffle 1203 and extends towards the first cylinder 1101. There are two guide rods 1202, one of which is located above the second cylinder 1201 and parallel to the axis of the second cylinder 1201, and the other is located outside the second cylinder 1201 and parallel to the axis of the second cylinder 1201. Correspondingly, the additional piece 1103 on the first cylinder 1101 forms a guide groove adapted to the guide rod 1202.

[0076] The structure of the third telescopic arm 13 is the same as that of the second telescopic arm 12.

[0077] Based on this, the second telescopic arm 12 and the third telescopic arm 13 have the same structure but different dimensions, so that the third telescopic arm 13 can be inserted into the second telescopic arm 12. Correspondingly, the guide rod 1202 of the third telescopic arm 13 is inserted into the guide rod 1202 of the second telescopic arm 12, thereby eliminating the design of the guide groove on the second telescopic arm 12 and simplifying the structure.

[0078] In one possible implementation, the hydraulic unit includes a hydraulic pump 20, a valve group, and a hydraulic cylinder 18. The hydraulic pump 20 is connected to the hydraulic cylinder 18 through the valve group. The hydraulic cylinder 18 is used to receive high-pressure oil delivered by the valve group and drive the telescopic boom to extend and retract. Accordingly, there are three hydraulic cylinders 18, each used to drive the three telescopic booms to extend and retract.

[0079] Based on the above design, the core of the hydraulic unit lies in the oil passage from the oil source to the valve group to the actuator. The hydraulic pump 20 draws oil from the oil tank 21 and pressurizes it to the pipeline. A valve group is installed on the pipeline to control the flow of the oil. The oil flows to the corresponding hydraulic cylinder 18, which drives the corresponding telescopic arm to extend and retract. In this way, the extension and retraction sequence of the three telescopic arms is controlled.

[0080] The hydraulic pump 20 draws oil from the oil tank 21, converting mechanical energy into hydraulic energy to provide high-pressure oil for the system.

[0081] The valve assembly includes a solenoid directional valve 22, a sequence valve 23, a check valve 24, and a relief valve 25. The solenoid directional valve 22 is the core control valve, switching the valve core position via an electromagnetic signal to control the flow of high-pressure oil into the two chambers of the hydraulic cylinder 18, thus enabling the reciprocating sliding of the piston within the cylinder and determining the extension / retraction direction of the telescopic arm. The sequence valve 23 is the core valve body for controlling the extension / retraction sequence of the telescopic arm. A pressure threshold is set: when the system pressure is below the threshold, the oil only drives the first telescopic arm 11 or the third telescopic arm 13 to move; once the pressure reaches the threshold, the sequence valve 23 opens, allowing oil to enter the second telescopic arm 12 and drive it to move. The check valve 24 prevents backflow of oil, ensuring that even after power failure or pressure loss, the arm maintains its current position after extension, preventing accidental retraction. The relief valve 25 is a system safety valve that automatically releases pressure when the oil pressure exceeds a set value, protecting components such as the hydraulic pump 20 and the hydraulic cylinder 18 from damage.

[0082] Hydraulic cylinder 18 is the actuator, which is directly connected to the telescopic arm. When the valve group delivers high-pressure oil, the relative movement between the cylinder and the piston rod directly drives the multi-segment telescopic arm to extend and retract in sequence.

[0083] It is worth noting that the hydraulic unit also includes auxiliary components, including an oil tank 21 for storing and cooling oil, an oil filter for filtering out impurities, and oil pipes for connecting the various components.

[0084] Combination Figure 10 The following example illustrates the control flow of the telescopic boom module 3 (i.e., the coordinated control of the three sections of the telescopic boom by three hydraulic cylinders 18):

[0085] The hydraulic pump 20 starts, draws oil from the oil tank 21 and pressurizes it. The high-pressure oil is first filtered by the oil filter and then flows to the solenoid directional valve 22.

