Automatic manipulator for remotely mounting pipe hoop

Abstract

The invention belongs to the technical field of automation of remote installation of pipe hoops, and particularly relates to an automatic manipulator for remote installation of pipe hoops, which comprises a lift truck, a control case, an arm lever, a rotating motor, a rotating seat, a clamping assembly, a tooth frame and a driving motor, the lifting trolley, the control case and the arm rod are fixedly mounted in sequence from bottom to top, a rotating motor is fixedly mounted on the side surface of the arm rod, a rotating seat is movably mounted at the front end of the arm rod, a clamping assembly and a tooth frame are movably mounted in the rotating seat, and the tooth frame is located between the clamping assembly and the rotating seat; the rotating motor is meshed with the rotating seat; a driving motor is fixedly mounted on the upper surface of the rotating seat, and the driving motor is in driving connection with the tooth frame; and the control case is connected with the rotating motor and the driving motor. The rotating angle and the opening and closing state of the clamping assembly on the rotating base can be automatically controlled, and remote disassembly and assembly of the pipe hoop in some special environments are achieved in a remote control mode.

Description

Technical Field

[0001] This invention belongs to the field of automated technology for remote installation of pipe clamps, and specifically relates to an automated robotic arm for remote installation of pipe clamps. Background Technology

[0002] Pipe clamps, as fastening structures of protective devices installed on pipelines, are crucial for pipeline protection and maintenance, especially in the high-radioactive environments of some nuclear power plants. When pipe clamps need to be installed on pipelines in special environments, workers need to wear protective gear before entering the special environment to avoid being affected by the environment. At the same time, when facing dense and complex pipeline clusters, manual installation of pipe clamps is not only cumbersome, but also limited by the strength of workers. This makes it impossible to quickly complete the installation and removal of pipe clamps, requiring workers to stay in the special environment for a long time. Working in the special environment for a long time is accompanied by certain safety hazards and high radiation risks. Summary of the Invention

[0003] The purpose of this invention is to provide an automated robotic arm for remotely installing pipe clamps, which can automatically control the rotation angle and opening / closing state of the clamping components on the rotating seat, and realize remote installation and removal of pipe clamps in some special environments through remote control.

[0004] Technical solution to achieve the purpose of this invention: An automated robotic arm for remotely installing pipe clamps includes a lifting platform, a control box, an arm, a rotary motor, a rotating seat, a clamping assembly, a gear frame, and a drive motor. The lifting platform, control box, and arm are fixedly installed sequentially from bottom to top. A rotary motor is fixedly mounted on the side surface of the arm, and a rotating seat is movably mounted on the front end of the arm. The clamping assembly and gear frame are movably mounted inside the rotating seat, with the gear frame located between the clamping assembly and the rotating seat. The lifting platform controls the height of the arm. The rotary motor meshes with the rotating seat, driving the rotating seat to rotate and thus controlling the rotation angle of the clamping assembly on the rotating seat. The clamping assembly meshes with the gear frame. A drive motor is fixedly mounted on the upper surface of the rotating seat, driving the gear frame to move axially, thereby controlling the opening and closing state of the clamping assembly. The control box is connected to the rotary motor and drive motor, and is used to control the rotary motor and drive motor.

[0005] Furthermore, the robotic arm also includes a high-definition radiation-resistant camera. The high-definition radiation-resistant camera is fixedly installed on the arm and is located above the clamping assembly. The high-definition radiation-resistant camera is connected to the control box. The high-definition radiation-resistant camera is used to collect high-definition image data of the working screen of the clamping assembly. The control box is used to receive the high-definition image data and identify the working screen of the clamping assembly, and identify the relative positioning of the clamping assembly and the pipe clamp.

[0006] Furthermore, the rotating seat includes a gear disk, a rotating block, side baffles, and right-angle plates. The rotating block is fixedly installed on the rear surface of the gear disk; the right-angle plate is fixedly installed on the front surface of the gear disk and above it, and a drive motor is fixedly installed on the upper surface of the right-angle plate; the side baffles are symmetrically fixedly installed on the front surface of the gear disk and near both sides.

