A preform assembly apparatus

Abstract

The application discloses a prefabricated part assembling equipment, which comprises a walking gantry vehicle, a lifting and translating device for driving a mechanical arm to lift and translate, the mechanical arm and a clamp, wherein the mechanical arm comprises a one-section arm, a two-section arm, a three-section arm, a four-section arm and a one-section arm pitching mechanism; the one-section arm pitching mechanism drives the one-section arm to pitch and swing relative to the lifting and translating device; a two-section arm telescopic mechanism drives the two-section arm to axially telescope relative to the one-section arm; a three-section arm swinging mechanism drives the three-section arm to axially swing relative to the two-section arm; a four-section arm rotating mechanism drives the four-section arm to yaw and rotate relative to the three-section arm; the clamp comprises a clamp rotating mechanism, a clamp lifting mechanism and a clamping mechanism; the clamp rotating mechanism is connected to the front end of the four-section arm and drives the clamp lifting mechanism to rotate; the clamping mechanism is connected to the clamp lifting mechanism, and the clamp lifting mechanism drives the clamping mechanism to lift and lower. The clamp is provided to clamp and drive various prefabricated parts to lift and rotate, and the lifting and translating device and the mechanical arm are further provided to realize multi-degree-of-freedom control on the clamp.

Description

Technical Field

[0001] This invention relates to the field of tunnel engineering machinery technology, and in particular to a prefabricated component assembly equipment. Background Technology

[0002] As partitions within circular tunnels (tunnels with a circular cross-section), they are typically formed by on-site casting and long-term curing; alternatively, they may be integrated prefabricated arc-shaped components at the bottom, with prefabricated diaphragms possibly installed above them, depending on the design function. Currently, the construction of arc-shaped components and diaphragms is usually carried out separately by different organizations. Existing on-site casting technology is outdated, resulting in harsh working conditions, high labor intensity, and extremely low efficiency; while existing assembly equipment is designed for separate construction of arc-shaped components and diaphragms, unable to handle the assembly of both simultaneously. Therefore, it is necessary to design a prefabricated component assembly equipment that can handle the assembly of both arc-shaped components and diaphragms, reducing the number of assembly equipment required and the workload of equipment installation, and optimizing the assembly process of arc-shaped components and diaphragms to improve assembly efficiency. Summary of the Invention

[0003] This invention provides a prefabricated component assembly device to solve the above-mentioned technical problems.

[0004] To achieve the above objectives, the technical solution of the present invention is as follows: A precast component assembly device includes: a gantry crane capable of traveling along the length of a tunnel, forming a spatial passage for transport vehicles to pass through; a lifting and translating device including a lifting mechanism and a translating mechanism, the lifting mechanism driving a robotic arm to lift vertically, and the translating mechanism driving the robotic arm to translate horizontally; a robotic arm including: a first section, a second section, a third section, a fourth section, and a first section's pitching mechanism; the tail end of the first section is connected to the lifting and translating device, and the first section's pitching mechanism drives the first section to pitch and swing vertically; the second section is connected to the first section via a second section's telescopic mechanism, which drives the second section to extend and retract relative to the axis of the first section; the tail end of the third section... The four-section arm is connected to the front end of the two-section arm via a three-section arm swing mechanism, which drives the three-section arm to swing relative to the axis of the two-section arm. The tail end of the four-section arm is connected to the front end of the three-section arm via a four-section arm rotation mechanism, which drives the four-section arm to yaw relative to the three-section arm in a horizontal direction. The clamp includes a clamp rotation mechanism, a clamp lifting mechanism, and a clamping mechanism. The clamp rotation mechanism is connected to the front end of the four-section arm and drives the clamp lifting mechanism to rotate. The rotation axis of the clamp lifting mechanism is parallel to the rotation axis of the four-section arm. The clamping mechanism is connected to the clamp lifting mechanism, and the clamp lifting mechanism drives the clamping mechanism to move along the rotation axis of the clamp lifting mechanism. The clamping mechanism is used to clamp the prefabricated part.

[0005] Beneficial effects: This application discloses a precast component assembly equipment that uses clamps to grip both curved components and diaphragms, and can also lift and rotate the precast components. Furthermore, by incorporating a lifting and translating device and a robotic arm, it achieves multi-degree-of-freedom control of the clamps, enabling accurate adjustment and docking of the precast components. This application requires only one device, capable of docking both curved components and diaphragms, reducing the need for construction equipment, featuring a compact structure, and fully utilizing the tunnel's internal space. Moreover, it optimizes the assembly process, integrating the assembly of curved components and diaphragms, improving assembly efficiency and shortening the construction period. Attached Figure Description