[0086] When the solenoid directional valve 22 switches to the "extend arm" signal, its valve core also switches to the "extend arm position," and high-pressure oil enters the sequence valve 23. At this time, the system pressure of the hydraulic unit is relatively low and has not reached the threshold of the sequence valve 23. The oil flows through the check valve 24 and flows to the third telescopic arm 13, and is driven by the corresponding hydraulic cylinder 18 to extend the third telescopic arm 13.

[0087] After the third telescopic arm 13 is fully extended, the resistance of the oil passage increases, causing the system pressure to rise and exceed the threshold set by the sequence valve 23. The sequence valve 23 opens, and the high-pressure oil flows through another one-way valve 24 to the second telescopic arm 12, which is then driven to extend by the corresponding hydraulic cylinder 18.

[0088] After the second telescopic arm 12 is fully extended, the resistance of the oil passage continues to increase, causing the system pressure to rise and exceed the threshold set by the sequence valve 23. The sequence valve 23 opens, and the high-pressure oil flows through another one-way valve 24 to the first telescopic arm 11, which is then driven to extend by the corresponding hydraulic cylinder 18.

[0089] Furthermore, when the solenoid directional valve 22 switches positions to achieve the retraction of the telescopic arm module 3, specifically:

[0090] When the electromagnetic reversing valve 22 switches to the "retract arm" signal, high-pressure oil enters the hydraulic cylinder 18, which in turn drives the first telescopic arm 11 to retract into the third folding arm 10.

[0091] After the first telescopic arm 11 retracts, the oil pressure gradually increases until it exceeds the threshold of the sequence valve 23. The sequence valve 23 opens and allows the oil to flow to the second telescopic arm 12, which is then driven to retract by the corresponding hydraulic cylinder 18.

[0092] After the second telescopic arm 12 retracts, the oil pressure gradually increases until it exceeds the threshold of the sequence valve 23. The sequence valve 23 opens and allows the oil to flow to the third telescopic arm 13, which is then driven to retract by the corresponding hydraulic cylinder 18.

[0093] It is worth noting that there are two sequence valves 23, one located between the first telescopic arm 11 and the second telescopic arm 12, and the other located between the second telescopic arm 12 and the third telescopic arm 13. Thus, when the telescopic arm module 3 extends, oil flows into it along the direction of third telescopic arm 13-second telescopic arm 12-first telescopic arm 11. The sequence valve 23 sets a set pressure, and the oil flows into the second telescopic arm 12 only after the third telescopic arm 13 extends first, thus extending the second telescopic arm 12. Similarly, the first telescopic arm 11 extends last, achieving the extension sequence of third telescopic arm 13-second telescopic arm 12-first telescopic arm 11. Similarly, when the telescopic arm module 3 retracts, oil flows into it along the direction of first telescopic arm 11-second telescopic arm 12-third telescopic arm 13, achieving the retraction sequence of first telescopic arm 11-second telescopic arm 12-third telescopic arm 13.

[0094] In one possible implementation, the telescopic boom module 3 is equipped with a stabilization control module 4 for controlling the attitude of the telescopic boom. Based on the above design, the telescopic boom module 3 is quite long after it extends, which, although covering a large construction area, can also cause it to sway. Therefore, the stabilization control module 4 is set up to keep it stable and solve the problem of easy swaying after the telescopic boom module 3 extends.

[0095] In one possible implementation, the stability control module 4 includes an attitude sensor 14, a hydraulic lock 15, and an anti-sway damper 16.

[0096] An attitude sensor 14 is installed at the end of the third telescopic arm 13 and is used to monitor the tilt angle of the telescopic arm module 3 in real time.

[0097] The hydraulic lock 15 is installed at the end of the third telescopic boom 13 and is used to lock the third telescopic boom 13;

[0098] Multiple anti-sway dampers 16 are provided and disposed between two adjacent telescopic arms. The anti-sway dampers 16 are used to prevent the telescopic arm module 3 from swaying after it is extended.

