Robot mechanical arm for building construction operation

Abstract

The invention belongs to the technical field of mechanical arm grabbing, and particularly relates to a building construction robot mechanical arm which comprises a mechanical arm body, and a grabbing mechanism is fixed to the output end face of a tail end joint of the mechanical arm body through a flange plate; the grabbing mechanism comprises a fixing plate fixed to the side, away from the output end face of the tail end joint of the mechanical arm body, of the flange plate, grabhook assemblies are rotationally assembled on the two sides of the bottom end of the fixing plate, an air cylinder is installed in the middle of the side, close to the grabhook assemblies, of the fixing plate, the driving end of the air cylinder is fixedly connected with a connecting plate, and the connecting plate is connected with a pressing plate through a compensation assembly. Through the grabhook assembly and the transmission assembly which are symmetrically arranged, synchronous opening and closing of the rotating plates on the two sides are achieved, meanwhile, friction force is increased by pressing the top of bagged cement through the pressing plate, and therefore dual limiting is formed, the safety and reliability of cement material grabbing and transferring are guaranteed, and material waste and construction potential safety hazards are reduced.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm grasping technology, and in particular relates to a robotic arm for building construction operations. Background Technology

[0002] In the construction industry, with the development of industrialized construction technology, robotic arms have been widely used in the grabbing and transfer of building materials such as cement, which has significantly improved construction efficiency and reduced the intensity of manual labor.

[0003] However, existing robotic arms still have technical shortcomings in grasping cement materials and protecting the end-rotating parts. On the one hand, bagged cement is prone to dust accumulation on its surface. Traditional grippers lack the ability to restrict dust accumulation. When grasping and moving the material, the increased dust will further reduce the friction coefficient between the gripper and the bagged cement. Combined with inertia, this can easily cause the material to fall from the gripper and into the air, resulting in material waste and serious construction safety hazards. On the other hand, the construction environment contains a large amount of cement dust, sand and gravel particles and other impurities. The rotating part of the end joint of the robotic arm is the core component that enables the gripping mechanism to turn. Its rotation gap becomes the main channel for dust to enter. Many robotic arms use simple static sealing structures (such as ordinary sealing rings). During the rotation, the sealing performance of the seals is easily reduced due to friction and wear. Dust can easily enter the joint through the rotation gap. The invading dust will wear down transmission components such as gears and bearings, destroy the lubrication environment, and lead to a decrease in rotational accuracy, mechanical jamming or even failure and shutdown. At the same time, dust accumulation can also cause the seals to jam, further affecting the turning flexibility of the gripping mechanism, shortening the service life of the robotic arm and increasing equipment maintenance costs.

[0004] There is an urgent need for improvement, so we propose a robotic arm for building construction operations. Summary of the Invention

[0005] The purpose of this invention is to address the aforementioned technical problems by providing a robotic arm for building construction operations.

[0006] In view of this, the present invention provides a robotic arm for building construction operations, comprising: The robotic arm body has a gripping mechanism fixed to its end joint output face via a flange. The gripping mechanism includes a fixed plate fixed to the flange on the side away from the output end face of the end joint of the robotic arm body. Both sides of the bottom end of the fixed plate are rotatably equipped with gripper assemblies. A cylinder is installed in the middle of the fixed plate near the gripper assembly. A connecting plate is fixedly connected to the driving end of the cylinder. A pressure plate is connected to the connecting plate through a compensation assembly. The top two sides of the connecting plate are respectively connected to the middle of the opposite sides of the two gripper assemblies through a transmission assembly. A dustproof assembly is provided between the top of the connecting plate and the rotating part of the end joint of the robotic arm body.

[0007] Furthermore, the gripper assembly includes two sets of connecting blocks symmetrically fixedly connected to both sides of the bottom end of the fixed plate. Each set of connecting blocks consists of two blocks, and a rotating plate is rotatably connected between each set of connecting blocks. A gripper is fixedly connected to the bottom end of each of the two gripper plates.

[0008] Furthermore, the transmission assembly includes a first pin seat symmetrically fixedly connected to both sides of the surface of the connecting plate, and a second pin seat fixedly connected to the middle of one opposite end of the two rotating plates, with a transmission rod rotatably connected between the first pin seat and the second pin seat on the same side.