[0006] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0007] Figure 1 This is a structural schematic diagram of a prefabricated component assembly equipment disclosed in this invention; Figure 2 This is a structural schematic diagram of a lifting and translating device, robotic arm, and fixture assembly for a prefabricated component assembly equipment disclosed in this invention. Figure 3 This is a structural schematic diagram of the lifting mechanism and gantry car assembly of a prefabricated component assembly equipment disclosed in this invention; Figure 4 This is a side view of the lifting mechanism and gantry car assembly of a prefabricated component assembly equipment disclosed in this invention; Figure 5 for Figure 4 AA section view in the middle; Figure 6 for Figure 4 BB section view in the middle; Figure 7 This is a schematic diagram of the lifting slide of the lifting mechanism of a prefabricated component assembly equipment disclosed in this invention; Figure 8 This is a schematic diagram of the lifting slide body of the lifting mechanism of a prefabricated component assembly equipment disclosed in this invention; Figure 9 This is a schematic diagram of the slide side hook of the lifting mechanism of a prefabricated component assembly equipment disclosed in this invention; Figure 10 This is a schematic diagram of the slide lifting drive mechanism of the lifting mechanism of a prefabricated component assembly equipment disclosed in this invention; Figure 11This is a schematic diagram of the upper left elastic roller of the lifting mechanism of a prefabricated component assembly equipment disclosed in this invention. Figure 12 This is a schematic diagram of the wedge locking mechanism of the lifting mechanism of a prefabricated component assembly equipment disclosed in this invention; Figure 13 This is a cross-sectional schematic diagram of the wedge block, connecting rod, sealing block, and wedge lock cylinder of the wedge locking mechanism of the lifting mechanism of a prefabricated component assembly equipment disclosed in this invention. Figure 14 This is a schematic diagram of the translation mechanism of a prefabricated component assembly equipment disclosed in this invention; Figure 15 This is a front view of the translation mechanism of a prefabricated component assembly equipment disclosed in this invention; Figure 16 This is a side view of the translation mechanism of a prefabricated component assembly equipment disclosed in this invention; Figure 17 for Figure 15 Sectional view of CC; Figure 18 for Figure 17 A magnified view of section V; Figure 19 This is a schematic diagram of the structure of a lifting slide body of a prefabricated component assembly equipment disclosed in this invention. Figure 1 ; Figure 20 This is a schematic diagram of the structure of a lifting slide body of a prefabricated component assembly equipment disclosed in this invention. Figure 2 ; Figure 21 This is a front view of the lifting slide body of a prefabricated component assembly equipment disclosed in this invention; Figure 22 for Figure 21 A magnified view of a section of section I; Figure 23 for Figure 21 Enlarged view of a section of section II; Figure 24 This is a top view of the lifting slide body of a prefabricated component assembly equipment disclosed in this invention; Figure 25 for Figure 24 A magnified view of a section of section III; Figure 26 This is a schematic diagram of the translation slide body of the translation mechanism of a prefabricated component assembly equipment disclosed in this invention. Figure 1 ; Figure 27 This is a schematic diagram of the translation slide body of the translation mechanism of a prefabricated component assembly equipment disclosed in this invention. Figure 2 ; Figure 28This is a front view of the translation slide of the translation mechanism of a prefabricated component assembly equipment disclosed in this invention; Figure 29 for Figure 28 A magnified view of a section of section IV; Figure 30 This is a schematic diagram of the translation drive mechanism of the translation mechanism of a prefabricated component assembly equipment disclosed in this invention; Figure 31 This is a structural schematic diagram of a prefabricated component assembly equipment disclosed in this invention, including a telescopic mechanism for a first-section arm and a second-section arm, and a combined second-section arm assembly. Figure 32 This is a half-sectional view of a prefabricated component assembly equipment disclosed in this invention, including a telescopic mechanism for a first-section arm and a second-section arm, and a combined second-section arm assembly. Figure 33 for Figure 32 Sectional view of DD; Figure 34 for Figure 32 Sectional view of EE; Figure 35 This is a schematic diagram of the structure of one arm of a prefabricated component assembly equipment disclosed in this invention. Figure 1 ; Figure 36 This is a schematic diagram of the structure of one arm of a prefabricated component assembly equipment disclosed in this invention. Figure 2 ; Figure 37 This is a side view of a prefabricated component assembly equipment disclosed in this invention, comprising a section arm head, main slider, side slider, front slider mounting plate, rear slider mounting plate, and main slider pressure plate assembly. Figure 38 This is a front view of a prefabricated component assembly equipment disclosed in this invention, comprising an arm head, main slider, side slider, front slider mounting plate, rear slider mounting plate, and main slider pressure plate assembly. Figure 39 for Figure 38 Sectional view of FF; Figure 40 for Figure 39 A magnified view of a section of section VI; Figure 41 for Figure 39 A magnified view of section VII; Figure 42 This is a schematic diagram of the main slider of the two-section boom telescopic mechanism of a prefabricated component assembly equipment disclosed in this invention. Figure 1 ; Figure 43 This is a schematic diagram of the main slider of the two-section boom telescopic mechanism of a prefabricated component assembly equipment disclosed in this invention. Figure 2 ; Figure 44This is a schematic diagram of the structure of a three-section arm swing mechanism of a prefabricated component assembly equipment disclosed in this invention. Figure 1 ; Figure 45 This is a schematic diagram of the structure of a three-section arm swing mechanism of a prefabricated component assembly equipment disclosed in this invention. Figure 2 ; Figure 46 This is a schematic diagram of the structure of a three-section arm swing mechanism of a prefabricated component assembly equipment disclosed in this invention. Figure 3 ; Figure 47 This is a bottom view of a three-section swing arm mechanism of a prefabricated component assembly equipment disclosed in this invention; Figure 48 This is a side view of a three-section arm swing mechanism of a prefabricated component assembly equipment disclosed in this invention; Figure 49 This is a schematic diagram of the structure of a three-section arm swing mechanism of a prefabricated component assembly equipment disclosed in this invention. Figure 4 ; Figure 50 This is a schematic diagram of the structure of a three-section arm swing mechanism of a prefabricated component assembly equipment disclosed in this invention. Figure 5 ; Figure 51 This is a partially enlarged view of the three-section arm swing mechanism of a prefabricated component assembly equipment disclosed in this invention; Figure 52 This is a schematic diagram of the counterclockwise swing of the three-section arm of a prefabricated component assembly equipment disclosed in this invention, indicated by dashed lines. Figure 53 This is a structural schematic diagram of a three-section arm, a four-section arm slewing mechanism, and a four-section arm assembly of a prefabricated component assembly equipment disclosed in this invention. Figure 54 This is a cross-sectional view of a three-section arm, a four-section arm slewing mechanism, and a four-section arm assembly of a prefabricated component assembly equipment disclosed in this invention. Figure 55 for Figure 54 A magnified view of a section of VIII; Figure 56 for Figure 54 A magnified view of a section of IX; Figure 57 for Figure 54 A magnified view of part of XI; Figure 58 for Figure 55 A cross-sectional view of GG; Figure 59 This is a schematic diagram of the structure of a four-section arm of a prefabricated component assembly equipment disclosed in this invention. Figure 1 ; Figure 60 This is a schematic diagram of the structure of a four-section arm of a prefabricated component assembly equipment disclosed in this invention. Figure 2 ; Figure 61 This is a cross-sectional view of a four-section arm of a prefabricated component assembly equipment disclosed in this invention; Figure 62 This is a schematic diagram of the slewing arm component of a four-section slewing mechanism for a prefabricated component assembly equipment disclosed in this invention. Figure 63 This is a schematic diagram of the structure of the rotary arm of the four-section rotary mechanism of a prefabricated component assembly equipment disclosed in this invention; Figure 64 This is a schematic diagram of the waist hole sleeve of the four-section boom rotary mechanism of a prefabricated component assembly equipment disclosed in this invention; Figure 65 This is a schematic diagram of the flat shaft structure of the four-section arm rotary mechanism of a prefabricated component assembly equipment disclosed in this invention; Figure 66 This is a schematic diagram of the structure of a three-section arm of a prefabricated component assembly equipment disclosed in this invention; Figure 67 This is a schematic diagram of the structure of the second reducer base of the four-section boom rotary mechanism of a prefabricated component assembly equipment disclosed in this invention; Figure 68 This is a structural schematic diagram of a prefabricated component assembly equipment, including a three-section arm, a rotary driver, and a second reducer base assembly, as disclosed in this invention. Figure 69 This is a cross-sectional view of a prefabricated component assembly equipment, comprising a three-section arm, a rotary driver, and a second reducer base assembly, as disclosed in this invention. Figure 70 This is a structural schematic diagram of a prefabricated component assembly equipment disclosed in this invention, comprising a four-section arm, a clamp rotation mechanism, and a clamp rotating cylinder assembly. Figure 71 This is a schematic diagram of the structure of the clamping rotating cylinder of a prefabricated component assembly equipment disclosed in this invention; Figure 72 This is a cross-sectional view of a prefabricated component assembly equipment comprising a four-section arm, a clamp rotation mechanism, and a clamp rotating cylinder assembly, as disclosed in this invention. Figure 73 This is a schematic diagram of the structure of the first reducer base of the clamping rotation mechanism of a prefabricated component assembly equipment disclosed in this invention; Figure 74 This is a schematic diagram of the semi-flat shaft of the clamping rotation mechanism of a prefabricated component assembly equipment disclosed in this invention. Figure 75 for Figure 72 A cross-sectional view of HH; Figure 76 This is a schematic diagram of the clamping mechanism of a prefabricated component assembly equipment disclosed in this invention. Figure 1 ; Figure 77 This is a schematic diagram of the clamping mechanism of a prefabricated component assembly equipment disclosed in this invention. Figure 2 ; Figure 78 This is a schematic diagram of the clamping mechanism of a prefabricated component assembly equipment disclosed in this invention. Figure 3 ; Figure 79 This is a schematic diagram of the structure of the clamping seat and a set of clamping arms of the clamping mechanism of a prefabricated component assembly equipment disclosed in this invention. Figure 80 This is a schematic diagram of the centering drive device of the clamping mechanism of a prefabricated component assembly equipment disclosed in this invention. Figure 1 ; Figure 81 This is a schematic diagram of the centering drive device of the clamping mechanism of a prefabricated component assembly equipment disclosed in this invention. Figure 2 ; Figure 82 This is a schematic diagram of the clamping base of the clamping mechanism of a prefabricated component assembly equipment disclosed in this invention. Figure 1 ; Figure 83 This is a schematic diagram of the clamping base of the clamping mechanism of a prefabricated component assembly equipment disclosed in this invention. Figure 2 ; Figure 84 This is a schematic diagram of the swing arm structure of the clamping mechanism of a prefabricated component assembly equipment disclosed in this invention; Figure 85 This is a schematic diagram of the clamping arm of a clamping mechanism in a prefabricated component assembly equipment disclosed in this invention. Figure 1 ; Figure 86 This is a schematic diagram of the clamping arm of a clamping mechanism in a prefabricated component assembly equipment disclosed in this invention. Figure 2 ; Figure 87 This is a schematic diagram of the clamping arm of a clamping mechanism in a prefabricated component assembly equipment disclosed in this invention. Figure 3 ; Figure 88 This is a schematic diagram of the clamping arm of a clamping mechanism in a prefabricated component assembly equipment disclosed in this invention. Figure 4 ; Figure 89 This is a schematic diagram of the structure of the clamping mechanism assembly of the clamping arm, contact shoe component, and safety pin component of a prefabricated component assembly equipment disclosed in this invention. Figure 1 ; Figure 90 This is a schematic diagram of the structure of the clamping mechanism assembly of the clamping arm, contact shoe component, and safety pin component of a prefabricated component assembly equipment disclosed in this invention. Figure 2 ; Figure 91This is a schematic diagram of the contact shoe component of the clamping mechanism of a prefabricated component assembly equipment disclosed in this invention; Figure 92 This is a schematic diagram illustrating the working principle of the clamping mechanism of a prefabricated component assembly equipment disclosed in this invention.