[0099] Based on the above design, the attitude sensor 14 monitors the tilt of the telescopic boom module 3 in real time and feeds it back to the hydraulic lock 15. When the tilt angle of the telescopic boom module 3 exceeds the set threshold, the hydraulic lock 15 triggers and locks the telescopic boom module 3 to prevent it from continuing to deviate. The anti-sway damper 16 absorbs the vibration energy of the telescopic boom module 3 during operation, reducing the sway amplitude of the robotic arm based on the multifunctional rebar and embedded part installation equipment, thus solving the problem of easy swaying after the existing telescopic boom is extended.

[0100] It is easy to understand that the attitude sensor 14 and the hydraulic lock 15 can each be any suitable existing model, and the anti-sway damper 16 is preferably an oil-gas hybrid damping structure, but can also be any other suitable existing model.

[0101] In one possible implementation, the end-capsule adapter module 5 includes a modular interface 17 disposed at the end of the telescopic boom module 3. Based on this, depending on the model of the working component, the end-capsule adapter module 5 can also include other suitable functional modules to meet construction requirements, and the functional modules can be any suitable existing equipment, offering a wide range of choices. The modular interface 17 can be a flange interface or any other suitable existing equipment.

[0102] In one possible implementation, the support module 1 includes a slewing support 6 and a support base 7. The slewing support 6 has a reciprocating rotation function, and the support base 7 is used to connect the slewing support 6 and the folding arm module 2.

[0103] Based on the above design, the slewing support 6 adopts a double-toothed planetary gear structure, with the inner ring connected to other construction equipment and the outer ring connected to the support base 7, thereby achieving 360° rotation without dead angles to flexibly adjust the orientation of the folding support arm. The support base 7 can be constructed into any suitable shape to meet different construction requirements.

[0104] It is easy to understand that in the robotic arm based on the multifunctional steel bar and embedded part installation equipment, the torque compensation device, attitude fine adjuster, buffer device, double gear ring planetary gear structure and other components can be selected from any suitable existing models, with a wide range of choices, so as to adapt to different working conditions.

[0105] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A robotic arm based on a multifunctional rebar and embedded part installation equipment, characterized in that, It includes a support module (1), a folding arm module (2), a telescopic arm module (3), and an end adapter module (5) connected in sequence. The folding arm module (2) includes multiple folding arms, and the telescopic arm includes multiple telescopic arms to form a composite structure capable of multi-segment folding and multi-segment telescopic extension; Correspondingly, the composite structure can be folded over a wide range based on multi-segment folding and can operate over a wide range based on multi-segment telescopic.

2. The robotic arm based on the multifunctional rebar and embedded part installation equipment according to claim 1, characterized in that, The folding angle of the composite structure is -120° to +180°, and the radius of the working range is 3m.

3. The robotic arm based on the multifunctional rebar and embedded part installation equipment according to claim 1, characterized in that, The folding arm module (2) includes a first folding arm (8), a second folding arm (9) and a third folding arm (10) connected in sequence, with adjacent folding arms connected by a pin. The first folding arm (8) is rigidly connected to the support module (1). The first folding arm (8) is provided with a first driver whose working end is connected to the second folding arm (9). The second folding arm (9) is provided with an attitude fine adjuster whose working end is connected to the third folding arm (10).

4. The robotic arm based on the multifunctional rebar and embedded part installation equipment according to claim 3, characterized in that, The first folding arm (8) includes a bottom ring (801), an intermediate cylinder (802) and a first base plate (803) connected sequentially from bottom to top. The first base plate (803) is provided in two parallel and spaced apart. The two first base plates (803) are connected by at least two first connecting shafts (804). The first connecting shafts (804) are selected as pins. The second folding arm (9) includes two opposing second substrates (901) and a plurality of second connecting shafts (902) for connecting the two second substrates (901), with the two ends of the second substrates (901) connected by pins respectively. The third folding arm (10) includes two opposing third base plates (1001) and a third connecting shaft (1002) for connecting the two third base plates (1001). The third connecting shaft (1002) is a pin. The third base plate (1001) is also provided with an additional plate (1003) for connecting the telescopic arm module (3).

