A mechanical hand for the transfer of materials in a building construction site and a control method thereof

Abstract

The present application relates to the technical field of construction site material transfer equipment, and discloses a mechanical hand for construction site material transfer and a control method thereof, which comprises a moving mechanism, a mounting base, a support plate, a lifting support mechanism, a multi-degree-of-freedom mechanical arm, and an end effector. The mounting base is arranged outside the moving mechanism. The support plate is fixed on the mounting base. The lifting support mechanism is arranged on the moving mechanism. The multi-degree-of-freedom mechanical arm is installed on the mounting base through the support plate. The end effector is installed at the end of the multi-degree-of-freedom mechanical arm. The moving mechanism, the lifting support mechanism, the multi-degree-of-freedom mechanical arm, the end effector, the force feedback assembly, the controller, the visual recognition module, the environment perception module, the path planning module, and the remote monitoring module are arranged, so that the automatic identification, grabbing, transfer and unloading of construction site materials are realized. The end effector adopts a structure in which an adjustable clamping assembly is combined with a flexible air bag lining assembly. In the clamping process, the air bag lining assembly can be inflated and expanded to adhere to the surface of the material.

Description

Technical Field

[0001] This invention relates to the field of construction site material transfer equipment technology, specifically to a robotic arm and its control method for transferring materials at construction sites. Background Technology

[0002] During the construction process, materials such as masonry blocks, steel reinforcement components, pipe fittings, insulation boards, formwork accessories, electromechanical installation auxiliary materials, and decoration materials need to be frequently transferred between different work stations. Currently, material transfer at construction sites mainly relies on manual handling, small forklifts, tower cranes, or simple mechanical assistance. This method is characterized by high labor intensity, significant space limitations, poor adaptability to handling irregularly shaped and fragile materials, and insufficient dynamic obstacle avoidance capabilities.

[0003] Construction sites contain a wide variety of materials in various shapes and sizes, including pipes, irregularly shaped components, insulation boards, and tiles. Existing mechanical gripping devices mostly use rigid claws, which are prone to slipping off round cross-section materials such as pipes, and can easily cause indentations or cracks on fragile materials such as insulation boards and tiles, making it difficult to achieve stable and damage-free gripping.

[0004] Existing material handling equipment such as forklifts and handcarts require ample operating space and struggle to navigate flexibly in indoor floors, basements, narrow passageways, temporary ramps, and environments filled with materials. While tower cranes are suitable for vertical transport, their lifting radius and signal control limitations make it difficult to accurately perform horizontal transport and fixed-point placement, especially in high-density, overlapping work areas where coordination between tower cranes and personnel / equipment is challenging. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a robotic arm and its control method for material transfer at construction sites, solving the problems of high labor intensity, significant space limitations, poor adaptability to grasping irregularly shaped and fragile materials, and insufficient dynamic obstacle avoidance capabilities in material transfer at existing construction sites.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a robotic arm for transferring materials at a construction site, comprising:

[0007] Mobile mechanism;

[0008] The mounting base is installed on the outside of the moving mechanism;

[0009] The support plate is fixed to the mounting base;

[0010] The lifting support mechanism is mounted on the moving mechanism;

[0011] A multi-degree-of-freedom robotic arm is mounted on a mounting base via a support plate.

[0012] An end effector is installed at the end of a multi-degree-of-freedom robotic arm;

[0013] The end effector includes:

[0014] Adjustable clamping components are used to provide the main gripping force;

[0015] The flexible airbag liner assembly is located on the inner contact surface of the adjustable clamping assembly and is used to expand and conform to the material surface during clamping.

[0016] Force feedback components are used to detect contact force information during the grasping process;

[0017] It also includes a controller, a vision recognition module, an environment perception module, a path planning module, and a remote monitoring module, all of which are electrically connected to the controller.

[0018] The visual recognition module and the environmental perception module are installed on the multi-degree-of-freedom robotic arm;

[0019] The controller is used to control the coordinated movement of the moving mechanism, lifting support mechanism, multi-degree-of-freedom robotic arm and end effector based on the data collected by the vision recognition module and the environmental perception module.

[0020] Preferably, the adjustable clamping assembly includes a support guide fixed to the end of a multi-degree-of-freedom robotic arm. An electric threaded rod and two positioning slide rods are mounted on the support guide. A movable support block is threaded onto the outer surface of the threaded rod, and a support clamp is fixed to the bottom of the movable support block.