[0008] In the diagram: 1. First-section arm; 11. Main slider; 111. Lubricating oil groove; 112. Oil cup; 113. Positioning boss; 13. Side slider; 131. Locking nut; 14. Threaded sleeve; 151. Telescopic cylinder; 152. Displacement sensor; 161. Tail end of first-section arm; 1611. Tail flange; 1612. Tail connecting lug; 162. Head of first-section arm; 1621. Head flange; 1622. Front slider mounting plate; 1623. Rear slider mounting plate; 17. Main slider pressure plate; 2. Second-section boom; 21. Second right connecting seat; 211. Second right connecting part; 212. Second right connecting lug; 22. Second left connecting seat; 221. Second left connecting part; 222. Second left connecting lug; 23. Second-section boom flange; 24. Wear-resistant plate track; 25. Second-section boom hinge seat; 3. Three-section boom; 31. First actuating cylinder; 32. Second actuating cylinder; 33. First right connecting seat; 331. First right connecting part; 332. First right arc part; 333. First right extension part; 334. First right connecting lug; 34. First left connecting seat; 341. First left connecting part; 342. First left arc part; 343. First left extension part; 344. First left connecting lug; 351. First displacement sensor; 352. Second displacement sensor; 361. First bidirectional hydraulic lock; 362. Second bidirectional hydraulic lock; 37. Swing joint bearing; 38. Three-section boom rear flange; 39. Swing slewing bearing; 4. Four-section boom; 41. First reducer base; 411. First oblong hole; 412. First housing; 413. Reducer base flange; 414. First oblong hole sleeve; 42. Semi-flat shaft; 421. Rotating shaft section; 422. Flat shaft section; 423. Second positioning surface; 431. Front outer flange; 432. Front inner flange; 441. Flat shaft; 4411. First positioning surface; 442. Second oblong hole sleeve; 4421. Second oblong hole; 4422. Outer boss; 4423. Outer circlip groove; 4424. Shaft circlip; 443. First slewing joint bearing; 444. Slewing boom; 4441. Boom output end; 4442. Boom input end; 4443. Boom oblique connection 4444 Joint mounting hole; 4445 Inner boss; 4446 Inner snap ring groove; 4447 Snap ring for hole; 4448 Input arm flange; 445 Mounting hole; 446 Bushing; 447 Shaft cover; 448 Lower operating port; 45 First slewing bearing; 451 Four-section arm flange; 452 Three-section arm front flange; 46 Second reducer base; 461 Second housing; 462 Upper flange; 463 Lower flange; 471 First slewing motor; 472 First slewing reducer; 4721 Reducer flange; 473 Annular plate with bolt holes; 481 Front end of four-section arm; 482 Middle section of four-section arm; 483 Rear end of four-section arm; 5. Clamping mechanism; 51. Clamping rotating cylinder; 511. Shaft hole; 512. Cylinder body; 513. Mounting lug; 514. Clamping rotating cylinder flange; 515. Second rotary motor; 516. Second rotary reducer; 517. Second rotary bearing; 52. Centering drive device; 521. Centering drive component; 5211. Clamping cylinder; 5212. Centering component; 5213. Hydraulic lock; 522. First centering linkage component; 5221. First centering linkage; 5222. Second centering linkage; 523. Second centering linkage component; 5231. Third centering linkage; 5232. Fourth centering linkage; 524. Second cross joint; 53. Parallel clamping structure; 531. Swing arm; 5311. First swing arm hole; 5312. Second swing arm hole; 53 13. Third swing arm hole; 532. Clamp arm; 5321. First clamp arm hole; 5322. Second clamp arm hole; 5323. Upper clamp arm plate; 5324. Lower clamp arm plate; 5325. Side clamp arm plate; 5326. First angle steel; 5327. Second angle steel; 5328. Clamp arm support plate; 5329. Contact shoe mounting plate; 533. Parallel limiting component; 5331. Translation linkage; 5332. Translation hinge seat; 5333. First hinge seat hole; 5334. Second hinge seat hole; 534. Contact shoe component; 5341. Contact shoe seat; 5342. Contact shoe mounting plate; 5343. Clamping contact shoe; 54. Safety pin component; 541. Safety pin actuator; 542. Safety pin; 543. Safety pin detector; 55. Clamping seat; 551. Centering groove; 6. Translation slide body; 61. Vertical mounting part; 62. Horizontal connecting part; 63. Vertical anti-tilt part; 64. First linear guide rail; 641. First guide rail pressure block; 65. Second linear guide rail; 651. Second guide rail pressure block; 66. Third linear guide rail; 661. Third guide rail pressure block; 671. Translation rack; 672. Translation gear; 673. Translation motor; 6741. Translation motor mounting plate; 6742. Upper adjusting seat; 6743. Upper adjusting bolt; 6744. Lower adjusting... 6745. Lower adjusting bolt; 6751. Shaft end bolt; 6752. Gear cover; 6753. Bolt anti-loosening plate; 6754. Anti-loosening bolt; 681. First limit switch; 682. First sensing iron; 683. Second limit switch; 684. Second sensing iron; 685. First mechanical stop; 686. Second mechanical stop; 687. First buffer pad; 688. Second buffer pad; 69. First arm hinge seat; 691. Arm hinge lug; 692. Hydraulic cylinder hinge lug; 71. First guide rail mounting surface; 72. Second guide rail mounting surface; 73. Third guide rail mounting surface; 74. Centralized lubrication system; 81. Slide table lifting drive; 811. Cylinder seat; 812. Slide table displacement sensor; 813. Linear reciprocating drive device; 814. Balance valve; 815. Cylinder support block; 816. Guide frame; 817. First cross joint; 818. Anti-torsion guide roller; 819. Rope bar; 8110. Lifting joint bearing; 82. Side rails; 83. Front and rear rails; 84. Mechanical stop; 85. Lifting slide; 851. Lifting slide body; 8511. Upper left elastic roller window; 8512. Wedge lock groove; 8513. Redirecting half rope pulley; 8514. Lower left positioning roller window; 8515. Positioning shaft hole; 8516. Lower left positioning roller shaft hole; 8517. Crossbeam threaded hole; 8518. Slide column; 8519. Slide crossbeam; 8510. Anti-tilting platform; 852. Upper left elastic roller; 8521. Roller; 8522. Guide roller bracket; 8523. Bracket side slider; 8524. Disc spring; 8525. Preload seat; 8526. Adjusting shim; 8527. Unloading nut; 853. Wedge lock mechanism; 8531. Wedge lock cylinder; 8532. Cylinder limit switch; 8533. Wedge Hydraulic lock; 8534, sealing block; 8535, long rod; 8536, wedge block; 8537, short rod; 854, lifting side slider; 855, upper right positioning roller; 856, slide side hook; 8561, upper right positioning roller shaft hole; 8562, wedge lock dovetail groove; 8563, lower right elastic roller window; 8564, side slider threaded hole; 8565, side hook positioning shaft hole; 8566, side hook screw hole; 857, lower right elastic roller; 858, lower left positioning roller; 859, buffer block; 85010, anti-jump rope baffle; 85011, positioning shaft; 85012, hex socket screw; 85013, lifting rope head seat; 85014, support adjusting pad; 86, fixed pulley; 87, anti-jump rope device; 88. Main steel structure; 881. Sliding platform frame; 882. Gantry frame; 883. Travel drive; 884. Traveling beam; 885. Driven balance vehicle. Detailed Implementation

[0009] The following specific embodiments will be used for illustration. A prefabricated component assembly device, such as... Figure 1 and Figure 2As shown, it includes: a gantry crane capable of traveling along the tunnel length direction (X1), and the gantry crane forming a spatial passage for transport vehicles to pass through; a lifting and translating device, including a lifting mechanism and a translating mechanism, the lifting mechanism driving the robotic arm to lift vertically, and the translating mechanism driving the robotic arm to translate horizontally; a robotic arm, including: a first-section arm 1, a second-section arm 2, a third-section arm 3, a fourth-section arm 4, and a first-section arm pitching mechanism; the tail end of the first-section arm 1 is connected to the lifting and translating device, and the first-section arm pitching mechanism drives the first-section arm 1 to pitch and swing vertically; the second-section arm 2 is connected to the first-section arm 1 via a second-section arm telescopic mechanism, the second-section arm telescopic mechanism driving the second-section arm 2 to extend and retract relative to the axis of the first-section arm 1; the tail end of the third-section arm 3 is connected to the third-section arm 4 via a third-section arm telescopic mechanism. The swaying mechanism of the first arm is connected to the front end of the second arm 2, and the swaying mechanism of the third arm 3 drives the third arm 3 to sway relative to the axis of the second arm 2. The tail end of the fourth arm 4 is connected to the front end of the third arm 3 through the four-section arm rotation mechanism, and the four-section arm rotation mechanism drives the fourth arm 4 to yaw relative to the third arm 3 in the horizontal direction. The fixture includes: a fixture rotation mechanism, a fixture lifting mechanism, and a clamping mechanism 5. The fixture rotation mechanism is connected to the front end of the fourth arm 4 and drives the fixture lifting mechanism to rotate. The rotation axis of the fixture lifting mechanism is parallel to the rotation axis of the fourth arm 4. The clamping mechanism 5 is connected to the fixture lifting mechanism, and the fixture lifting mechanism drives the clamping mechanism 5 to move along the rotation axis of the fixture lifting mechanism. The clamping mechanism 5 is used to clamp the prefabricated parts. This application, by setting a fixture, can both clamp prefabricated parts such as arc-shaped parts and middle partitions, and can drive the prefabricated parts to lift and rotate. Furthermore, by setting a lifting and translation device and a robotic arm, multi-degree-of-freedom control of the fixture is achieved, thereby realizing accurate adjustment of the prefabricated parts' posture before docking. Therefore, when assembling both the arc-shaped component and the central diaphragm simultaneously, only one device of this application needs to be installed inside the tunnel to achieve both the docking of the arc-shaped component and the docking of the central diaphragm. Compared to existing equipment, this eliminates the need for two sets of corresponding assembly equipment, thus reducing equipment costs. Correspondingly, it also reduces the costs and construction time associated with equipment disassembly and assembly. Furthermore, the functionality of this application helps optimize the assembly process, integrating the assembly of the arc-shaped component and the central diaphragm. This eliminates the need to assemble the arc-shaped component first and then align the central diaphragm with it for docking, achieving sequential docking construction segment by segment. Firstly, this assembly process facilitates equipment positioning and ensures docking accuracy; that is, the arc-shaped component and the central diaphragm are assembled using the same device, sharing the same positioning reference, resulting in good consistency in attitude adjustment accuracy. Secondly, it can reduce the total working stroke of the equipment; that is, reduce the total travel stroke of the gantry crane, the total travel stroke of the transport vehicle, the total travel stroke of the lifting and translating device driving the clamp to lift, and the total travel stroke of the robotic arm driving the clamp to translate and rotate. Finally, it facilitates the paired transport management of prefabricated components; that is, curved components and partitions are transported in pairs, making material handling and transport easier. In summary, this application can improve assembly efficiency and shorten the construction period.

[0010] Specifically, such as Figure 1 and Figure 2 As shown, this application can achieve 13 main actions: 1) Longitudinal coarse movement of the gantry crane (X1); 2) Longitudinal fine movement of the two-section boom (X2); 3) Lifting mechanism wedge lock (X3); 4) Lateral movement of the translation mechanism (Y1); 5) Clamping mechanism clamping (Y2); 6) Safety pin insertion and removal (Y3); 7) Lifting mechanism lifting (Z1); 8) Parking device support clutch (Z2); 9) Clamping mechanism lifting (Z3); 10) Three-section boom rotation (M X1 ); 11) One-section arm pitch (M Y1 ); 12) Clamping mechanism rotation (M Z1 ); 13) Four-section boom slewing (M Z2 Among them, X2, Y1, Z3, and M X1 M Y1 M Z1 M Z2 All seven movements can be precisely controlled, with excellent micro-motion performance.