[0009] Furthermore, the compensation component includes connecting posts fixedly connected to the four corners of the pressure plate near the connecting plate, and threaded holes extending through the four corners of the connecting plate. The four threaded holes correspond to the four connecting posts respectively. Sleeves are slidably fitted on the outer sides of the four connecting posts, and the tops of the four sleeves are fixedly connected to the bottom of the connecting plate. The four sleeves are respectively connected to the four threaded holes and are coaxially arranged. A screw is threaded through the four threaded holes. A spring is fixedly connected to the top of the four connecting posts, and the tops of the four springs are rotatably in contact with the bottoms of the four screws respectively.

[0010] Furthermore, each of the four sleeves has a limiting groove at both ends of its inner cavity, and each of the four sleeves has a limiting block slidably connected in the limiting groove. The two limiting blocks in the inner cavity of the same sleeve are respectively fixedly connected to the two ends of the connecting column.

[0011] Furthermore, each of the two grippers has a rounded corner at one end, and the inner surface of each gripper has a beveled surface, with both beveled surfaces inclined toward the rounded corner.

[0012] Furthermore, the end joint rotation part of the robotic arm body is a drive motor, and the drive end of the drive motor is fixedly connected to the middle of the flange; the dustproof assembly includes an upper dustproof cylinder fixedly connected to the drive motor housing near the flange end of the drive motor, and a lower dustproof cylinder fixedly connected to the flange near the drive motor end. The upper dustproof cylinder is rotatably sleeved on the outer periphery of the lower dustproof cylinder, and the inner wall of the upper dustproof cylinder is rotatably fitted against the outer wall of the lower dustproof cylinder.

[0013] Furthermore, the outer periphery of the lower dustproof cylinder is fixedly connected with a plurality of sealing rings with a V-shaped cross-section, and the inner wall of the upper dustproof cylinder is provided with a slot with a V-shaped cross-section at the position corresponding to the plurality of sealing rings, and the plurality of sealing rings are respectively disposed in the plurality of slots.

[0014] Furthermore, the dustproof assembly also includes air cylinders symmetrically connected to both sides of the fixed plate near the connecting plate, and an annular pipe fixedly connected to the outer flange of the lower dustproof cylinder. The annular pipe has several air holes equidistantly spaced on its inner side. One end of each air hole communicates with the inner cavity of the annular pipe, and the other end corresponds to the connection point between the upper and lower dustproof cylinders. Pistons are slidably connected inside both air cylinders, and push rods are fixedly connected to the bottom ends of both pistons. A through hole is formed in the middle of the bottom end of both air cylinders. The two push rods slidably pass through the two through holes and connect to the surface of the connecting plate. An air outlet pipe and an air inlet pipe are connected to the end of each air cylinder near the fixed plate. Both air outlet pipes pass through the fixed pipe and communicate with the inner cavity of the annular pipe. A first one-way valve is installed inside each of the two air outlet pipes. Both air inlet pipes pass through the fixed plate, and a second one-way valve is installed inside each of the two air inlet pipes.

[0015] Furthermore, each of the two air intake pipes has a filter screen installed at its air intake end. The inner diameter of each of the two perforations is larger than the outer diameter of each of the two push rods. Filter rings are fixedly connected to the inner walls of each of the two perforations, and the inner walls of each of the two filter rings are movably fitted to the outer walls of each of the two push rods.