[0021] Preferably, the bottom of the support clamp is provided with a vacuum suction cup, the surface of the mounting base is equipped with a vacuum pump, the vacuum pump is equipped with a double-pass vacuum tube, and the two suction ends of the double-pass vacuum tube are respectively connected to two vacuum suction cups.

[0022] Preferably, the flexible airbag cushioning assembly includes two clamping plates disposed between two support clamping blocks. The two clamping plates are respectively connected to adjacent support clamping blocks through elastic elements. Each of the two clamping plates has an arc-shaped groove on its opposite side, and a compression airbag is installed in the arc-shaped groove.

[0023] Preferably, an air storage box is fixedly installed on the support clamping block. The air storage box is equipped with an air injection valve and a guide plate is provided inside the air storage box. The guide plate divides the internal cavity of the air storage box into a U-shaped channel. The air storage box has a through hole on one side of the guide plate and an air pipe is installed at the through hole. The end of the air pipe is connected to the air inlet of the compression airbag. A push plate is sealed and slidably provided inside the air storage box on the other side of the guide plate. A push plate is fixedly installed on the side of the push plate near the clamping plate. The push plate is slidably disposed on the air storage box and fixedly connected to the clamping plate.

[0024] Preferably, the moving mechanism includes a fixed plate and a moving plate disposed inside the mounting base, a moving track is installed at the bottom of the fixed plate, and the lifting support mechanism is disposed between the moving plate and the fixed plate.

[0025] Preferably, the lifting support mechanism includes multiple support rods rotatably mounted on a fixed plate, with push-pull blocks rotatably mounted on the top ends of the support rods. Multiple limiting guide rods are fixedly mounted inside the mounting base, and the push-pull blocks are slidably disposed on the outer surfaces of adjacent limiting guide rods. The moving plate is provided with a drive assembly for driving the push-pull blocks to move. The drive assembly includes an electric drive disc mounted on the moving plate, with multiple traction rods eccentrically mounted on the drive disc. The ends of the traction rods are rotatably connected to the push-pull blocks, and an electric drive wheel is mounted on the mounting base.

[0026] Preferably, an electric threaded rod is installed inside the mounting base, and a connecting block is threaded onto the outer surface of the electric threaded rod. The connecting block is fixedly connected to the movable plate, and the movable plate is slidably disposed within the mounting base.

[0027] Preferably, a plurality of drive push rods are mounted on the surface of the fixed plate, and a counterweight is fixedly mounted on the output end of each of the plurality of drive push rods, and the plurality of drive push rods are arranged in a staggered manner relative to each other.

[0028] A control method for a material transfer robot at a construction site:

[0029] S1. Grabbing preparation: The visual recognition module identifies the position and posture of the target material, the environmental perception module perceives the surrounding environmental information, and plans the grabbing path and transfer path.

[0030] S2. Adjust the position, control the start of the moving track, move to the target material, control the start of the drive disc, the rotation of the drive disc drives the push-pull block to move through the pull rod, the movement of the push-pull block drives the support link to move and rotate at the same time, the movement of the limit guide rod drives the moving plate to move upward through the push-pull block and the limit guide rod, the upward movement of the moving plate drives the multi-degree-of-freedom robotic arm to move upward synchronously through the mounting base, so as to realize the adjustment of the height position;

[0031] S3. Obstacle avoidance operation: When encountering uneven or stepped ground, first adjust the height of the mounting base, then control the opening threaded rod and drive wheel to rotate. The threaded rod and drive wheel work together to make the mounting base slide forward on the moving plate. After the mounting base is on the ground at a higher position, control the opening drive disc to rotate in the opposite direction, driving the fixed plate and moving track to move upward and retract, thus completing the climbing operation.

[0032] S4. Center of gravity adjustment: When tilting occurs, control the corresponding drive push rod to open, drive the counterweight block in the corresponding position to move, and adjust the weight offset.

[0033] S5. Adsorption and gripping: Determine the type, size, and specifications of the target material, control the opening of the second threaded rod, and drive the second threaded rod to rotate. The rotation of the second threaded rod causes the two moving blocks on both sides to move closer or further apart. The movement of the moving blocks drives the vacuum suction cup to move synchronously through the support clamping block. After moving to the working position, control the opening of the multi-degree-of-freedom robotic arm, adjust the adjustable clamping component to fit the target position, and control the opening of the vacuum pump. The vacuum pump is used to achieve the adsorption work of the vacuum suction cup through the double-pass vacuum tube.