[0007] Furthermore, the clamping assembly includes a first clamp rod, a second clamp rod, a first driven gear, a second driven gear, a plug rod, and a positioning shaft; the plug rod is fixedly installed on the front surface of the first clamp rod and the second clamp rod, and the first driven gear and the second driven gear are fixedly installed on the rear surfaces of the first clamp rod and the second clamp rod, respectively, on the side surfaces away from each other; the first clamp rod and the first driven gear, and the second clamp rod and the second driven gear, are movably sleeved on the surface of the positioning shaft; a through shaft hole is opened on the surface of the side baffle near the front end; the outer diameter of the positioning shaft matches the inner diameter of the shaft hole, and both ends of the positioning shaft are connected to the shaft hole.

[0008] Furthermore, the clamping assembly also includes a threaded fixing cap, and threaded grooves are formed on both ends of the positioning shaft, which match the threaded fixing cap; an embedding groove is formed on the side surface opposite to the front end of the side baffle, and the threaded fixing cap is embedded in the embedding groove, with the rear end of the threaded fixing cap embedded in the threaded groove.

[0009] Furthermore, the gear frame includes a connecting plate, a threaded sleeve block, a first gear, and a second gear; the threaded sleeve block is fixedly installed on the upper surface of the connecting plate, the first gear is fixedly installed on the front surface of one side of the upper end of the connecting plate, and the second gear is fixedly installed on the front surface of the other side of the lower end of the connecting plate. The tooth surfaces on the first and second gears are arranged opposite to each other. The first gear meshes with the first driven gear, and the second gear meshes with the second driven gear. The first and second gears of the gear frame drive the first driven gear on the first clamping rod and the second driven gear on the second clamping rod of the clamping assembly to rotate, thereby controlling the opening and closing of the first and second clamping rods.

[0010] Furthermore, a threaded rod is fixedly installed at the output end of the drive motor, a limit block is fixedly installed on the front end face of the threaded rod, and a threaded sleeve is fitted on the surface of the threaded rod; the drive motor controls the threaded rod to rotate, and the rotating threaded rod cooperates with the threaded sleeve of the gear frame, so that the gear frame moves closer to or away from the drive motor along the axial direction.

[0011] Furthermore, the gear frame also includes a limiting slider. Limiting sliders are symmetrically fixedly installed on both sides of the connecting plate and in the middle. A limiting groove is opened on the opposite side surface of the side baffle. The limiting slider matches the limiting groove and is slidably connected in the limiting groove.

[0012] Furthermore, an end cap is fixedly installed on the front end face of the arm, and a through hole is opened on the front surface of the end cap at the center. A rotating groove is opened on the front end face of the arm, and the through hole and the rotating groove are coaxially arranged. The rotating block passes through the through hole and is embedded in the rotating groove.

[0013] Furthermore, a transmission gear is fixedly installed at the output end of the rotary motor. The transmission gear meshes with the gear plate of the rotary seat. The rotary motor drives the rotary seat to rotate by meshing the transmission gear with the gear plate of the rotary seat, thereby controlling the angle of the clamping components on the rotary seat.

[0014] The beneficial technical effects of this invention are as follows: 1. The present invention provides an automated robotic arm for remote installation of pipe clamps. By setting up a rotary motor and a rotary seat to cooperate with each other, the rotary motor can drive the rotary seat to rotate by using a transmission gear to cooperate with the gear plate of the rotary seat. This allows for automatic control of the rotation angle of the clamping components on the rotary seat, thus adapting to the installation of pipe clamps inside densely packed pipes.