[0016] The beneficial effects of this invention are: This invention can securely connect the robotic arm body and the gripping mechanism through the flange, and with the symmetrically arranged gripper assembly and transmission assembly, the rotating plates on both sides can open and close synchronously. At the same time, the pressure plate presses on the top of the bagged cement to increase friction, thereby forming a double limit. This avoids the situation where traditional grippers lack restraint and the bagged cement falls from a height due to the reduced friction coefficient caused by surface dust and the superposition of inertia. This ensures the safety and reliability of cement material gripping and transportation, and reduces material waste and construction safety hazards. Furthermore, by using the spring and screw of the compensation component in conjunction with the rounded corners and beveled surfaces of the gripper, it can avoid the problems of rigid clamping causing damage to the bagged cement packaging and dust scattering. The beveled surface guides the material to quickly and accurately enter the clamping area, while the rounded corners reduce packaging compression damage. This ensures adaptability to bagged cement of different tightness and specifications, and improves clamping stability and material protection. It can also form a dynamic seal through the rotational fitting design of the upper and lower dustproof cylinders. Combined with the multi-seal structure of V-shaped sealing ring and groove, the self-tightening characteristics of the V-shaped structure are used to improve the sealing effect during rotation. This avoids the easy wear and rapid decay of sealing performance of traditional static seals, and effectively prevents cement dust and sand particles from entering the end joint, preventing wear of transmission components and damage to the lubrication environment, and ensuring rotational accuracy and steering flexibility. It can also achieve active air blowing dust removal by linking the air cylinder with the connecting plate, using piston movement and one-way valve control. The design of the air outlet inner diameter increases the blowing pressure, so that the ring pipe accurately blows the dust away from the dustproof cylinder connection, achieving dual protection of passive sealing and active dust removal. This avoids the sealing parts getting stuck due to dust accumulation at the sealing point. It can complete the grabbing and dust removal actions simultaneously without an additional power source, adapting to high dust construction environments. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of a robotic arm for building construction operations proposed in this invention; Figure 2 This is a schematic diagram of the gripping state connection structure of the gripping mechanism of a robotic arm for building construction operations proposed in this invention. Figure 3 This is a schematic diagram of the unloading connection structure of the gripping mechanism of a robotic arm for building construction operations proposed in this invention. Figure 4 This is a schematic diagram of the connection structure between the dustproof component of the robotic arm for building construction and the end joint output end of the robotic arm body, as proposed in this invention. Figure 5 This is a partial internal structure diagram of the compensation component of a robotic arm for building construction proposed in this invention; Figure 6 This is a schematic diagram of the ring pipe and flange connection structure of a robotic arm for building construction operations proposed in this invention; Figure 7 This is a schematic diagram of the internal structure of the connection between the upper and lower dustproof pipes of a robotic arm for building construction operations proposed in this invention. Figure 8This is an enlarged view of point A of a robotic arm for building construction operations proposed in this invention; Figure 9 This is a schematic diagram of the air cylinder and ring pipe connection structure of a robotic arm for building construction operations proposed in this invention; Figure 10 This is a schematic diagram of the internal structure of the air cylinder of a robotic arm for building construction proposed in this invention.

[0018] The markings in the diagram are as follows: 1. Robotic arm body; 101. Flange; 102. Drive motor; 2. Fixing plate; 201. Connecting block; 202. Rotating plate; 203. Gripper; 204. Cylinder; 205. Connecting plate; 206. First pin seat; 207. Pressure plate; 208. Transmission rod; 209. Second pin seat; 210. Sloping part; 211. Rounded corner; 3. Upper dustproof sleeve; 301. Lower dustproof sleeve; 302. Slot; 303. Sealing 4. Sealing ring; 401. Air cylinder; 402. Push rod; 403. Air inlet pipe; 404. Second one-way valve; 405. Air outlet pipe; 406. First one-way valve; 407. Ring pipe; 408. Air blowing hole; 409. Filter screen; 410. Piston; 411. Perforation; 412. Filter ring; 5. Sleeve; 501. Connecting post; 502. Screw; 503. Threaded hole; 504. Limiting groove; 505. Limiting block; 506. Spring. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0020] In the description of this application, it should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. For ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0021] It should be noted that the terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and are not limited in number; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0022] It should be noted that in the description of this application, the directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" 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 application and simplifying the description. Unless otherwise stated, these directional terms 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 the scope of protection of this application. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0023] It should be noted that, in this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0024] Example 1, referring to Figures 1 to 10This is the first embodiment of the present invention, which provides a robotic arm for building construction, including: a robotic arm body 1, a gripping mechanism fixed to the output end face of the end joint of the robotic arm body 1 via a flange 101; the gripping mechanism includes a fixing plate 2 fixed to the side of the flange 101 away from the output end face of the end joint of the robotic arm body 1, gripper assemblies rotatably mounted on both sides of the bottom end of the fixing plate 2, a cylinder 204 installed in the middle of the side of the fixing plate 2 near the gripper assembly, a connecting plate 205 fixedly connected to the driving end of the cylinder 204, a pressure plate 207 connected to the connecting plate 205 via a compensation assembly, the top two sides of the connecting plate 205 being respectively driven to the middle of the opposite sides of the two gripper assemblies via a transmission assembly, and a dustproof assembly provided between the top of the connecting plate 205 and the rotating part of the end joint of the robotic arm body 1.