[0034] S6. Clamping and gripping: When clamping uneven materials such as pipes, control the opening of the second threaded rod to drive the support clamping block to move the extrusion airbag to both sides of the target material through the clamping plate. Then, drive the extrusion airbag to approach the target material by rotating the second threaded rod. As the clamping work continues, the clamping plate will move to both sides. The movement of the clamping plate drives the push plate to move synchronously through the push plate. The push plate pushes the gas inside the air tank through the air pipe into the extrusion airbag to inflate the extrusion airbag and realize the clamping workpiece.

[0035] S7. Transfer and unloading: Control the moving mechanism to transfer materials to the target location and control the end effector to release the materials.

[0036] This invention provides a robotic arm for material transfer at construction sites and its control method. It offers the following advantages:

[0037] 1. This invention achieves automatic identification, gripping, transfer, and unloading of construction site materials by setting up a multi-degree-of-freedom robotic arm, an end effector, and a force feedback component. The end effector adopts a structure combining an adjustable clamping component and a flexible airbag liner component. During the gripping process, the airbag liner component can inflate and expand to fit the material surface, ensuring the gripping force while avoiding material damage. At the same time, the force feedback component can detect the contact force information in real time, and the controller dynamically adjusts the gripping force and airbag pressure according to the feedback signal to achieve compliant gripping.

[0038] 2. This invention uses a visual recognition module and an environmental perception module to work together to accurately locate materials and sense obstacles. The path planning module dynamically plans obstacle avoidance paths. The moving mechanism, in conjunction with the lifting support mechanism, can walk stably on uneven ground and adjust the working height of the multi-degree-of-freedom robotic arm. The remote monitoring module uploads the operation data to the construction management platform to achieve process traceability and safety early warning.

[0039] 3. This invention uses a vacuum pump, a double-pass vacuum tube, and a vacuum suction cup. By controlling the vacuum pump to start, the vacuum suction cup can be used to perform adsorption work through the double-pass vacuum tube. This invention is suitable for flat target materials and workpieces, as well as smooth-surfaced packaging boxes, and avoids large plates from being suspended in the center, which can easily shake or even break.

[0040] 4. This invention, by setting up an air storage box, a guide plate, a vent pipe, a push plate, and a pusher plate, allows the clamping plate to move to both sides as the clamping operation continues. The movement of the clamping plate drives the pusher plate to move synchronously through the pusher plate. The pusher plate pushes the gas inside the air storage box through the vent pipe into the squeezing air bladder, inflating the squeezing air bladder and realizing the clamping operation of the workpiece. The inflation operation is automatically realized.

[0041] 5. This invention, by setting up a drive push rod and a counterweight, controls the corresponding drive push rod to open when tilting occurs, causing the corresponding counterweight to move and adjust the weight offset, thus avoiding uneven construction ground and the problem of tilting and falling. Attached Figure Description

[0042] Figure 1 This is a perspective view of the present invention;

[0043] Figure 2 This is a schematic diagram of the structure of the present invention from another angle;

[0044] Figure 3 This is a side sectional view of the mounting base of the present invention.

[0045] Figure 4 This is a three-dimensional cross-sectional structural diagram of the mounting base of the present invention;

[0046] Figure 5 This is a schematic diagram of the cross-sectional structure of the mounting frame of the present invention;

[0047] Figure 6 This is a schematic diagram of the support link structure of the present invention;

[0048] Figure 7 This is a schematic diagram of the adjustable clamping component structure of the present invention;

[0049] Figure 8 This is a schematic diagram of the adjustable clamping assembly of the present invention from another angle.

[0050] Figure 9 This is a schematic cross-sectional view of the gas storage tank of the present invention;

[0051] Figure 10 This is a schematic diagram of the tie rod structure of the present invention.