[0011] Preferably, combined with Figures 3-13 As shown, the lifting mechanism includes: a vertical track assembly mounted on the main steel structure 88 of the gantry car, a lifting slide 85, and a slide lifting drive mechanism 81 for driving the lifting slide 85 to move up and down along the vertical track assembly; as shown Figure 10 As shown, the sliding table lifting drive mechanism 81 includes a rope array 819 and a linear reciprocating drive device 813. Both ends of the linear reciprocating drive device 813 are connected to the rope array 819 and the main steel structure 88 respectively via lifting joint bearings 8110. One end of the rope array 819 away from the linear reciprocating drive device 813 is fixedly connected to the lifting sliding table 85. Figure 3As shown, the vertical track assembly includes at least two non-coplanar tracks, and the lifting slide 85 is equipped with rollers corresponding to the tracks and capable of rolling along them. The gantry crane needs to provide a passageway for transporting prefabricated components, and its main steel structure 88 is an open-type ("n" shaped) steel component. This results in poor overall rigidity of the main steel structure 88 and requires the lifting slide 85 to have a large stroke in the vertical direction, making the lifting slide 85 highly susceptible to jamming or extremely short service life due to excessive dimensional and positional tolerances. The linear reciprocating drive device 813 of the sliding table lifting drive mechanism 81 of this application is connected at both ends by lifting joint bearings 8110, which can realize omnidirectional swing. Therefore, the installation accuracy requirements are extremely low. The non-coplanar track is combined with the rollers rolling along the track, which not only plays a guiding role, but also improves the rigidity of the entire system. Compared with the use of linear guide rails for guidance, even if there is a certain amount of deformation, it will not affect the assembly and lifting action. The structural accuracy requirements of the gantry are extremely low, and it is not easy to have obvious friction noise, abnormal resistance, or jamming.

[0012] Specifically, such as Figure 3 and Figure 4 As shown, the linear reciprocating drive device 813 is horizontally mounted on the main steel structure 88. The main steel structure 88 is equipped with a fixed pulley 86 and a corresponding anti-slip rope device 87. A rope 819 is wound around the fixed pulley 86. By reversing the direction of the fixed pulley 86, the main body of the slide platform lifting drive mechanism 81 can be moved away from the lifting slide platform 85. The two are connected by a long rope 819. The torque generated by the weight of the slide platform lifting drive mechanism 81 can balance part of the load overturning torque. The overall structural layout is reasonable, and the weight distribution helps improve the overall vehicle's anti-overturning stability; the layout of each mechanism is appropriate, with minimal interference between them; and there is sufficient space for installation and maintenance.

[0013] Specifically, such as Figure 3As shown, the main steel structure 88 is the load-bearing body, and its cross-section is an open "n" shape at the bottom. In this embodiment, the main steel structure 88 includes a fixedly connected sliding door frame 881, a gantry frame 882, a traveling drive 883, a traveling beam 884, and a driven balance vehicle 885. Two sets of traveling beams 884 are parallel to the trolley track. One end of the traveling beam 884 is equipped with the traveling drive 883 (drive wheel), and the other end is equipped with the driven balance vehicle 885. The upper surface of the traveling beam 884 is connected to the lower flange of the gantry frame 882 by flange bolts. The frame 882 is connected to the slide door frame 881 by flange bolts; the slide door frame 881 is equipped with four parallel front rails and two rear rails (two front rails and two rear rails) and two side rails 82 with their mounting planes perpendicular to the mounting plane of the front rails; a mechanical stop 84 is welded to the bottom of the front rail; a fixed pulley 86 is set on the slide door frame 881; an anti-jump rope device 87 is fixed on the slide door frame 881; the anti-jump rope device 87 is located on the outer edge of the fixed pulley 86 and a gap is left between it and the fixed pulley 86 to avoid affecting the rotation of the fixed pulley 86.

[0014] Preferably, such as Figure 6 As shown, it also includes a buffer block 859, which is fixed to the bottom of the lifting slide body 851 and corresponds to the mechanical stop 84 to limit the downward sinking of the lifting slide 85. When there is no lifting action for a long time, the lifting slide 85 contacts the mechanical stop 84 to loosen the rope row 819 and unload the load of the linear reciprocating drive device 813, which helps to improve the overall service life.

[0015] Preferably, such as Figure 10 As shown, the sliding table lifting drive mechanism 81 also includes a guide frame 816 and an anti-torsion guide roller 818. The guide frame 816 extends along the stroke direction of the linear reciprocating drive device 813, and the anti-torsion guide roller 818 is disposed on the first cross joint 817. The anti-torsion guide roller 818 can roll along the guide frame 816. The guide frame 816 is arranged parallel to one side of the linear reciprocating drive device 813, and the roller shaft of the anti-torsion guide roller 818 is welded to the side of the first cross joint 817. The roller rides on the guide frame 816 and rolls. Under the restriction of the guide frame 816, the cylinder rod of the linear reciprocating drive device 813 will not rotate at a large angle relative to the cylinder during the extension and retraction process, thereby preventing the wire rope of the rope row 819 from derailing or twisting and knotting. The slide table lifting drive mechanism 81 provides real-time feedback on the actual displacement of the oil cylinder through the slide table displacement sensor 812. The oil circuit connected to the oil cylinder is equipped with a balance valve 814 and an electromagnetic proportional servo valve. By controlling the electromagnetic proportional servo valve in a closed loop, the two sets of linear reciprocating drive devices 813 can extend and retract synchronously.

[0016] Specifically, such as Figure 10As shown, it also includes a cylinder seat 811, which is fixed above the rear of the gantry frame 882. The two ends of the linear reciprocating drive device 813 are respectively connected to the cylinder seat 811 and the first cross joint 817 by lifting joint bearings 8110. The suspended part of the linear reciprocating drive device 813 is supported by a cylinder support block 815 fixed on the gantry frame 882. The rope row 819 consists of two rope ends and multiple steel wire ropes of equal length arranged in parallel in the middle. One end of the rope row 819 is hinged to the first cross connector 817, then changes direction through the fixed pulley 86 and is limited by the anti-jump rope device 87. Then it changes direction again through the redirecting half rope pulley 8513 and is limited by the anti-jump rope baffle 85010. The other end of the rope is finally hinged to the lifting rope head seat 85013. The lifting rope head seat 85013 is fixed on the lifting slide body 851 and is used to secure the rope row 819. The adjusting pad 85014 is located between the lifting rope head seat 85013 and the lifting slide body 851 and is used to adjust the lifting slide 85 to ensure that the left and right sides of the lifting slide 85 are at the same height. Rope 819 employs a multi-wire rope parallel structure, with each wire rope directly and securely connected to both ends. This ensures a high safety factor and facilitates daily inspection and maintenance, allowing for the checking of wire rope wear and timely detection of potential safety hazards. Specifically, for example... Figure 10 As shown, the linear reciprocating drive device 813 is a hydraulic cylinder, and the rope line 819 is connected to the lifting joint bearing 8110 through the first cross joint 817.

[0017] Specifically, such as Figure 7 As shown, the lifting slide 85 includes a lifting slide body 851 and two slide side hooks 856 that are respectively vertically fixed at both ends of the lifting slide body 851. The lifting slide body 851 and the slide side hooks 856 form a space that can avoid the main steel structure 88, so that after the lifting slide 85 is lifted, it can be inserted or removed as a whole from the upper part of the slide door frame 881 at the front end of the gantry crane, reducing the assembly difficulty of the lifting slide 85 and the gantry crane; the upper left elastic roller 852 and the lower left positioning roller 858 are set on the lifting slide body 851; the lower right elastic roller 857 and the upper right positioning roller 855 are set on the slide side hooks 856. In this embodiment, the lifting slide body 851 and the two slide side hooks 856 are sheared and positioned by four positioning shafts 85011, and are assembled into a rigid integral frame by two sets of hexagon socket screws 85012 (in this embodiment, each set includes 18 hexagon socket screws 85012); the lifting slide body 851 has a symmetrical structure, as shown below. Figure 8 As shown, the lifting slide body 851 is provided with two upper left elastic roller windows 8511, four wedge lock grooves 8512, two redirecting half rope pulleys 8513, two lower left positioning roller windows 8514, four positioning shaft holes 8515, two lower left positioning roller shaft holes 8516, and two sets of crossbeam threaded holes 8517 (in this embodiment, each set includes 18 crossbeam threaded holes 8517). Figure 9As shown, the slide side hook 856 is one of two symmetrical parts. The slide side hook 856 is provided with a right upper positioning roller shaft hole 8561, two wedge lock dovetail grooves 8562, a right lower elastic roller window 8563, two side slider threaded holes 8564, two side hook positioning shaft holes 8565 and a set of side hook screw holes 8566 (in this embodiment, each set includes 18 side hook screw holes 8566).

[0018] Specifically, such as Figure 5 As shown, the vertical track assembly includes front and rear tracks 83 fixed to the main steel structure 88. The front and rear tracks 83 include a front track and a rear track that are arranged opposite to each other and parallel to each other. The lifting slide 85 is equipped with an upper left elastic roller 852, a lower right elastic roller 857, a lower left positioning roller 858, and an upper right positioning roller 855. The rollers of the upper left elastic roller 852 and the lower left positioning roller 858 abut against the front track, and the rollers of the upper right positioning roller 855 and the lower right elastic roller 857 abut against the rear track. The upper left elastic roller 852 and the lower right elastic roller 857 can apply adjustable pressure to the front and rear tracks 83. The upper left elastic roller 852 and the upper right positioning roller 855 are arranged opposite to each other, and the lower left positioning roller 858 and the lower right elastic roller 857 are arranged opposite to each other.

[0019] Preferably, such as Figure 5 As shown, the plane of the side rail 82 is perpendicular to the plane of the front rail. The lifting slide 85 is equipped with a lifting side slider 854 that can slide along the side rail 82. The front and rear rails 83 and the side rail 82 are all made of wear-resistant steel plates. The lifting side slider 854 is installed on the side hook 856 of the slide through the side slider threaded hole 8564. There is a gap between the inward end face and the side rail 82. When the lifting slide 85 tilts to one side, the gap on the corresponding side is eliminated, and the lifting side slider 854 contacts the side rail 82, which plays a positioning and guiding role.