[0015] 2. The present invention provides an automated robotic arm for remote installation of pipe clamps. By setting up a drive motor, a gear frame, and a clamping assembly to cooperate with each other, when it is necessary to control the opening and closing of the clamping assembly, the drive motor is started under program control. The drive motor controls the rotation of the threaded rod. The rotating threaded rod cooperates with the threaded sleeve block of the gear frame, causing the gear frame to move closer to or away from the drive motor. When the gear frame moves, the first and second gears of the gear frame drive the first and second driven gears on the first and second clamping rods of the clamping assembly to rotate, thereby controlling the first and second clamping rods to open or close, causing the pipe clamp to open or close. This enables remote installation and removal of pipe clamps in some special environments through remote control.

[0016] 3. The present invention provides an automated robotic arm for remote installation of pipe clamps. The automated robotic arm consists of a high-definition radiation-resistant camera and a control box forming a visual recognition system, which can reduce the positioning deviation of remote installation of pipe clamps and meet the requirement of accurate alignment of pipe positions for pipe clamp installation in dense pipe groups and certain high-radioactive environments. Attached Figure Description

[0017] Figure 1 This invention provides an overall structural diagram of an automated robotic arm for remotely installing pipe clamps; Figure 2 for Figure 1 Enlarged view of point A in the middle; Figure 3 A partial disassembly diagram of an automated robotic arm for remotely installing pipe clamps provided by the present invention; Figure 4 The present invention provides an overall structural diagram of the rotating seat of an automated robotic arm for remotely installing pipe clamps; Figure 5 A partial cross-sectional view of the rotating seat of an automated robotic arm for remotely installing pipe clamps, provided by the present invention; Figure 6 This invention provides an overall connection structure diagram of the clamping assembly of an automated robotic arm for remotely installing pipe clamps; Figure 7 A disassembled structural diagram of the clamping component of an automated robotic arm for remotely installing pipe clamps, provided by the present invention; Figure 8 A diagram of the gear frame structure of an automated robotic arm for remotely installing pipe clamps provided by the present invention; Figure 9 A schematic diagram of the clamping operation of an automated robotic arm for remote installation of pipe clamps provided by the present invention; Figure 10 This invention provides a schematic diagram of the clamping operation and closure of a remotely installed pipe clamp by an automated robotic arm.

[0018] In the diagram: 1. Lifting vehicle; 2. Control box; 3. Boom; 301. Rotating groove; 4. High-definition radiation-resistant camera; 5. End cap; 501. Through hole; 6. Rotary motor; 601. Transmission gear; 7. Rotating seat; 701. Gear plate; 702. Rotating block; 703. Side baffle; 704. Shaft hole; 705. Limiting slide groove; 706. Right angle plate; 8. Clamping assembly; 801. No. 1 clamping rod; 802. No. 2 clamping rod; 803. Insert rod; 804. Driven gear No. 1; 805. Positioning shaft; 806. Threaded groove; 807. Threaded fixing cap; 808. Driven gear No. 2; 9. Gear frame; 901. Connecting plate; 902. Limiting slider; 903. Threaded sleeve block; 904. Gear No. 1; 905. Gear No. 2; 10. Drive motor; 1001. Threaded rod; 1002. Limiting block; 11. Pipe clamp; 1101. Pipe clamp chuck. Detailed Implementation

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0020] like Figure 1-10 As shown, the present invention provides an automated manipulator for remote installation of pipe clamps, including a lifting vehicle 1, a control box 2, an arm 3, a rotary motor 6, a rotary seat 7, a clamping assembly 8, a gear frame 9, and a drive motor 10.

[0021] A control box 2 is fixedly installed on the upper end of the lifting vehicle 1. An arm 3 is fixedly installed on the upper front end of the control box 2. A rotary motor 6 is fixedly installed on one side surface of the front end of the arm 3. A rotating seat 7 is movably installed on the front end of the arm 3. A clamping assembly 8 is movably installed inside the front end of the rotating seat 7. A gear frame 9 is movably installed inside the rotating seat 7 and behind the clamping assembly 8. The lifting vehicle 1 is used to control the height of the arm 3.

[0022] The rotary motor 6 is engaged with the rotary seat 7. The rotary motor 6 is used to drive the rotary seat 7 to rotate, thereby controlling the rotation angle of the clamping component 8 on the rotary seat 7.