[0052] Mobile mechanism; 101. Fixed plate; 102. Moving track; 103. Supporting link; 104. Limiting guide rod; 105. Pulling rod; 106. Moving plate; 107. Connecting block; 108. Threaded rod one; 109. Drive push rod; 110. Counterweight block; 111. Drive wheel; 112. Drive disc; 113. Push-pull block; 2. Support plate; 3. Mounting base; 4. Discharge box; 5. Multi-degree-of-freedom robotic arm; 6. Adjustable clamping assembly; 601. Supporting guide frame; 602. Threaded rod II; 603. Positioning slide rod; 604. Moving support block; 605. Support clamping block; 606. Vacuum suction cup; 7. Environmental sensing module; 8. Force feedback component; 9. Flexible airbag liner component; 901. Clamping plate; 902. Compression airbag; 903. Elastic component; 904. Push plate; 905. Push plate; 906. Air storage tank; 907. Air injection valve; 908. Guide plate; 909. Vent pipe; 10. Vacuum pump; 11. Dual-port vacuum pipe. Detailed Implementation

[0053] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] Please see the appendix Figure 1 -Appendix Figure 3 This invention provides a robotic arm for transferring materials at a construction site and its control method, comprising:

[0055] Mobile mechanism 1;

[0056] Mounting base 3 is installed on the outside of the moving mechanism 1;

[0057] Support plate 2 is fixed on mounting base 3;

[0058] A lifting support mechanism is mounted on the moving mechanism 1;

[0059] The multi-degree-of-freedom robotic arm 5 is mounted on the mounting base 3 via the support plate 2;

[0060] An end effector is installed at the end of the multi-degree-of-freedom robotic arm 5;

[0061] The end effector includes:

[0062] Adjustable clamping component 6 is used to provide the main gripping force;

[0063] The flexible airbag padding assembly 9 is located on the inner contact surface of the adjustable clamping assembly 6 and is used to expand and adhere to the material surface during clamping.

[0064] Force feedback component 8 is used to detect contact force information during the grasping process;

[0065] It also includes a controller, a vision recognition module, an environmental perception module 7, a path planning module, and a remote monitoring module. The vision recognition module, environmental perception module 7, path planning module, and remote monitoring module are all electrically connected to the controller.

[0066] The visual recognition module and the environmental perception module 7 are installed on the multi-degree-of-freedom robotic arm 5;

[0067] The controller is used to control the coordinated movement of the moving mechanism 1, the lifting support mechanism, the multi-degree-of-freedom robotic arm 5, and the end effector based on the data collected by the vision recognition module and the environmental perception module 7.

[0068] By setting up a moving mechanism 1, a lifting support mechanism, a multi-degree-of-freedom robotic arm 5, an end effector, a force feedback component 8, a controller, a vision recognition module, an environmental perception module 7, a path planning module, and a remote monitoring module, the multi-degree-of-freedom robotic arm 5, which is existing technology, will not be elaborated here, realizes the automatic identification, gripping, transfer, and unloading of construction site materials. The end effector adopts a structure combining an adjustable clamping component 6 and a flexible airbag pad component 9. During the gripping process, the airbag pad component can inflate and expand to fit the material surface, ensuring the gripping force while avoiding material damage. A material box 4 can be optionally installed on the support plate 2 for temporary storage of the gripped target materials.

[0069] Meanwhile, the force feedback component 8 can detect contact force information in real time. The controller dynamically adjusts the clamping force and airbag pressure according to the feedback signal to achieve compliant gripping. The vision recognition module and the environmental perception module 7 work together to accurately locate materials and perceive obstacles. The path planning module dynamically plans obstacle avoidance paths. The moving mechanism 1, together with the lifting support mechanism, can walk stably on uneven ground and adjust the working height of the multi-degree-of-freedom robotic arm 5. The remote monitoring module uploads the operation data to the construction management platform to realize process traceability and safety early warning.

[0070] For details, please refer to the appendix. Figure 7 and attached Figure 8 The adjustable clamping assembly 6 includes a support guide 601 fixed to the end of the multi-degree-of-freedom robotic arm 5. An electric threaded rod 602 and two positioning slide rods 603 are installed on the support guide 601. A movable support block 604 is threaded on the outer surface of the threaded rod 602. A support clamping block 605 is fixed to the bottom of the movable support block 604.

[0071] By setting up a support guide 601, a threaded rod 602, a positioning slide rod 603, and a movable support block 604, the positioning slide rod 603 serves as a limit guide, controls the opening of the threaded rod 602, and drives the threaded rod 602 to rotate. The rotation of the threaded rod 602 drives the movable support blocks 604 on both sides to move closer or further apart. The movement of the movable support blocks 604 drives the vacuum suction cup 606 and the clamping plate 901 to move synchronously through the support clamping block 605, thereby adjusting the position of the vacuum suction cup 606 and the clamping plate 901 for clamping materials and workpieces of different specifications.