[0025] In this embodiment, the robotic arm body 1 is securely connected to the gripping mechanism via flange 101, providing a reliable bearing foundation for operation. A fixed plate 2 then provides a stable mounting platform for the gripper assembly and cylinder 204. When cylinder 204 drives connecting plate 205, the gripper assemblies on both sides are synchronously linked by the transmission assembly to achieve clamping action. Simultaneously, connecting plate 205 is connected to pressure plate 207 via compensation assembly. After gripping the bagged cement, pressure plate 207 presses down on top, increasing the friction between the bagged cement and gripper 203. This avoids the situation where traditional gripper 203 lacks restraint, and the bagged cement falls from a height due to reduced friction coefficient and inertia caused by surface dust. This ensures a dual limiting effect for gripping. While increasing contact friction through pressure plate 207 to prevent material from falling, the dustproof assembly also prevents cement dust and sand particles from intruding into the end joint, avoiding wear on transmission components, damage to the lubrication environment, and preventing decreased rotational accuracy and mechanical jamming. This ensures the safe and reliable operation of the robotic arm, reducing material waste and construction safety hazards.

[0026] Specifically, the gripper assembly includes two sets of connecting blocks 201 symmetrically fixedly connected to both sides of the bottom end of the fixed plate 2. Each set of connecting blocks 201 consists of two blocks. Each set of connecting blocks 201 is rotatably connected to a rotating plate 202 via a bearing. The bottom ends of the two gripper plates are fixedly connected to grippers 203.

[0027] In this embodiment, two sets of connecting blocks 201 are symmetrically fixed on both sides of the bottom end of the fixed plate 2 to provide stable rotational support for the rotating plate 202. The rotating plate 202, which is rotatably connected between the connecting blocks 201, can be flexibly opened and closed. The gripper 203 fixed at the bottom end of the rotating plate 202 forms a symmetrical clamping structure, which avoids the situation where the traditional gripper 203 has a single clamping point and uneven force, causing the bagged cement to shift and slip. This ensures the uniformity of the clamping force on the bagged cement, which is prone to dust on the surface. The rotatable connection setting allows the opening and closing angle of the rotating plate 202 to be flexibly adapted to different specifications of bagged cement. While reducing the damage to the packaging caused by the gripper 203 and preventing dust from scattering due to packaging damage, it can also enhance the stability of the material after being gripped by symmetrical clamping, preventing it from detaching from the gripper 203 due to inertia during movement, thus ensuring the safety of cement material transfer.

[0028] Specifically, the transmission assembly includes a first pin seat 206 symmetrically fixedly connected to both sides of the surface of the connecting plate 205, and a second pin seat 209 fixedly connected to the middle of one end of the two rotating plates 202. A transmission rod 208 is rotatably connected between the first pin seat 206 and the second pin seat 209 on the same side via a pin shaft.

[0029] In this embodiment, by symmetrically fixing the first pin seat 206 on both sides of the surface of the connecting plate 205 and fixing the second pin seat 209 at the middle of the opposite end of the rotating plate 202, and rotatably connecting the pin seats on the same side through the transmission rod 208, the linear motion of the connecting plate 205 is smoothly converted into the rotational opening and closing action of the rotating plate 202. The symmetrical transmission assembly ensures that the rotating plates 202 on both sides move synchronously, avoiding the situation of asynchronous clamping and material force deviation in traditional transmission structures, thereby ensuring the accuracy of center positioning when grabbing bagged cement.