[0020] Preferably, such as Figure 7 As shown, it also includes a wedge locking mechanism 853 disposed on the lifting slide 85, such as Figure 12 As shown, the wedge locking mechanism 853 includes a wedge locking cylinder 8531, a connecting rod (long rod 8535 or short rod 8537), and a wedge block 8536; the wedge locking cylinder 8531 is connected to the wedge block 8536 through the connecting rod, and the lifting side slider 854 is provided with wedge locking mechanisms 853 on both sides, and the stroke direction of the wedge locking cylinder 8531 is perpendicular to the extension direction of the side rail 82; In this embodiment, as Figure 5As shown, a pair of inclined surfaces are symmetrically machined on the outer side of each side rail 82 to cooperate with the wedge block 8536 for positioning and locking. The wedge block 8536 is dovetail-shaped and can slide within the wedge lock dovetail groove 8562. Its head has an inclined surface that has been surface hardened and can fit with the inclined surface of the side rail 82. The wedge lock cylinder 8531 can drive the wedge block 8536 to abut against the side rail 82 to achieve positioning and locking of the lifting slide 85. In this embodiment, the wedge lock mechanism 853 also includes a cylinder limit switch 8532 and a wedge lock hydraulic lock 8533. The wedge lock hydraulic lock 8533 can lock the wedge lock cylinder 8531 in both directions. The cylinder limit switch 8532 is used to provide an electrical control interlock signal. When triggered, the wedge lock cylinder 8531 retracts into position, the wedge block 8536 disengages from the inclined surface of the track 82, and the wedge lock mechanism 853 is unlocked. Only then is the lifting slide 85 allowed to move. After the lifting action is completed, the wedge lock cylinder 8531 automatically extends, causing the wedge block 8536 to re-engage with the inclined surface of the track 82, thus locking the wedge lock mechanism 853. When there is no lifting action, the lifting slide can be positioned and locked at any height, preventing it from sliding down and shaking. The extreme position of the lifting slide 85 is limited by the mechanical stop 84, and safe positioning and locking can be achieved at any height through the wedge lock mechanism 853. The connecting rod (long rod 8535 or short rod 8537) is fixed together with the wedge block 8536. Figure 13 As shown, to avoid the wedge locking cylinder 8531 bearing radial force, the head of the telescopic rod of the wedge locking cylinder 8531 is hemispherical. The sealing block 8534 and the connecting rod (long rod 8535 or short rod 8537) are fixed with screws to form a cavity for accommodating the head of the telescopic rod. The head of the telescopic rod is placed in the cavity, so that the wedge locking cylinder 8531 can drive the connecting rod to reciprocate without bearing radial force (there is a gap between the head of the telescopic rod and the cavity to prevent the formation of radial force).

[0021] Specifically, the upper left elastic roller 852 and the lower right elastic roller 857 have the same structure; for example... Figure 11As shown, the upper left elastic roller 852 includes a guide roller bracket 8522 and a pre-tightening seat 8525. The pre-tightening seat 8525 is fixed to the lifting slide table 85 by bolts. Several adjusting pads 8526 are provided between the pre-tightening seat 8525 and the lifting slide table 85. The guide roller bracket 8522 is slidably mounted on the lifting slide table 85. A roller 8521 is provided on the guide roller bracket 8522. A screw that passes through the pre-tightening seat 8525 is provided at the end of the guide roller bracket 8522 away from the roller 8521. A disc spring 8524 is sleeved on the screw. The disc spring 8524 is located between the guide roller bracket 8522 and the pre-tightening seat 8525. It also includes an unloading nut 8527 that is threadedly connected to the screw. Tightening the unloading nut 8527 can compress the disc spring 8524. In this embodiment, there are two sets of upper left elastic rollers 852, which are respectively installed in the two upper left elastic roller windows 8511 of the lifting slide body 851; the guide roller bracket 8522 is also fixed with a bracket side slider 8523, so that the guide roller bracket 8522 can slide relative to the lifting slide body 851; in the initial stage of installation, by tightening the unloading nut 8527, the disc spring 8524 can be forced to compress, so that a large gap is formed between the roller 8521 and the front and rear tracks 83; after the lifting slide body 852 is installed into the slide door frame 881, the unloading nut 8527 is gradually loosened, and the disc spring 8524 is compressed. Under the action of 524, roller 8521 contacts the front and rear tracks 83 and generates a certain pressure; this pressure value can be reduced or increased by increasing or decreasing the number of adjusting shims 8526. The lower right elastic roller 857 has the same structure as the upper left elastic roller 852 (their components are the same, and the size and specifications of the parts are adjusted according to the size of the installation space); the upper right positioning roller 855 and the lower left positioning roller 858 have the same structure (their components are the same, and the size and specifications of the parts are adjusted according to the size of the installation space). The upper right positioning roller 855 and the lower left positioning roller 858 are arranged diagonally opposite each other to resist... Figure 4 The overturning moment M Y ,like Figure 5 As shown, it includes a shaft fixed to the lifting slide 85 and rollers mounted on the shaft via heavy-duty rolling bearings. During the design process, it should be ensured that the rollers do not disengage from the lifting slide block when the cylinder of the lifting drive mechanism 81 is in its fully extended or fully retracted position. Positioning rollers are installed diagonally on the lifting slide 85 to counteract external overturning loads. The positioning rollers have a large spacing and are equipped with heavy-duty rolling bearings. The friction surfaces of the rollers are surface-hardened, and the tracks they rub against are made of high-strength wear-resistant steel plates, thereby improving rolling friction life. Opposite to the positioning rollers, in the non-primary load-bearing direction, elastic rollers are installed diagonally to eliminate swaying during sudden unloading, giving the lifting slide 85 extremely strong anti-overturning load capability in the specified direction, ensuring smooth, safe, and reliable transmission.

[0022] Preferably, combined with Figures 14-30As shown, the translation mechanism includes: a lifting slide body 851, a translation slide body 6, and a translation drive mechanism. The translation drive mechanism drives the translation slide body 6 to move horizontally along the lifting slide body 851. The lifting slide body 851 is provided with a first guide rail mounting surface 71 and a second guide rail mounting surface 72 arranged opposite to each other. The first guide rail mounting surface 71 and the second guide rail mounting surface 72 are arranged vertically. The lifting slide body 851 is provided with a horizontal third guide rail mounting surface 73, which is located between the first guide rail mounting surface 71 and the second guide rail mounting surface 72. The translation slide body 6 includes: a vertical mounting part 61, a horizontal connecting part 62, and a vertical anti-tilting part 6. 3. The vertical mounting part 61 is located on the side of the first guide rail mounting surface 71 away from the second guide rail mounting surface 72. The vertical anti-tilt part 63 is located on the side of the second guide rail mounting surface 72 away from the first guide rail mounting surface 71. The horizontal connecting part 62 is located above the third guide rail mounting surface 73. The horizontal connecting part 62 is fixedly connected to the top of the vertical mounting part 61 and the top of the vertical anti-tilt part 63. A first linear guide rail 64 is provided between the vertical mounting part 61 and the first guide rail mounting surface 71. A third linear guide rail 66 is provided between the horizontal connecting part 62 and the third guide rail mounting surface 73. A second linear guide rail 65 is provided between the vertical anti-tilt part 63 and the second guide rail mounting surface 72. This application improves the anti-tipping capability by dividing the translation slide body 6 into three parts: a vertical mounting part 61, a horizontal connecting part 62, and a vertical anti-tilting part 63, and by setting three mounting surfaces on the lifting slide body 851: a first guide rail mounting surface 71, a second guide rail mounting surface 72, and a third guide rail mounting surface 73. This forms a semi-enclosed frame layout.

[0023] Specifically, the layout of the first guide rail mounting surface 71, the second guide rail mounting surface 72, and the third guide rail mounting surface 73 forms a barbed " To reduce the load on individual guide sliders in the linear guide pair, each linear guide pair may contain three or more guide sliders. The spacing between the first linear guide 64, the second linear guide 65, and the third linear guide 66 is relatively large, especially the span between the first linear guide 64 and the third linear guide 66, which is beneficial to improving the overturning load capacity of the translation slide body 6.

[0024] Preferably, the lifting slide body 851 includes: two slide column 8518, a slide crossbeam 8519 fixed to the top of the two slide column 8518, and an anti-tilt platform 8510 fixed to the top of the slide crossbeam 8519. A first guide rail mounting surface 71 is located on the front side of the slide crossbeam 8519, and a second guide rail mounting surface 72 and a third guide rail mounting surface 73 are located on the anti-tilt platform 8510. The second guide rail mounting surface 72 is located between the front and rear sides of the slide crossbeam 8519, and the vertical anti-tilt part 63 is located between the second guide rail mounting surface 72 and the rear side of the slide crossbeam 8519. The translation slide body 6 of this application is located in front of the rear side of the slide crossbeam 8519, which can avoid interfering with the lifting movement of the lifting slide body 851. Because if the translation slide 6 is designed with a frame structure that fully surrounds the slide beam 8519, causing the translation slide 6 to protrude beyond the rear side of the slide beam 8519, the lifting slide 851 must make way for the translation slide 6 to achieve a wider range of lifting strokes. This would cause the drive and guide structures of the lifting slide 851 to extend forward, reducing the structural rigidity of the lifting slide 851 and consequently decreasing its load-bearing capacity and motion accuracy. Furthermore, since the translation slide 6 fully surrounds the slide beam 8519 of the lifting slide 851, the length of the slide beam 8519 must be increased to achieve a wider translation stroke, meaning the distance between the two slide columns 8518 needs to be increased. This is detrimental to improving the rigidity of the lifting slide 851; and the increased width of the lifting slide 851 makes it unsuitable for engineering equipment operating in confined spaces.