[0072] For details, please refer to the appendix. Figure 7 and attached Figure 8 The bottom of the support clamp 605 is provided with a vacuum suction cup 606, and a vacuum pump 10 is installed on the surface of the mounting base 3. A double-pass vacuum tube 11 is installed on the vacuum pump 10, and the two suction ends of the double-pass vacuum tube 11 are respectively connected to the two vacuum suction cups 606.

[0073] By setting up a vacuum pump 10, a double-pass vacuum tube 11, and a vacuum suction cup 606, the vacuum pump 10 is turned on and the vacuum suction cup 606 is activated through the double-pass vacuum tube 11. This is suitable for flat target materials and workpieces and smooth-surfaced packaging boxes, and avoids large plates from being suspended in the center, which can easily shake or even break.

[0074] For details, please refer to the appendix. Figure 7 and attached Figure 8 The flexible airbag cushion assembly 9 includes two clamping plates 901 disposed between two support clamping blocks 605. The two clamping plates 901 are respectively connected to the adjacent support clamping blocks 605 through elastic members 903. The opposite side of the two clamping plates 901 is provided with an arc-shaped groove, and a compression airbag 902 is installed in the arc-shaped groove.

[0075] By setting up a clamping plate 901 and a compression airbag 902, the compression airbag 902 can adapt to the shape of the workpiece to complete the clamping work. It can be used for materials and workpieces of different specifications and shapes, effectively improving the stability of clamping. At the same time, the compression airbag 902 can avoid the compression plate being subjected to rigid force on the target, reducing the possibility of material breakage and fragmentation due to compression force.

[0076] For details, please refer to the appendix. Figure 9An air storage box 906 is fixedly installed on the support clamping block 605. An air injection valve 907 is provided on the air storage box 906, and a guide plate 908 is provided inside the air storage box 906. The guide plate 908 divides the internal cavity of the air storage box 906 into a U-shaped channel. A through hole is opened on one side of the guide plate 908 in the air storage box 906, and an air pipe 909 is installed at the through hole. The end of the air pipe 909 is connected to the air inlet end of the compression airbag 902. A push plate 905 is sealed and slidably provided inside the air storage box 906 on the other side of the guide plate 908. A push plate 904 is fixedly installed on the side of the push plate 905 near the clamping plate 901. The push plate 904 is slidably disposed on the air storage box 906 and fixedly connected to the clamping plate 901.

[0077] By setting up an air storage box 906, a guide plate 908, a vent pipe 909, a push plate 905, and a pusher plate 904, as the clamping work continues, the clamping plate 901 will move to both sides. The movement of the clamping plate 901 drives the pusher plate 905 to move synchronously through the pusher plate 904. The pusher plate 905 pushes the gas inside the air storage box 906 through the vent pipe 909 into the compression air bladder 902, inflating the compression air bladder 902 to achieve the clamping workpiece and automatically realize the inflation work.

[0078] For details, please refer to the appendix. Figure 3 -Appendix Figure 6 The moving mechanism 1 includes a fixed plate 101 and a moving plate 106 disposed inside the mounting base 3. A moving track 102 is installed at the bottom of the fixed plate 101, and a lifting support mechanism is disposed between the moving plate 106 and the fixed plate 101.

[0079] By setting up a mobile track 102, a fixed plate 101, a mobile plate 106, and a lifting support mechanism, the mobile track 102 can move in position. The lifting support mechanism can drive the fixed plate 101 and the mobile plate 106 to move up and down, which can be used to grab and place target materials at different heights, improve the convenience of use, and reduce the floor space occupied.

[0080] For details, please refer to the appendix. Figure 3 -Appendix Figure 6 and attached Figure 10The lifting support mechanism includes multiple support rods 103 rotatably mounted on a fixed plate 101. A push-pull block 113 is rotatably mounted on the top of the support rods 103. Multiple limiting guide rods 104 are fixedly mounted inside the mounting base 3, and the push-pull block 113 is slidably disposed on the outer surface of adjacent limiting guide rods 104. A drive assembly for driving the push-pull block 113 is provided on the moving plate 106. The drive assembly includes an electric drive disk 112 mounted on the moving plate 106. Multiple pull rods 105 are eccentrically rotatably mounted on the drive disk 112. The ends of the pull rods 105 are rotatably connected to the push-pull block 113. An electric drive wheel 111 is mounted on the mounting base 3. An electric threaded rod 108 is installed inside the mounting base 3. A connecting block 107 is threadedly mounted on the outer surface of the electric threaded rod 108. The connecting block 107 is fixedly connected to the moving plate 106, and the moving plate 106 is slidably disposed inside the mounting base 3.