[0030] Specifically, the compensation component includes connecting posts 501 fixedly connected to the four corners of the pressure plate 207 near the connecting plate 205, and threaded holes 503 through the four corners of the connecting plate 205. The four threaded holes 503 correspond to the four connecting posts 501 respectively. Sleeves 5 are slidably fitted on the outer side of each of the four connecting posts 501. The tops of the four sleeves 5 are fixedly connected to the bottom of the connecting plate 205. The four sleeves 5 are connected to the four threaded holes 503 respectively and are coaxially arranged. Screws 502 are threaded through each of the four threaded holes 503. Springs 506 are fixedly connected to the tops of the four connecting posts 501. The tops of the four springs 506 are rotatably in contact with the bottoms of the four screws 502 respectively.

[0031] In this embodiment, connecting posts 501 are set at the four corners of the pressure plate 207, and corresponding threaded holes 503 are opened in the connecting plate 205. A sleeve 5 is sleeved on the outside of the connecting post 501, and a screw 502 passes through the threaded hole 503. A fixed spring 506 is fixed at the top of the connecting post 501 and contacts the screw 502. The connecting post 501 and the sleeve 5 slide to provide guidance. The spring 506 provides elastic buffering and the screw 502 can adjust the preload. This avoids the situation where rigid clamping causes packaging damage or clamping is too loose and loses control. This ensures the flexible adaptation of the clamping force. It will not damage the packaging due to excessive tightness and cause dust to scatter, nor will it cause the material to fall off due to excessive looseness. The sealing fit between the sleeve 5 and the connecting post 501 prevents dust from entering the interior and affecting the operation of the components. While ensuring the continuous and stable compensation function, it can also adapt to bagged cement with different tightness, improving the gripping adaptability and stability.

[0032] Specifically, each of the four sleeves 5 has a limiting groove 504 at both ends of its inner cavity, and each of the four sleeves 5 has a limiting block 505 slidably connected in the limiting groove 504 on its inner side. The two limiting blocks 505 in the inner cavity of the same sleeve 5 are fixedly connected to the two ends of the connecting column 501 respectively.

[0033] In this embodiment, by opening limiting grooves 504 at both ends of the inner cavity of the sleeve 5, and fixing limiting blocks 505 that are slidably connected to the limiting grooves 504 at both ends of the connecting column 501, the limiting grooves 504 and the limiting blocks 505 cooperate to precisely limit the sliding stroke of the connecting column 501, avoiding the situation where the spring 506 is over-compressed or stretched and fails due to the overtravel of the connecting column 501, thereby ensuring that the buffering effect of the compensation component is stable and controllable. The two limiting blocks 505 in the same sleeve 5 make the sliding force of the connecting column 501 uniform, preventing the pressure plate 207 from tilting due to the offset of the connecting column 501, avoiding the risk of packaging damage and slippage of bagged cement caused by clamping bias pressure, while ensuring the continuous reliability of the compensation function in high-frequency operation, it can also extend the service life of the spring 506 and the entire compensation component, adapting to the high-intensity operation requirements of building construction.

[0034] Specifically, each of the two grippers 203 has a rounded corner 211 at one end, and the inner surface of each gripper 203 has a beveled surface 210, with both beveled surfaces 210 inclined toward the rounded corner 211.

[0035] In this embodiment, by providing a rounded corner 211 at one end of the gripper 203, the sharp edges of the traditional gripper 203 are prevented from squeezing the bagged cement packaging, thus preventing packaging damage that could lead to dust spillage and material loosening. Furthermore, by providing a sloping surface 210 inclined towards the rounded corner 211 on the inner side of the gripper 203, the bagged cement is guided, facilitating the material to quickly and accurately enter the clamping area. This reduces packaging damage while improving the stability of gripping the bagged cement.

[0036] Example 2, refer to Figures 1 to 10This is the second embodiment of the present invention. Unlike the previous embodiment, the end joint rotation part of the robotic arm body 1 is a drive motor 102. The drive end of the drive motor 102 is fixedly connected to the middle part of the flange 101. The dustproof assembly includes an upper dustproof cylinder 3 fixedly connected to the outer shell of the drive motor 102 near the flange 101, and a lower dustproof cylinder 301 fixedly connected to the outer end of the flange 101 near the drive motor 102. The upper dustproof cylinder 3 is rotatably sleeved on the outer periphery of the lower dustproof cylinder 301, and the inner wall of the upper dustproof cylinder is rotatably attached to the outer wall of the lower dustproof cylinder 301.