[0023] The clamping assembly 8 is engaged with the gear frame 9. A drive motor 10 is fixedly installed on the upper surface of the rotating seat 7. The drive motor 10 is driven by the gear frame 9. The drive motor 10 is used to drive the gear frame 9 to move axially. The opening and closing state of the clamping assembly 8 is controlled by the axial movement of the gear frame 9.

[0024] The control box 2 is connected to the rotary motor 6 and the drive motor 10, and is used to control the rotary motor 6 and the drive motor 10.

[0025] like Figure 1 As shown, the present invention also includes a high-definition radiation-resistant camera 4. The high-definition radiation-resistant camera 4 is fixedly installed on the upper surface of the front end of the arm 3. The high-definition radiation-resistant camera 4 is located above the clamping assembly 8 and is connected to the control box 2. The high-definition radiation-resistant camera 4 is used to collect high-definition image data of the working screen of the clamping assembly 8. The control box 2 is used to receive the high-definition image data and identify the working screen of the clamping assembly 8, identify the relative positioning of the clamping assembly 8 and the pipe clamp, ensure the accurate positioning of the clamping assembly 8, and reduce the positioning deviation of the pipe clamp during remote installation.

[0026] like Figure 4-5 As shown, the rotating base 7 includes a gear disk 701, a rotating block 702, a side baffle 703, and a right-angle plate 706. The rotating block 702 is fixedly installed on the rear surface of the gear disk 701. The right-angle plate 706 is fixedly installed on the front surface of the gear disk 701 and located above it. The drive motor 10 is fixedly installed on the upper surface of the right-angle plate 706. The side baffles 703 are symmetrically fixedly installed on the front surface of the gear disk 701 near both sides. A limit groove 705 is opened on the opposite side surface of the side baffle 703. A through shaft hole 704 is opened on the surface of the side baffle 703 near the front end.

[0027] like Figure 6-7As shown, the clamping assembly 8 includes a first clamping rod 801, a second clamping rod 802, a first driven gear 804, a second driven gear 808, a insert rod 803, a positioning shaft 805, and a threaded fixing cap 807. Insert rod 803 is fixedly mounted on the front surfaces of the first clamping rod 801 and the second clamping rod 802. A first driven gear 804 and a second driven gear 808 are respectively fixedly mounted on the rear surfaces of the first clamping rod 801 and the second clamping rod 802, respectively, on the surfaces furthest from each other. The rear end of the first clamping rod 801 is connected to the fixedly mounted first driven gear 804 and the second driven gear 808. A through hole is provided on the driven gear 804. A through hole is provided on the rear end of the second clamping rod 802 and the fixedly installed second driven gear 808. The first clamping rod 801 and the first driven gear 804, and the second clamping rod 802 and the second driven gear 808 are movably sleeved on the surface of the positioning shaft 805 through the through holes. The two ends of the positioning shaft 805 are embedded in the shaft hole 704. Threaded grooves 806 are provided on the surface of both ends of the positioning shaft 805. The threaded grooves 806 match the threaded fixing caps 807.

[0028] like Figure 2 , 7 As shown, a groove is provided on the side surface opposite to the front end of the side baffle 703. The threaded fixing cap 807 is embedded in the groove, and the rear end of the threaded fixing cap 807 is embedded in the threaded groove 806. When the threaded fixing cap 807 is embedded in the groove, it can prevent the threaded fixing cap 807 from rotating accidentally. This can position the positioning shaft 805 and prevent the positioning shaft 805 from rotating.