[0025] Specifically, the two slide column 8518 and the slide beam 8519 are an integral structure, which can be formed by casting or welding. The anti-tilt platform 8510 adopts a spatial stiffener design and is fixed to the top of the slide beam 8519 by welding. The lifting slide body 851 and the translation slide body 6 are both integral casting or welding structures, and are subjected to stress-relief annealing treatment to ensure the stability of dimensional accuracy. The front side of the slide beam 8519 is designed with a clearance groove for the installation of various components. The front side of the slide beam 8519 is provided with a first guide rail mounting groove below the clearance groove. The upper part of the first guide rail mounting groove is provided with a first guide rail pressure block mounting groove. The lower groove wall of the first guide rail pressure block mounting groove serves as a positioning stop. The bottom surface of the first guide rail mounting groove is the first guide rail mounting surface 71. The first linear guide rail 64 abuts against the lower groove wall of the first guide rail mounting groove for positioning and is fixed to the first guide rail mounting surface 71 by screws. Several first guide rail pressure blocks 641 are fixed in the first guide rail pressure block mounting groove by screws. The first guide rail pressure blocks 641 and the upper groove wall of the first guide rail pressure block mounting groove are engaged with an inclined surface to press the upper side of the first linear guide rail 64. The rear side of the anti-tilt platform 8510 is provided with a second guide rail mounting groove, and the lower groove wall of the second guide rail pressure block mounting groove serves as a positioning stop. The second guide rail mounting groove extends to the top surface of the anti-tilt platform 8510, and the bottom surface of the second guide rail mounting groove is the second guide rail mounting surface 72. The second linear guide rail 65 abuts against the lower groove wall of the second guide rail mounting groove for positioning and is fixed to the second guide rail mounting surface 72 with screws. Several second guide rail pressure blocks 651 are fixed to the top edge of the anti-tilt platform 8510 with screws. One end of the second guide rail pressure block 651 presses against the top surface of the anti-tilt platform 8510, and the other end extends out of the top edge of the anti-tilt platform 8510 and presses against the upper side of the second linear guide rail 65. The top surface of the anti-tilt platform 8510 is provided with a third guide rail mounting groove, and the front groove wall of the third guide rail pressure block mounting groove serves as a positioning stop. The upper part of the third guide rail mounting groove is also provided with a third guide rail pressure block mounting groove, the bottom surface of which is the third guide rail mounting surface 73. The third linear guide rail 66 abuts against the front groove wall of the third guide rail mounting groove for positioning and is fixed to the third guide rail mounting surface 73 with screws. Several third guide rail pressure blocks 661 are fixed to the third guide rail pressure block mounting groove with screws. The third guide rail pressure blocks 661 and the rear groove wall of the third guide rail pressure block mounting groove are fitted with an inclined surface to press the rear side of the third linear guide rail 66. The first, second, and third guide rail mounting grooves are machined using high-precision machining methods to ensure that the first guide rail mounting surface 71, the second guide rail mounting surface 72, the third guide rail mounting surface 73, and the positioning stops meet strict requirements for flatness, parallelism, and perpendicularity.The arrangement of the first linear guide rail 64, the second linear guide rail 65, and the third linear guide rail 66 in this application allows the first linear guide rail 64 to extend to the position of the slide table crossbeam 8519 corresponding to the slide table column 8518, thereby allowing the vertical anti-tilting part 63 to move to a position closer to the end of the slide table crossbeam 8519, which in turn helps to increase the translational stroke.

[0026] Preferably, the translation drive mechanism includes: a translation rack 671, a translation gear 672, and a translation motor 673. The translation rack 671 is fixed on the slide beam 8519, the translation motor 673 is mounted on the vertical mounting part 61, the translation gear 672 meshes with the translation rack 671, and the translation motor 673 drives the translation gear 672 to rotate.

[0027] Specifically, the translation rack 671 is fixed above the relief groove by screws, and extends into the relief groove. A stepped structure is also provided on the slide beam 8519 to position the translation rack 671. The translation motor 673 drives the translation gear 672 to rotate, which in turn causes the translation gear 672 to roll along the translation rack 671, thereby driving the vertical mounting part 61 to move horizontally. The translation rack 671 uses helical teeth, and the translation motor 673 is a servo motor with an internal brake and precision rotary encoder.

[0028] Preferably, the translation rack 671 is located above the first linear guide rail 64. A motor mounting countersunk hole is provided on the vertical mounting part 61. The translation motor 673 passes through the motor mounting countersunk hole and connects to the translation gear 672. The translation motor 673 is connected to the vertical mounting part 61 via an adjusting component. By positioning the translation rack 671 above the first linear guide rail 64, the drive structure is positioned in the middle of the vertical mounting part 61. This allows the first linear guide rail 64 and the second linear guide rail 65 to be located on either side of the translation rack 671, encompassing the action points of the translation gear 672 and the translation rack 671. This provides overall structural rigidity and facilitates the precise, smooth, and reliable movement of the translation gear 672. Meanwhile, the first linear guide 64 is positioned at the lowest point near the vertical mounting section 61. When the sliding slide body 6 has a tendency to tilt forward, the first linear guide 64, acting as a fulcrum, reduces the lever arm of the load, maximizing the lever arm of the supporting force provided by the third linear guide 66 to the vertical anti-tilt section 63. This reduces the magnitude of the supporting force of the third linear guide 66, thus improving the anti-tilt capability. Specifically, the vertical mounting section 61 adopts a box-shaped rib structure, with a rectangular opening in its center. The edge of the steel plate on one side facing the slide beam 8519 extends into the rectangular opening, forming the mounting position for the adjustment component. The rectangular opening and the steel plate together constitute a countersunk hole for motor mounting. Two rows of threaded holes are provided on the edge of the steel plate on one side of the slide beam 8519.

[0029] Preferably, the adjusting component can steplessly adjust the backlash of the translation gear 672 and the translation rack 671. The adjusting components include: a translation motor mounting plate 6741, an upper adjusting seat 6742, an upper adjusting bolt 6743, a lower adjusting seat 6744, and a lower adjusting bolt 6745; the translation motor mounting plate 6741 is fixedly connected to the motor mounting countersunk hole through an elongated hole and screws, the elongated hole being set vertically; the upper adjusting seat 6742 is fixedly mounted on the translation motor mounting plate 6741, the upper adjusting bolt 6743 is threadedly connected to the upper adjusting seat 6742 and abuts against the upper wall of the motor mounting countersunk hole; the lower adjusting seat 6744 is fixedly mounted on the translation motor mounting plate 6741 and located below the upper adjusting seat 6742, the lower adjusting bolt 6745 is threadedly connected to the lower adjusting seat 6744 and abuts against the lower wall of the motor mounting countersunk hole; the translation motor 673 is mounted on the translation motor mounting plate 6741 and located between the upper adjusting seat 6742 and the lower adjusting seat 6744.

[0030] Specifically, the translation motor mounting plate 6741 has two rows of vertical elongated holes on both sides of its edge. These elongated holes correspond one-to-one with the threaded holes on the steel plate. Screws are passed through the elongated holes and screwed into the threaded holes to fix the translation motor mounting plate 6741 to the steel plate. Loosening the screws allows adjustment of the vertical position of the translation motor mounting plate 6741, thereby adjusting the clearance between the translation gear 672 and the translation rack 671. The upper adjusting seat 6742 includes an upper adjusting seat plate and reinforcing ribs, which are welded to the upper end of the translation motor mounting plate 6741. Two threaded sleeves are welded to the lower surface of the upper adjusting seat plate, and the upper adjusting seat plate has two sets of upper adjusting bolts 6743 located at both ends of the upper adjusting seat plate. The upper adjusting bolt 6743 is screwed into the threaded sleeve. An upper adjusting bolt locking nut is also installed on the upper adjusting bolt 6743, located on the upper surface of the upper adjusting seat plate. Tightening the upper adjusting bolt locking nut, which abuts against the upper surface of the upper adjusting seat plate, locks the position of the upper adjusting bolt 6743. The lower adjusting seat 6744 includes a lower adjusting seat plate and reinforcing ribs, and is fixed to the lower end of the translation motor mounting plate 6741 by welding. Two threaded sleeves are welded to the upper surface of the lower adjusting seat plate. The lower adjusting seat plate has two sets of lower adjusting bolts 6745, located at both ends of the lower adjusting seat plate and corresponding to the upper adjusting bolt 6743. The lower adjusting bolts 6745 are screwed into the threaded sleeves. Lower adjusting bolt locking nuts are also installed on the lower adjusting bolts 6745, located on the lower surface of the lower adjusting seat plate. Tightening the lower adjusting bolt locking nuts, which abut against the lower surface of the lower adjusting seat plate, locks the position of the lower adjusting bolt 6745. When adjusting the vertical position of the translation motor mounting plate 6741, loosen the upper adjusting bolt lock nut, then loosen the upper adjusting bolt 6743, causing the upper adjusting bolt 6743 to abut against the upper wall of the motor mounting countersunk hole, thereby pushing the translation motor mounting plate 6741 downwards; simultaneously, loosen the lower adjusting bolt lock nut, then tighten the lower adjusting bolt 6745, pulling the translation motor mounting plate 6741 downwards; the two actions work together to achieve precise downward movement of the translation motor mounting plate 6741. When tightening the upper adjusting bolt 6743 and loosening the lower adjusting bolt 6745, the translation motor mounting plate 6741 can be precisely moved upwards. After the position is adjusted, lock the upper and lower adjusting bolt lock nuts to ensure that the position of the translation motor mounting plate 6741 remains unchanged. The translation drive mechanism also includes a reducer. A clearance hole is provided on the translation motor mounting plate 6741. The translation motor 673 is mounted on the translation motor mounting plate 6741 through the reducer. The output shaft of the reducer passes through the clearance hole and connects to the translation gear 672.