[0081] By setting up a threaded rod 108, a connecting block 107, a drive disc 112, a pull rod 105, a push-pull block 113, a limit guide rod 104, and a support connecting rod 103, the drive disc 112 is opened. The rotation of the drive disc 112 drives the push-pull block 113 to move through the pull rod 105. The movement of the push-pull block 113 causes the support connecting rod 103 to move and rotate simultaneously. The movement of the limit guide rod 104 drives the moving plate 106 to move upward through the push-pull block 113 and the limit guide rod 104. The upward movement of the moving plate 106 drives the multi-degree-of-freedom robotic arm 5 to move upward synchronously through the mounting base 3, thereby realizing the adjustment of the gripping height position and enabling the clamping of target materials at different height positions.

[0082] Meanwhile, when encountering uneven or stepped ground, the height of the mounting base 3 is adjusted first, and then the threaded rod 108 and drive wheel 111 are controlled to rotate. The threaded rod 108 and drive wheel 111 work together to make the mounting base 3 slide forward on the moving plate 106. After the mounting base 3 is located on the ground at a higher position, the drive disc 112 is controlled to rotate in the opposite direction, driving the fixed plate 101 and the moving track 102 to move upward and retract, completing the climbing work and improving adaptability to different environments.

[0083] For details, please refer to the appendix. Figure 5 and attached Figure 6 Multiple drive push rods 109 are mounted on the surface of the fixed plate 101. Each drive push rod 109 has a counterweight 110 fixedly mounted on its output end, and the multiple drive push rods 109 are arranged in a staggered manner.

[0084] By setting up a drive push rod 109 and a counterweight 110, a balance sensing device can be installed. The balance sensing device is existing technology and will not be described in detail here. The balance sensing device detects tilt. When tilt occurs, the drive push rod 109 in the corresponding position is opened, which drives the counterweight 110 in the corresponding position to move and adjust the weight offset, so as to avoid uneven construction ground and the problem of tilting and falling.

[0085] Control methods for material transfer robots at construction sites:

[0086] S1. Grabbing preparation: The visual recognition module identifies the position and posture of the target material, the environmental perception module 7 perceives the surrounding environmental information, and the grabbing path and transfer path are planned.

[0087] S2. Adjust the position, control the start of the moving track 102, move to the target material, control the start of the drive disc 112, the rotation of the drive disc 112 drives the push-pull block 113 to move through the pull rod 105, the movement of the push-pull block 113 drives the support link 103 to move and rotate at the same time, the movement of the limit guide rod 104 drives the moving plate 106 to move upward through the push-pull block 113 and the limit guide rod 104, the upward movement of the moving plate 106 drives the multi-degree-of-freedom robotic arm 5 to move upward synchronously through the mounting base 3, so as to realize the adjustment of the height position;

[0088] S3. Obstacle avoidance operation: When encountering uneven or stepped ground, first adjust the height of the mounting base 3, then control the opening threaded rod 108 and drive wheel 111 to rotate. The threaded rod 108 and drive wheel 111 work together to make the mounting base 3 slide forward on the moving plate 106. After the mounting base 3 is located on the ground at a higher position, control the opening drive disc 112 to rotate in the opposite direction, driving the fixed plate 101 and the moving track 102 to move upward and retract, thus completing the climbing operation.

[0089] S4. Center of gravity adjustment: When tilting occurs, the corresponding drive push rod 109 is opened to drive the corresponding counterweight block 110 to move and adjust the weight offset.

[0090] S5. Adsorption and gripping: Determine the type, size, and specifications of the target material, control the opening of the threaded rod 602, and drive the threaded rod 602 to rotate. The rotation of the threaded rod 602 drives the moving blocks 604 on both sides to move closer or further apart. The movement of the moving blocks 604 drives the vacuum suction cup 606 to move synchronously through the support clamp 605. After moving to the working position, control the opening of the multi-degree-of-freedom robotic arm 5, adjust the adjustable clamping component 6 to fit with the target position, and control the opening of the vacuum pump 10. The vacuum pump 10 uses the double-pass vacuum tube 11 to achieve the adsorption work of the vacuum suction cup 606.