[0037] In this embodiment, by setting the end joint rotation part as a drive motor 102, and fixing the drive end directly to the flange 101, the power transmission path is shortened and the response efficiency is improved. Furthermore, by fixing the upper dustproof cylinder 3 to the housing of the drive motor 102 and fixing the lower dustproof cylinder 301 to the flange 101, the upper dustproof cylinder 3 is rotatably sleeved on the outer periphery of the lower dustproof cylinder 301 and the inner wall is in contact with it, forming a dynamic sealing structure. This avoids the situation where the sealing performance of traditional static seals is easily reduced due to friction and wear during rotation. This ensures effective shielding of the end joint rotation gap, preventing cement dust and sand particles from entering the interior through the gap, preventing wear on gears, bearings and other components, and avoiding the decrease in rotational accuracy, mechanical jamming or even machine failure caused by the destruction of the lubrication environment. While ensuring the turning flexibility of the gripping mechanism, it can also extend the service life of the robotic arm and reduce equipment maintenance costs.

[0038] Specifically, the lower dustproof cylinder 301 has multiple sealing rings 303 with V-shaped cross sections fixedly connected to its outer periphery. The inner wall of the upper dustproof cylinder 3 has slots 302 with V-shaped cross sections at the positions corresponding to the multiple sealing rings 303. The multiple sealing rings 303 are respectively located in the multiple slots 302.

[0039] In this embodiment, multiple V-shaped sealing rings 303 are fixed to the outer periphery of the lower dustproof cylinder 301, and V-shaped grooves 302 are correspondingly opened on the inner wall of the upper dustproof cylinder 3. The sealing rings 303 are embedded in the grooves 302. Utilizing the self-tightening characteristics of the V-shaped structure, the sealing rings 303 and grooves 302 fit more tightly during rotation. Moreover, multiple sealing rings 303 form multiple sealing barriers, avoiding the poor sealing effect of traditional ordinary sealing rings 303 and the situation where dust can easily enter due to friction. This ensures the long-term stability of the sealing performance, effectively preventing fine dust and moisture from entering the end joint, preventing component wear and downtime caused by sealing failure. While improving the reliability of sealing and dust prevention, it can also adapt to the harsh environment of high dust and high humidity in building construction, reducing the frequency and cost of equipment maintenance.

[0040] Specifically, the dustproof assembly also includes air cylinders 4 symmetrically and detachably connected to both sides of the fixed plate 2 near the connecting plate 205 by bolts, and an annular pipe 406 fixedly connected to the outer flange 101 of the lower dustproof cylinder 301. The annular pipe 406 has several air holes 407 evenly spaced on its inner side. One end of each air hole 407 communicates with the inner cavity of the annular pipe 406, and the other end corresponds to the connection point between the upper dustproof cylinder 3 and the lower dustproof cylinder 301. Pistons 409 are slidably connected inside each of the two air cylinders 4. Push rods 401 are fixedly connected to the bottom ends of both pistons 409. Through holes 410 are opened in the middle of the bottom ends of both air cylinders 4. 1. Two through holes 410 are detachably connected to the surface of the connecting plate 205 by bolts. Each of the two air cylinders 4 has an outlet pipe 404 and an inlet pipe 402 connected to one end near the fixed plate 2. Both outlet pipes 404 pass through the fixed pipe and communicate with the inner cavity of the ring pipe 406. A first one-way valve 405 is installed in each outlet pipe 404, allowing air in the air cylinder 4 to be discharged unidirectionally through the outlet pipe 404. Both inlet pipes 402 pass through the fixed plate 2, and a second one-way valve 403 is installed in each inlet pipe 402, allowing air outside the inlet pipe 402 to enter the air cylinder 4 unidirectionally. Preferably, the inner diameter of the outlet pipe 404 is smaller than the inner diameter of the air cylinder 4.