[0029] like Figure 7 , 8 As shown, the gear frame 9 includes a connecting plate 901, a threaded sleeve 903, a first gear 904, and a second gear 905. The threaded sleeve 903 is fixedly mounted on the upper surface of the connecting plate 901. The first gear 904 is fixedly mounted on one front surface of the upper end of the connecting plate 901, and the second gear 905 is fixedly mounted on the other front surface of the lower end of the connecting plate 901. The tooth surfaces of the first gear 904 and the second gear 905 are arranged opposite each other. The first gear 904 meshes with the first driven gear 804, and the second gear 905 meshes with the second driven gear 808. When the gear frame 9 moves axially relative to the drive motor 10, the first gear 904 and the second gear 905, moving in the same direction, respectively drive the first driven gear 804 and the second driven gear 808 of the clamping assembly 8. Rotating in opposite directions, clamping rods 801 and 802, which are connected to driven gear 804 and driven gear 808 respectively, rotate in opposite directions at the same angle in the same vertical plane, controlling the opening or closing of clamping rods 801 and 802, that is, controlling the opening and closing state of clamping assembly 8.

[0030] In practical implementation, when the angle between clamp 801 and clamp 802 is approximately 0°, the pipe clamp 11 fitted onto the insert 803 can fully open and engage with the pipe. When the angle between clamp 801 and clamp 802 is approximately 50-80°, the pipe clamp 11 with a diameter of 1.5-3 inches can close. Figure 9-10 As shown.

[0031] like Figure 2 As shown, a threaded rod 1001 is fixedly installed at the output end of the drive motor 10, and a limit block 1002 is fixedly installed on the front end face of the threaded rod 1001. A threaded sleeve block 903 is sleeved on the surface of the threaded rod 1001. The drive motor 10 controls the threaded rod 1001 to rotate. The rotating threaded rod 1001 cooperates with the threaded sleeve block 903 of the gear frame 9, so that the gear frame 9 moves closer to or away from the drive motor 10 along the axial direction.

[0032] like Figure 8 As shown, the gear frame 9 also includes a limiting slider 902. The limiting slider 902 is symmetrically fixedly installed on both sides of the connecting plate 901, located in the middle. The limiting slider 902 is embedded in the limiting groove 705 and can slide within it. The cooperation between the limiting slider 902 and the limiting groove 705 helps the gear frame 9 maintain stability during movement.

[0033] like Figure 2-5 As shown, an end cap 5 is fixedly installed on the front end face of the arm 3. A through hole 501 is opened on the front surface of the end cap 5 and located in the middle. A rotating groove 301 is opened on the front end face of the arm 3. The through hole 501 and the rotating groove 301 are coaxially arranged. The rotating block 702 passes through the through hole 501 and is embedded in the rotating groove 301.

[0034] like Figure 2 As shown, a transmission gear 601 is fixedly installed at the output end of the rotary motor 6. The transmission gear 601 meshes with the gear disk 701 of the rotary seat 7. The rotary motor 6 can drive the rotary seat 7 to rotate by meshing the transmission gear 601 with the gear disk 701 of the rotary seat 7, thereby controlling the angle of the clamping component 8 on the rotary seat 7.

[0035] Both the end cap 5 and the rotary motor 6 are fixed to the arm 3 by fasteners.

[0036] The automated robotic arm for remote installation of pipe clamps provided by this invention is used to remotely install and remove pipe clamps. The specific steps are as follows: Step (1): Before the device enters the working area, manually put the pipe clamp 1101 into the insertion rod 803 on the first clamp rod 801 and the second clamp rod 802 of the clamping assembly; Step (2): Operate the control box 2, start the lifting vehicle 1, and move the robotic arm lever 3 to the working position; Step (3): Operation control box 2, the rotary motor 6 is started by the program control, the rotary motor 6 uses the transmission gear 601 to cooperate with the gear plate 701 of the rotary seat 7 to drive the rotary seat 7 to rotate, thereby automatically controlling the circumferential rotation angle of the clamping component 8 on the rotary seat 7. Step (4): Operation control box 2, drive motor 10 starts through program control, drive motor 10 controls thread rod 1001 to rotate, the rotating thread rod 1001 cooperates with threaded sleeve block 903 of gear frame 9, so that gear frame 9 moves closer to or away from drive motor 10. When gear frame 9 moves, the first gear rod 904 and the second gear rod 905 of gear frame 9 drive the first driven gear 804 on the first clamp rod 801 and the first and second driven gears 808 on the second clamp rod 802 of clamping assembly 8 to rotate, thereby controlling the first clamp rod 801 and the second clamp rod 802 to open or close, so that the pipe clamp 11 is in a closed or open state, realizing remote disassembly and assembly of pipe clamp in dense pipeline groups and high radioactive environment through remote control. Step (5): During operation, a high-definition radiation-resistant camera 4 is fixedly installed on the boom 3. The high-definition radiation-resistant camera 4 is located above the clamping assembly 8 and connected to the control box 2. It is used to collect high-definition image data of the working screen of the clamping assembly 8 and to identify the working screen of the clamping assembly and the relative positioning of the clamping assembly and the pipe clamp.