[0091] S6. Clamping and gripping: When clamping uneven materials such as pipes, control the opening of the threaded rod 602 to drive the support clamping block 605 to move the extrusion air bladder 902 to both sides of the target material through the clamping plate 901. Then, the threaded rod 602 rotates to drive the extrusion air bladder 902 closer to the target material. As the clamping work continues, the clamping plate 901 will move to both sides. The movement of the clamping plate 901 drives the push plate 905 to move synchronously through the push plate 904. The push plate 905 pushes the gas inside the air storage box 906 through the air pipe 909 into the extrusion air bladder 902 to inflate the extrusion air bladder 902 and realize the clamping workpiece.

[0092] S7. Transfer and unloading: Control the moving mechanism 1 to transfer the material to the target location and control the end effector to release the material.

[0093] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic arm for transferring materials at construction sites, characterized in that, include: Mobile mechanism (1); Mounting base (3) is installed on the outside of the moving mechanism (1); The support plate (2) is fixed on the mounting base (3); The lifting support mechanism is installed on the moving mechanism (1); A multi-degree-of-freedom robotic arm (5) is mounted on a mounting base (3) via a support plate (2); An end effector is installed at the end of a multi-degree-of-freedom robotic arm (5); The end effector includes: Adjustable clamping assembly (6) is used to provide the main gripping force; The flexible airbag pad assembly (9) is located on the inner contact surface of the adjustable clamping assembly (6) and is used to expand and adhere to the material surface during clamping. Force feedback component (8) is used to detect contact force information during the grasping process; It also includes a controller, a visual recognition module, an environmental perception module (7), a path planning module, and a remote monitoring module, wherein the visual recognition module, the environmental perception module (7), the path planning module, and the remote monitoring module are all electrically connected to the controller; The visual recognition module and the environmental perception module (7) are installed on the multi-degree-of-freedom robotic arm (5); The controller is used to control the coordinated action of the moving mechanism (1), the lifting support mechanism, the multi-degree-of-freedom robotic arm (5) and the end effector based on the data collected by the visual recognition module and the environmental perception module (7).

2. The robotic arm for material transfer at a construction site according to claim 1, characterized in that: The adjustable clamping assembly (6) includes a support guide (601) fixed to the end of the multi-degree-of-freedom robotic arm (5). The support guide (601) is equipped with an electric threaded rod (602) and two positioning slide rods (603). The outer surface of the threaded rod (602) is threaded with a movable support block (604). The bottom of the movable support block (604) is fixed with a support clamp (605).

3. A robotic arm for transferring materials at a construction site according to claim 2, characterized in that: The bottom of the support clamp (605) is provided with a vacuum suction cup (606), and a vacuum pump (10) is installed on the surface of the mounting base (3). A double-pass vacuum tube (11) is installed on the vacuum pump (10), and the two suction ends of the double-pass vacuum tube (11) are respectively connected to the two vacuum suction cups (606).

4. A robotic arm for transferring materials at a construction site according to claim 2, characterized in that: The flexible airbag cushion assembly (9) includes two clamping plates (901) disposed between two support clamping blocks (605). The two clamping plates (901) are respectively connected to the adjacent support clamping blocks (605) through elastic elements (903). The opposing sides of the two clamping plates (901) are provided with arc-shaped grooves, and a compression airbag (902) is installed in the arc-shaped grooves.

5. A robotic arm for transferring materials at a construction site according to claim 4, characterized in that: An air storage box (906) is fixedly installed on the support clamp (605). An air injection valve (907) is provided on the air storage box (906), and a guide plate (908) is provided inside the air storage box (906). The guide plate (908) divides the internal cavity of the air storage box (906) into a U-shaped channel. A through hole is opened on one side of the guide plate (908) of the air storage box (906), and an air pipe (909) is installed at the through hole. The end of the air pipe (909) is connected to the air inlet of the compression airbag (902). A push plate (905) is provided inside the air storage box (906) on the other side of the guide plate (908). A push plate (904) is fixedly installed on the side of the push plate (905) near the clamping plate (901). The push plate (904) is slidably disposed on the air storage box (906) and fixedly connected to the clamping plate (901).

6. A robotic arm for transferring materials at a construction site according to claim 1, characterized in that: The moving mechanism (1) includes a fixed plate (101) and a moving plate (106) disposed inside the mounting base (3). A moving track (102) is installed at the bottom of the fixed plate (101). The lifting support mechanism is disposed between the moving plate (106) and the fixed plate (101).