[0041] In this embodiment, cylinders 204 are bolted to both sides of the fixed plate 2. A ring pipe 406 is fixed to the outer periphery of the lower dustproof cylinder 301 and an air blowing hole 407 is opened. The piston 409 inside the cylinder 204 is connected to the connecting plate 205 through the push rod 401. The cylinder 204 is connected to the air outlet pipe 404 and the air inlet pipe 402 and is connected to the ring pipe 406. The piston 409 is driven to slide by the reciprocating motion of the connecting plate 205. The airflow direction is controlled by the one-way valve, so that the ring pipe 406 blows air to the connection of the dustproof cylinder to form active dust removal. The inner diameter of the air outlet pipe 404 is set to increase the blowing pressure, avoiding the accumulation of a large amount of dust at the traditional static seal and the situation of the seal sticking. Thus, the dual dust prevention of passive sealing and active blowing dust removal is achieved, effectively blowing away the attached cement dust and preventing dust from entering the end joint. It can ensure flexible rotation of the end joint without the need for an additional power source, and can make the blowing action and gripping action synchronized, while also reducing downtime due to failure and adapting to the high dust concentration building construction operation scenario.

[0042] Specifically, each of the two air intake pipes 402 has a filter screen 408 installed at its air intake end. The inner diameter of the two perforations 410 is larger than the outer diameter of the two push rods 401. The inner walls of the two perforations 410 are fixedly connected with filter rings 411, and the inner walls of the two filter rings 411 are movably fitted with the outer walls of the two push rods 401.

[0043] In this embodiment, by installing a filter screen 408 at the air inlet end of the air inlet pipe 402, and fixing a filter ring 411 to the inner wall of the perforation 410 and fitting it against the outer wall of the push rod 401, the filter screen 408 and the filter ring filter dust and impurities in the air entering the cylinder 204. This prevents dust from entering the cylinder 204 through the air inlet pipe 402 and the perforation 410, which could lead to obstruction of piston 409 movement and failure of the one-way valve seal. This ensures the cleanliness of the inside of the cylinder 204, ensures the stable operation of the active blowing function of the dustproof component, and prevents active dustproof failure due to component failure. While continuously blocking dust from entering the end joint, it also extends the service life of components such as the cylinder 204 and piston 409, as well as the entire dustproof system. This adapts to the harsh environment of high dust in construction and further reduces equipment maintenance costs and frequency.

[0044] The embodiments of this application have been described above with reference to the accompanying drawings. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. This application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A robotic arm for building construction, characterized in that, include: The robotic arm body (1) has a gripping mechanism fixed to the end joint output face of the robotic arm body (1) via a flange (101). The gripping mechanism includes a fixing plate (2) fixed to the flange (101) on the side away from the output end face of the end joint of the robotic arm body (1). Both sides of the bottom end of the fixing plate (2) are rotatably equipped with gripper assemblies. A cylinder (204) is installed in the middle of the side of the fixing plate (2) near the gripper assembly. A connecting plate (205) is fixedly connected to the drive end of the cylinder (204). A pressure plate (207) is connected to the connecting plate (205) through a compensation assembly. The top two sides of the connecting plate (205) are respectively connected to the middle of the opposite sides of the two gripper assemblies through a transmission assembly. A dustproof assembly is provided between the top of the connecting plate (205) and the rotating part of the end joint of the robotic arm body (1).

2. The robotic arm for building construction operations according to claim 1, characterized in that, The gripper assembly includes two sets of connecting blocks (201) symmetrically fixedly connected to both sides of the bottom end of the fixed plate (2). Each set of connecting blocks (201) consists of two blocks. A rotating plate (202) is rotatably connected between each set of connecting blocks (201). A gripper (203) is fixedly connected to the bottom end of each of the two gripper plates (202).

3. The robotic arm for building construction operations according to claim 2, characterized in that, The transmission assembly includes a first pin seat (206) symmetrically fixedly connected to both sides of the surface of the connecting plate (205), and a second pin seat (209) fixedly connected to the middle of one end of the two rotating plates (202). A transmission rod (208) is rotatably connected between the first pin seat (206) and the second pin seat (209) on the same side.