[0037] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. However, the present invention is not limited to the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention. All contents not described in detail in the present invention can be derived from existing technologies.

Claims

1. An automated robotic arm for remotely installing pipe clamps, characterized in that, The robotic arm includes a lifting platform (1), a control box (2), an arm (3), a rotary motor (6), a rotating seat (7), a clamping assembly (8), a gear frame (9), and a drive motor (10); the lifting platform (1), the control box (2), and the arm (3) are fixedly installed from bottom to top. The rotary motor (6) is fixedly installed on the side surface of the arm (3), and the rotating seat (7) is movably installed at the front end of the arm (3). The clamping assembly (8) and the gear frame (9) are movably installed inside the rotating seat (7), and the gear frame (9) is located between the clamping assembly (8) and the rotating seat (7); the lifting platform (1) is used to control the height of the arm (3); the rotary motor (6) The rotary motor (6) is engaged with the rotary seat (7), and the rotary motor (6) is used to drive the rotary seat (7) to rotate, thereby controlling the rotation angle of the clamping assembly (8) on the rotary seat (7); the clamping assembly (8) is engaged with the gear frame (9), and the drive motor (10) is fixedly installed on the upper surface of the rotary seat (7). The drive motor (10) is driven to drive the gear frame (9), and the drive motor (10) is used to drive the gear frame (9) to move axially. The opening and closing state of the clamping assembly (8) is controlled by the axial movement of the gear frame (9); the control box (2) is connected to the rotary motor (6) and the drive motor (10), and is used to control the rotary motor (6) and the drive motor (10).

2. The automated robotic arm for remote installation of pipe clamps according to claim 1, characterized in that, The robotic arm also includes a high-definition radiation-resistant camera (4). The high-definition radiation-resistant camera (4) is fixedly installed on the arm (3). The high-definition radiation-resistant camera (4) is located above the clamping assembly (8). The high-definition radiation-resistant camera (4) is connected to the control box (2). The high-definition radiation-resistant camera (4) is used to collect high-definition image data of the working screen of the clamping assembly (8). The control box (2) is used to receive the high-definition image data and identify the working screen of the clamping assembly (8) and the relative positioning of the clamping assembly (8) and the pipe clamp.

3. The automated robotic arm for remote installation of pipe clamps according to claim 1, characterized in that, The rotating base (7) includes a gear plate (701), a rotating block (702), a side baffle (703), and a right-angle plate (706). The rotating block (702) is fixedly installed on the rear surface of the gear plate (701); the right-angle plate (706) is fixedly installed on the front surface of the gear plate (701) and located above it; the drive motor (10) is fixedly installed on the upper surface of the right-angle plate (706); and the side baffles (703) are fixedly installed symmetrically on the front surface of the gear plate (701) and close to both sides.