7. A robotic arm for transferring materials at a construction site according to claim 6, characterized in that: The lifting support mechanism includes multiple support rods (103) rotatably mounted on a fixed plate (101). A push-pull block (113) is rotatably mounted on the top of the support rod (103). Multiple limiting guide rods (104) are fixedly mounted inside the mounting base (3). The push-pull block (113) is slidably disposed on the outer surface of adjacent limiting guide rods (104). A drive assembly for driving the push-pull block (113) is provided on the moving plate (106). The drive assembly includes an electric drive disk (112) mounted on the moving plate (106). Multiple traction rods (105) are eccentrically mounted on the drive disk (112). The ends of the traction rods (105) are rotatably connected to the push-pull block (113). An electric drive wheel (111) is mounted on the mounting base (3).

8. A robotic arm for transferring materials at a construction site according to claim 6, characterized in that: An electric threaded rod (108) is installed inside the mounting base (3). A connecting block (107) is threaded on the outer surface of the electric threaded rod (108). The connecting block (107) is fixedly connected to the moving plate (106), and the moving plate (106) is slidably disposed inside the mounting base (3).

9. A robotic arm for transferring materials at a construction site according to claim 6, characterized in that: Multiple drive push rods (109) are mounted on the surface of the fixed plate (101). Each of the multiple drive push rods (109) has a counterweight (110) fixedly mounted on its output end, and the multiple drive push rods (109) are arranged in a staggered manner relative to each other.

10. A control method for a construction site material transfer robot, used in any one of claims 1-9 for the construction site material transfer robot, characterized in that: S1. Grabbing preparation: The position and posture of the target material are identified by the visual recognition module, and the surrounding environment information is perceived by the environmental perception module (7). Grabbing path and transfer path are planned. S2. Adjust the position, control the start of the moving track (102), move to the target material, control the start of the drive disc (112), the drive disc (112) rotates and drives the push-pull block (113) to move through the pull rod (105), the push-pull block (113) moves and drives the support link (103) to move and rotate at the same time, the limit guide rod (104) moves and drives the moving plate (106) to move upward through the push-pull block (113) and the limit guide rod (104), the moving plate (106) moves upward and drives the multi-degree-of-freedom robotic arm (5) to move upward synchronously through the mounting base (3), so as to realize the adjustment of the height position; S3. Obstacle avoidance operation: When encountering uneven or stepped ground, first adjust the height of the mounting base (3), then control the opening threaded rod (108) and drive wheel (111) to rotate. The threaded rod (108) and drive wheel (111) work together to make the mounting base (3) slide forward on the moving plate (106). After the mounting base (3) is located on the ground above, control the opening drive disc (112) to rotate in the opposite direction, driving the fixed plate (101) and moving track (102) to move upward and retract, thus completing the climbing operation. S4. Center of gravity adjustment: When tilting occurs, the drive push rod (109) in the corresponding position is opened to drive the counterweight block (110) in the corresponding position to move and adjust the weight offset. S5. Adsorption and gripping: Determine the type, size, and specifications of the target material, control the opening of the threaded rod two (602), drive the threaded rod two (602) to rotate, drive the two moving blocks (604) to move closer or further apart, the movement of the moving blocks (604) drives the vacuum suction cup (606) to move synchronously through the support clamp (605), after moving to the working position, control the opening of the multi-degree-of-freedom robotic arm (5), adjust the adjustable clamping component (6) to fit with the target position, control the opening of the vacuum pump (10), and use the vacuum pump (10) to achieve the adsorption work of the vacuum suction cup (606) through the double-pass vacuum tube (11); S6. Clamping and gripping: When clamping uneven materials such as pipe fittings, control the opening of the threaded rod two (602) to drive the support clamping block (605) to move the extrusion airbag (902) to both sides of the target material through the clamping plate (901). Then, drive the extrusion airbag (902) to approach the target material through the rotation of the threaded rod two (602). As the clamping work continues, the clamping plate (901) will move to both sides. The movement of the clamping plate (901) drives the push plate (905) to move synchronously through the push plate (904). The push plate (905) pushes the gas inside the air storage box (906) through the air pipe (909) to the inside of the extrusion airbag (902) to inflate the extrusion airbag (902) and realize the clamping workpiece. S7. Transfer and unloading, control the moving mechanism (1) to transfer the material to the target location and control the end effector to release the material.

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