4. The robotic arm for building construction operations according to claim 3, characterized in that, The compensation component includes connecting posts (501) fixedly connected to the four corners of the pressure plate (207) near the connecting plate (205), and threaded holes (503) through the four corners of the connecting plate (205). The four threaded holes (503) correspond to the four connecting posts (501) respectively. Sleeves (5) are slidably sleeved on the outer side of the four connecting posts (501), and the top of the four sleeves (5) is fixedly connected to the bottom of the connecting plate (205). The four sleeves (5) are connected to the four threaded holes (503) respectively and are arranged coaxially. A screw (502) is threaded through the four threaded holes (503). A spring (506) is fixedly connected to the top of the four connecting posts (501), and the top of the four springs (506) is rotatably in contact with the bottom of the four screws (502).

5. The robotic arm for building construction operations according to claim 4, characterized in that, Each of the four sleeves (5) has a limiting groove (504) at both ends of its inner cavity. Each of the four sleeves (5) has a limiting block (505) slidably connected in the limiting groove (504) on its inner side. The two limiting blocks (505) in the inner cavity of the same sleeve (5) are fixedly connected to the two ends of the connecting column (501).

6. The robotic arm for building construction operations according to claim 5, characterized in that, Both grippers (203) have rounded corners (211) at opposite ends, and both grippers (203) have beveled surfaces (210) on their inner sides, with both beveled surfaces (210) tilted toward the rounded corners (211).

7. A robotic arm for building construction operations according to claim 6, characterized in that, The end joint rotation part of the robotic arm body (1) is a drive motor (102), and the drive end of the drive motor (102) is fixedly connected to the middle part of the flange (101). The dustproof assembly includes an upper dustproof cylinder (3) fixedly connected to the outer shell of the drive motor (102) near the flange (101), and a lower dustproof cylinder (301) fixedly connected to the outer end of the flange (101) near the drive motor (102). The upper dustproof cylinder (3) is rotatably sleeved on the outer periphery of the lower dustproof cylinder (301), and the inner wall of the upper dustproof cylinder is rotatably attached to the outer wall of the lower dustproof cylinder (301).

8. A robotic arm for building construction operations according to claim 7, characterized in that, The lower dustproof cylinder (301) is fixedly connected to a plurality of sealing rings (303) with a V-shaped cross section. The inner wall of the upper dustproof cylinder (3) is provided with a slot (302) with a V-shaped cross section at the position corresponding to the plurality of sealing rings (303). The plurality of sealing rings (303) are respectively disposed in the plurality of slots (302).

9. A robotic arm for building construction operations according to claim 8, characterized in that, The dustproof assembly also includes air cylinders (4) symmetrically connected to both sides of the fixed plate (2) near the connecting plate (205), and an annular pipe (406) fixedly connected to the outer flange (101) of the lower dustproof cylinder (301). The annular pipe (406) has several air holes (407) equidistantly opened on its inner side. One end of each air hole (407) is connected to the inner cavity of the annular pipe (406), and the other end is connected to the connection between the upper dustproof cylinder (3) and the lower dustproof cylinder (301). A piston (409) is slidably connected inside each of the two air cylinders (4), and the bottom ends of the two pistons (409) are fixed. A push rod (401) is connected to each of the two push rods (401) which slide through the bottom ends of the two air cylinders (4) and are connected to the surface of the connecting plate (205). The ends of the two air cylinders (4) near the fixed plate (2) are connected to an air outlet pipe (404) and an air inlet pipe (402). The two air outlet pipes (404) pass through the fixed pipe and are connected to the inner cavity of the ring pipe (406). A first one-way valve (405) is installed in each of the two air outlet pipes (404). The two air inlet pipes (402) pass through the fixed plate (2) and a second one-way valve (403) is installed in each of the two air inlet pipes (402).

10. A robotic arm for building construction operations according to claim 9, characterized in that, Both air inlet pipes (402) are equipped with filters (408) at their air inlet ends. The inner diameters of the two perforations (410) are larger than the outer diameters of the two push rods (401). Filter rings (411) are fixedly connected to the inner walls of the two perforations (410), and the inner walls of the two filter rings (411) are movably fitted to the outer walls of the two push rods (401).

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