[0031] Preferably, the translation gear 672 is keyed to the output shaft of the reducer (if no reducer is provided, the translation gear 672 is directly keyed to the output shaft of the translation motor 673). The output shaft end is threaded with a coaxial shaft end bolt 6751. The shaft end bolt 6751 presses the gear cover 6752 onto the translation gear 672 to limit the axial displacement of the translation gear 672. The shaft end bolt 6751 is fitted with a bolt anti-loosening plate 6753, which fits with the profile of the shaft end bolt 6751. The end face of the translation gear 672 is provided with multiple end face threaded holes in a ring array. The bolt anti-loosening plate 6753 is fixed to the translation gear 672 by anti-loosening bolts 6754 and end face threaded holes.

[0032] Specifically, the shaft end bolt 6751 can be adjusted using shims to ensure the tightness of the gear cover 6752. After aligning the through hole on the bolt anti-loosening plate 6753 with the nearest end face threaded hole, the anti-loosening bolt 6754 is screwed in. The bolt anti-loosening plate 6753 is fixed to the translation gear 672 by the two anti-loosening bolts 6754. The bolt anti-loosening plate 6753 rotates synchronously with the translation gear 672. Because the anti-loosening bolt 6754 and the translation gear 672 are not coaxial, the anti-loosening bolt 6754 will not loosen with rotation, ensuring that the bolt anti-loosening plate 6753 does not rotate relative to the translation gear 672. The bolt anti-loosening plate 6753 has a hexagonal hole in the middle that mates with the hexagonal head of the shaft end bolt 6751, thereby restricting the rotation of the shaft end bolt 6751 and effectively preventing the shaft end bolt 6751 from loosening or falling off.

[0033] Preferably, the device further includes an extreme position detection component, which includes: a first limit switch 681, a first sensing iron 682, a second limit switch 683, and a second sensing iron 684. The first limit switch 681 and the second limit switch 683 are located on the side of the slide beam 8519 facing the vertical mounting part 61, and are spaced apart along the translation direction. The first sensing iron 682 and the second sensing iron 684 are located on the side of the vertical mounting part 61 facing the slide beam 8519. The first sensing iron 682 moves forward along the translation direction to the first limit switch 681 and triggers a signal, and the second sensing iron 684 moves backward along the translation direction to the second limit switch 683 and triggers a signal.

[0034] Specifically, the first sensing iron 682 and the second sensing iron 684 are fixedly connected and fixed to the two edges of the inner side of the vertical mounting part 61 by screws. The first limit switch 681 and the second limit switch 683 are respectively fixedly connected and fixed to the slide beam 8519 near both ends by screws. When the vertical mounting part 61 slides left and right, the cooperation of the first limit switch 681 and the first sensing iron 682, and the cooperation of the second limit switch 683 and the second sensing iron 684, can realize the signal detection of the limit position in the two sliding directions, so as to feed back to the electronic control system to determine that the translation slide body 6 has moved to the limit position, thereby obtaining the actual movement range of the translation slide body 6.

[0035] Preferably, the slide beam 8519 is further provided with a first mechanical stop 685 and a second mechanical stop 686, which are spaced apart along the translational direction. The vertical mounting part 61 is provided with a first buffer pad 687 and a second buffer pad 688. The first buffer pad 687 moves forward along the translational direction to abut against the first mechanical stop 685 for limiting its position, and the second buffer pad 688 moves backward along the translational direction to abut against the second mechanical stop 686 for limiting its position. The first buffer pad 687 and the second buffer pad 688 are made of materials such as polyurethane rubber. The cooperation between the first mechanical stop 685 and the first buffer pad 687, and the cooperation between the second mechanical stop 686 and the second buffer pad 688, can achieve mechanical limiting and prevent the slider from disengaging. The range of motion determined by the first mechanical stop 685 and the second mechanical stop 686 is greater than the actual range of motion determined by the limit position detection component.

[0036] Preferably, the lifting slide body 851 is also equipped with a centralized lubrication system 74. The sliders of the first linear guide rail 64, the second linear guide rail 65, and the third linear guide rail 66 are respectively connected to the centralized lubrication system 74 through thin tubes. The centralized lubrication system 74 provides grease to the sliders to ensure the smooth operation of the first linear guide rail 64, the second linear guide rail 65, and the third linear guide rail 66. In practice, grease can be manually added to each oil cup or automatically added by a distributor for periodic lubrication to reduce frictional resistance and extend the service life of heavy-duty linear guide rails.

[0037] Preferably, a section arm hinge seat 69 is fixed on the side of the vertical mounting part 61 away from the slide beam 8519. The section arm hinge seat 69 includes a section arm hinge ear 691 and a cylinder hinge ear 692. The section arm hinge ear 691 is located above the cylinder hinge ear 692 and is used to install a section arm and a cylinder for driving the section arm pitching mechanism.

[0038] Preferably, combined with Figures 31-43As shown, the two-section boom telescopic mechanism includes a telescopic drive component. A first-section boom 1 is sleeved outside a second-section boom 2. The telescopic drive component drives the second-section boom 2 to slide and extend / retract inside the first-section boom 1. A set of main sliders 11 are fixedly installed at both the front and rear ends inside the first-section boom 1. The two sets of main sliders 11 are arranged around the outer periphery of the second-section boom 2. Wear-resistant plate tracks 24 are fixedly installed on the outer periphery of the second-section boom 2 at positions corresponding to the main sliders 11. The main sliders 11, their mounting surfaces, and the friction surfaces of the wear-resistant plate tracks 24 are all precision machined. The friction surfaces of the main sliders 11 are provided with lubricating oil grooves 111, which are filled with grease. This application controls the form and position tolerances and surface roughness by precision machining the main sliders 11, their mounting surfaces, and the friction surfaces of the wear-resistant plate tracks 24, and by using concentrated grease lubrication, ensuring low frictional resistance. Furthermore, by fixing a set of front-end main sliders 11 and a set of rear-end main sliders 11 inside the first arm section 1, and by having the front-end main sliders 11 abut against the outer periphery of the second arm section 2 and the rear-end main sliders 11 abut against the outer periphery of the second arm section 2, the distance between the front-end and rear-end main sliders 11 remains unchanged when the second arm section 2 extends outward, thus ensuring that the support length of the first arm section 1 on the second arm section 2 remains unchanged. Figure 2 As shown, Figure 2 The blue dashed line indicates the original position before extension. The distance Δ1 between the front and rear main sliders 11 remains unchanged, meaning the effective length Δ1 of the two-section arm 2 including the one-section arm 1 remains unchanged. This ensures that the stroke s2 = s1 at the front and rear ends of the two-section arm 2, thus designing the telescopic structure as a fixed-content telescopic motion. Consequently, the support reaction force and contact stress of the front and rear main sliders 11 are almost constant. Therefore, the contact stress of the sliders can be stabilized, ensuring load-bearing capacity and telescopic transmission accuracy.

[0039] Preferably, multiple wear-resistant plate tracks 24 are fixedly provided on the outer periphery of the two-section arm 2. The wear-resistant plate tracks 24 are arranged parallel to the central axis of the two-section arm 2, and the main slider 11 abuts against the friction surface of the wear-resistant plate tracks 24. The front and rear main sliders 11 abut against the wear-resistant plate tracks 24 to ensure sliding connection and support and guide the two-section arm 2, allowing the two-section arm 2 to slide and extend relative to the one-section arm 1. The front and rear main sliders 11 are distributed at the front and rear positions of the wear-resistant plate tracks 24, restricting the two main force positions when the one-section arm 1 extends and retracts. The front and rear main sliders 11 and the wear-resistant plate tracks 24 are machined to ensure precise dimensions, flatness, and surface roughness. At the same time, the front and rear main sliders 11 are made of polytetrafluoroethylene (PTFE), which results in a low coefficient of sliding friction and high dimensional accuracy between the two-section arm 2 and the one-section arm 1, achieving smooth sliding and excellent load-bearing capacity.

[0040] Preferably, the cross-section of the two-section arm 2 is octagonal, and there are four main sliders 11 in each of the two sets. The four wear-resistant plate tracks 24 are fixed on four mutually spaced planes among the eight planes of the two-section arm 2. The four front-end main sliders 11 respectively abut against the four wear-resistant plate tracks 24, and the four tail-end main sliders 11 respectively abut against the four wear-resistant plate tracks 24.

[0041] Specifically, both section 1 and section 2 have octagonal cross-sections with narrower planes at their four corners. The wear-resistant track 24 is made of long strips of wear-resistant steel plate, and four wear-resistant tracks 24 are fixed on the planes at the four corners. The main slider 11 at the front and rear ends abuts against the wear-resistant track 24 at an angle, automatically centering after bearing load, which can better limit lateral and vertical sway. At the same time, it can also work with three types of sliders to limit the relative rotation between section 1 and section 2.

[0042] Preferably, the main slider 11 has a lubricating oil groove 111 on the side facing the wear-resistant plate track 24, and the main slider 11 also has an oil cup mounting hole communicating with the lubricating oil groove 111. An oil cup 112 for supplying grease to the lubricating oil groove 111 is installed in the oil cup mounting hole; or, further, all the oil cups 112 are collected together through pipelines for centralized lubrication. By introducing grease into the oil cup mounting hole, the grease enters the lubricating oil groove 111, thereby allowing the grease to enter between the main slider 11 and the wear-resistant plate track 24 for lubrication.