5. The robotic arm based on the multifunctional rebar and embedded part installation equipment according to claim 1, characterized in that, The telescopic arm module (3) includes a first telescopic arm (11), a second telescopic arm (12) and a third telescopic arm (13) that are slidably connected in sequence. The first telescopic arm (11) is connected to the folding arm module (2). The telescopic boom module (3) also includes a hydraulic unit for controlling the telescopic boom module (3) to retract in sequence from the first telescopic boom (11), the second telescopic boom (12) to the third telescopic boom (13), and to extend out in sequence from the third telescopic boom (13), the second telescopic boom (12) to the first telescopic boom (11).

6. The robotic arm based on the multifunctional rebar and embedded part installation equipment according to claim 5, characterized in that, The first telescopic boom (11) includes a first cylinder (1101), a plurality of pipeline cylinders (1102) disposed on the outer surface of the first cylinder (1101), and an auxiliary plate (1103) extending to the first cylinder (1101). The second telescopic arm (12) includes a second cylinder (1201) and a guide rod (1202). One end of the second cylinder (1201) is open and inserted into the first cylinder (1101), and the other end of the second cylinder (1201) is closed and provided with a baffle (1203). The guide rod (1202) is connected to the baffle (1203) and extends towards the first cylinder (1101). There are two guide rods (1202), one of which is located above the second cylinder (1201) and parallel to the axis of the second cylinder (1201), and the other is located outside the second cylinder (1201) and parallel to the axis of the second cylinder (1201). Correspondingly, the additional piece (1103) on the first cylinder (1101) forms a guide groove adapted to the guide rod (1202). The structure of the third telescopic arm (13) is the same as that of the second telescopic arm (12).

7. The robotic arm based on the multifunctional rebar and embedded part installation equipment according to claim 5, characterized in that, The hydraulic unit includes a hydraulic pump (20), a valve group and a hydraulic cylinder (18). The hydraulic pump (20) is connected to the hydraulic cylinder (18) through the valve group. The hydraulic cylinder (18) is used to receive the high-pressure oil delivered by the valve group and drive the telescopic arm to extend and retract. Accordingly, there are three hydraulic cylinders (18) and they are used to drive the three telescopic arms to extend and retract respectively.

8. The robotic arm based on the multifunctional rebar and embedded part installation equipment according to claim 5, characterized in that, The telescopic boom module (3) is equipped with a stabilization control module (4) for controlling the attitude of the telescopic boom. The stability control module (4) includes an attitude sensor (14), a hydraulic lock (15), and an anti-sway damper (16). An attitude sensor (14) is installed at the end of the third telescopic arm (13) and is used to monitor the tilt angle of the telescopic arm module (3) in real time. A hydraulic lock (15) is installed at the end of the third telescopic boom (13) and is used to lock the third telescopic boom (13). Multiple anti-sway dampers (16) are provided and are arranged between two adjacent telescopic arms. The anti-sway dampers (16) are used to prevent the telescopic arm module (3) from swaying after it is extended.

9. The robotic arm based on the multifunctional rebar and embedded part installation equipment according to any one of claims 1-8, characterized in that, The end adapter module (5) includes a modular interface (17) located at the end of the telescopic arm module (3).

10. The robotic arm based on the multifunctional rebar and embedded part installation equipment according to any one of claims 1-8, characterized in that, The support module (1) includes a slewing support (6) and a support base (7). The slewing support (6) has a reciprocating rotation function, and the support base (7) is used to connect the slewing support (6) and the folding arm module (2).

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