4. The automated robotic arm for remote installation of pipe clamps according to claim 3, characterized in that, The clamping assembly (8) includes a first clamping rod (801), a second clamping rod (802), a first driven gear (804), a second driven gear (808), a insert rod (803), and a positioning shaft (805); the insert rod (803) is fixedly installed on the front surface of the first clamping rod (801) and the second clamping rod (802), and the first driven gear (808) is fixedly installed on the rear surfaces of the first clamping rod (801) and the second clamping rod (802) on opposite sides. 04) The second driven gear (808), the first clamping rod (801) and the first driven gear (804), the second clamping rod (802) and the second driven gear (808) are movably sleeved on the surface of the positioning shaft (805); the side baffle (703) has a through shaft hole (704) on its surface and near the front end; the outer diameter of the positioning shaft (805) matches the inner diameter of the shaft hole (704), and both ends of the positioning shaft (805) are connected in the shaft hole (704).

5. The automated robotic arm for remote installation of pipe clamps according to claim 4, characterized in that, The clamping assembly (8) also includes a threaded fixing cap (807), and threaded grooves (806) are provided on both ends of the positioning shaft (805). The threaded grooves (806) match the threaded fixing cap (807). An embedding groove is provided on the side surface opposite to the front end of the side baffle (703). The threaded fixing cap (807) is embedded in the embedding groove, and the rear end of the threaded fixing cap (807) is embedded in the threaded groove (806).

6. The automated robotic arm for remote installation of pipe clamps according to claim 4, characterized in that, The gear frame (9) includes a connecting plate (901), a threaded sleeve (903), a first gear (904), and a second gear (905). The threaded sleeve (903) is fixedly installed on the upper surface of the connecting plate (901). The first gear (904) is fixedly installed on the front surface of one side of the upper end of the connecting plate (901), and the second gear (905) is fixedly installed on the front surface of the other side of the lower end of the connecting plate (901). The tooth surfaces on the first gear (904) and the second gear (905) are arranged opposite to each other. The first rack (904) meshes with the first driven gear (804), and the second rack (905) meshes with the second driven gear (808). The first rack (904) and the second rack (905) of the gear frame (9) drive the first driven gear (804) on the first clamping rod (801) and the second driven gear (808) on the second clamping rod (802) of the clamping assembly (8) to rotate, thereby controlling the opening and closing of the first clamping rod (801) and the second clamping rod (802).

7. The automated robotic arm for remote installation of pipe clamps according to claim 6, characterized in that, A threaded rod (1001) is fixedly installed at the output end of the drive motor (10), and a limit block (1002) is fixedly installed on the front end face of the threaded rod (1001). A threaded sleeve block (903) is sleeved on the surface of the threaded rod (1001). The drive motor (10) controls the threaded rod (1001) to rotate. The rotating threaded rod (1001) cooperates with the threaded sleeve block (903) of the gear frame (9), so that the gear frame (9) moves closer to or away from the drive motor (10) along the axial direction.

8. The automated robotic arm for remote installation of pipe clamps according to claim 6, characterized in that, The gear frame (9) also includes a limiting slider (902). The limiting slider (902) is symmetrically fixedly installed on both sides of the connecting plate (901) and in the middle. A limiting groove (705) is opened on the opposite side surface of the side baffle (703). The limiting slider (902) matches the limiting groove (705) and the limiting slider (902) is slidably connected in the limiting groove (705).

9. The automated robotic arm for remotely installing pipe clamps according to claim 3, characterized in that, An end cap (5) is fixedly installed on the front end face of the arm (3). A through hole (501) is opened on the front surface of the end cap (5) and in the middle. A rotating groove (301) is opened on the front end face of the arm (3). The through hole (501) and the rotating groove (301) are coaxially arranged. The rotating block (702) passes through the through hole (501) and is embedded in the rotating groove (301).

10. An automated robotic arm for remotely installing pipe clamps according to claim 3, characterized in that, The output end of the rotary motor (6) is fixedly equipped with a transmission gear (601). The transmission gear (601) meshes with the gear plate (701) of the rotary seat (7). The rotary motor (6) uses the transmission gear (601) to mesh with the gear plate (701) of the rotary seat (7) to drive the rotary seat (7) to rotate, thereby controlling the angle of the clamping component (8) on the rotary seat (7).

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