[0043] Preferably, the front main slider 11 is provided with a positioning boss 113 on the side away from the second arm 2, and the front end of the first arm 1 is fixed with a main slider pressure plate 17. The main slider pressure plate 17 presses the positioning boss 113 on the positioning step of the first arm 1, thereby realizing the position limitation of the front main slider 11 in the extension direction.

[0044] Preferably, the first arm 1 includes a tail section 161 and a head section 162. The tail section 161 is provided with a tail flange 1611, and the head section 162 is provided with a head flange 1621. The tail section 161 and the head section 162 are connected by the tail flange 1611 and the head flange 1621. The tail end of the second arm 2 is inserted into the tail section 161, and the main slider 11 at the tail end is located at the end of the head section 162 facing the tail section 161. The space in the tail section 161 allows the length of the first arm 1 to increase, and the tail end of the second arm 2 can be inserted into the tail section 161, so that the second arm 2 can be retracted into the first arm 1. At the same time, it ensures that when the second arm 2 is extended, the main slider 11 at the front end and the main slider 11 at the tail end always abut against the wear-resistant plate track 24. The tail section 161 and head section 162 of the first arm are machined independently. Both the front and tail main slide blocks 11 are located at the opening of the head section 162, making them easily accessible to machining tools and ensuring precise installation. The machining features of the second arm 2 are all on its outer surface, facilitating easy fixing and machining. This reduces the machining difficulty of the first arm 1 and the second arm 2, making it easier to guarantee accuracy.

[0045] Specifically, the head section 162 of the boom includes: an octagonal cylinder, a front reinforcing rib at the front end of the cylinder, and a rear reinforcing rib at the rear end of the cylinder, which strengthen the two main stress points at the front and rear. Rectangular openings are provided at the four corners of the front end of the cylinder, with the front reinforcing ribs avoiding these rectangular openings. A front slider mounting plate 1622 is welded and fixed to the rectangular openings. A U-shaped mounting groove is provided on the lower surface of the front slider mounting plate 1622, into which the front main slider 11 is inserted. A positioning boss 113 abuts against the side of the front slider mounting plate 1622. The front main slider 11 is fixed to the front slider mounting plate 1622 by screws, and the front slider mounting plate 1622 has clearance holes to expose the oil cup 112. A main slider pressure plate 17 is fixed to the front reinforcing rib at the front end of the cylinder by bolts and a pad. The main slider pressure plate 17 presses against the outer side of the positioning boss 113, so that the inner side of the positioning boss 113 is pressed against the side of the front slider mounting plate 1622. Rectangular openings are provided at the four corners of the rear end of the cylinder, and the rear reinforcing rib avoids the rectangular openings. A rear slider mounting plate 1623 is welded and fixed at the rectangular openings. A U-shaped mounting groove is provided on the lower surface of the rear slider mounting plate 1623. The main slider 11 at the tail end is inserted into the U-shaped mounting groove. The main slider 11 at the tail end is also provided with a positioning boss. The inner side of the boss abuts against the side of the rear slider mounting plate 1623. The main slider 11 at the tail end is fixed to the rear slider mounting plate 1623 by screws. The surface of the main slider 11 at the tail end is also machined with a lubricating oil groove 111 and an oil cup 112 is provided. The rear slider mounting plate 1623 has a clearance hole to expose the oil cup 112. The tail section 161 and the head section 162 of the boom are connected by bolts, tail flange 1611 and head flange 1621. The tail flange 1611 presses against the outer side of the boss of the main slider 11 at the tail end, thereby pressing and fixing the main slider 11 at the tail end.

[0046] Preferably, the first arm 1 is provided with two sets of side sliders, each set of side sliders corresponding to the plane of the non-installed wear-resistant plate track 24 among the eight planes of the second arm 2, and the planes corresponding to the two sets of side sliders are arranged opposite each other; in this embodiment, two horizontally opposite vertical planes corresponding to the second arm 2 are selected. Each set of side sliders includes multiple side sliders 13, which are arranged in a matrix and abut against the front and rear sides of the second arm 2, and the second arm 2 is supported by the two sets of side sliders. In this embodiment, each set of side sliders includes four side sliders 13, two of which correspond to the front end of the cylinder and two of which correspond to the rear end of the cylinder.

[0047] Preferably, one arm section 1 is provided with a threaded sleeve 14, and the side slider 13 has external threads. The side slider 13 is screwed into the threaded sleeve 14 and passes through the one arm section 1. The threaded sleeve 14 and the external threads on the side slider 13 facilitate the installation and removal of the side slider 13, and the side slider 13 is also provided with a lubricating oil groove 111 and an oil cup 112 for lubrication.

[0048] Specifically, the four front-end main sliders 11, the four rear-end main sliders 11, and the eight side sliders 13 are connected together via independent copper pipes. Regular lubrication is achieved by manually adding oil to each slider via oil cups 112 or by automatic oiling via a distributor, which helps reduce frictional resistance and extend slider life. Specifically, the side slider 13 includes a threaded section that mates with the internal thread of the threaded sleeve 14 and a hexagonal tightening part. A locking nut 131 is also provided outside the threaded section. Tightening the locking nut 131 locks the position of the side slider 13, preventing loosening. Simultaneously, the length of the side slider 13 inserted into one section of the arm 1 can be easily adjusted, thereby adjusting the clamping force.

[0049] Preferably, the telescopic drive component includes a telescopic cylinder 151 and a displacement sensor 152. The telescopic cylinder 151 is located inside the first arm 1 and the second arm 2. One end of the telescopic cylinder 151 is hinged to the tail end of the first arm 1, and the other end is hinged to the front end of the second arm 2. Part of the displacement sensor 152 is located on the cylinder body of the telescopic cylinder 151, and another part is located on the cylinder rod of the telescopic cylinder 151. The displacement sensor 152 is used to detect the telescopic amount of the telescopic cylinder 151. By controlling the telescopic amount of the telescopic cylinder 151, the length of the second arm 2 extending out and retracting into the first arm 1 is controlled, thereby achieving precise control of the telescopic movement of the second arm 2.

[0050] Preferably, the inner side of the front end of the second-section arm 2 is provided with a second-section arm hinge seat 25, and the tail end 161 of the first-section arm is provided with a tail end connecting ear 1612. The cylinder body of the telescopic cylinder 151 is hinged to the tail end connecting ear 1612 through a rotating shaft and a spherical bearing, and the cylinder rod is hinged to the second-section arm hinge seat 25 through a rotating shaft and a spherical bearing. This allows the telescopic cylinder 151 to swing within a small range inside the first-section arm 1 and the second-section arm 2, thereby adapting to machining errors and dimensional changes after the wear of the three types of sliders. This ensures that the telescopic cylinder 151 can extend and retract freely without being constricted; it is convenient for installation and can also extend the service life of the telescopic cylinder 151.

[0051] Preferably, combined with Figures 44-52As shown, the three-section arm swing mechanism includes a torsion component. The two-section arm 2 and the three-section arm 3 are rotatably connected. The torsion component includes a first rubbing cylinder 31 and a second rubbing cylinder 32. The first rubbing cylinder 31 and the second rubbing cylinder 32 are located on both sides of the two-section arm 2. The first rubbing cylinder 31 extends while the second rubbing cylinder 32 retracts, or the first rubbing cylinder 31 retracts while the second rubbing cylinder 32 extends, providing a torque in the opposite direction for the swing of the three-section arm 3 relative to the two-section arm 2. This application provides a first rubbing cylinder 31 and a second rubbing cylinder 32 on both sides of the two-section arm 2. When the first rubbing cylinder 31 extends and the second rubbing cylinder 32 retracts, the three-section arm 3 swings clockwise relative to the two-section arm 2. When the second rubbing cylinder 32 extends and the first rubbing cylinder 31 retracts, the three-section arm 3 swings counterclockwise relative to the two-section arm 2. The first rubbing cylinder 31 and the second rubbing cylinder 32 are far from each other on the axis of rotation, thus providing a large output torque. By controlling the extension and retraction, relatively precise swing adjustment can be achieved. Moreover, the installation of the first rubbing cylinder 31 and the second rubbing cylinder 32 is relatively simple and the installation accuracy requirement is not high. This allows the three-section arm swing mechanism to better adapt to the precise swing in heavy-load scenarios.

[0052] Specifically, the two-section arm 2 is set to remain stationary. If the first agitator cylinder 31 on the right extends, the second agitator cylinder 32 on the left will mechanically retract synchronously. Through parameter design, it is known that the bottom end of the first agitator cylinder 31 moves a distance of Δ2, and the bottom end of the second agitator cylinder 32 moves a distance of Δ3, where Δ2 = Δ3. Correspondingly, the three-section arm 3 rotates relative to the two-section arm 2 around its centerline by a swing angle θ. By controlling the extension and retraction of the first agitator cylinder 31 and the second agitator cylinder 32, the direction of the swing angle θ can be controlled; by controlling the extension and retraction of the first agitator cylinder 31 and the second agitator cylinder 32, the magnitude of the swing angle θ can be controlled. By calculating the functional relationship between θ and the extension and retraction of these two agitator cylinders, the electronic control system can precisely control the swing angle θ based on the data from the displacement sensor detecting the extension and retraction.

[0053] Preferably, the rotation axis of the three-section arm 3 is located in a vertical plane passing through the center line of the two-section arm 2 and is parallel to or coincides with the center line of the two-section arm 2. The first rubbing cylinder 31 and the second rubbing cylinder 32 are symmetrically arranged along the vertical plane passing through the center line of the two-section arm 2. The symmetrical arrangement avoids the difference in lever arms of the first rubbing cylinder 31 and the second rubbing cylinder 32 on both sides caused by the structure itself, thereby ensuring control accuracy and reducing control difficulty.

[0054] Preferably, the three-section arm 3 is provided with a first right connecting seat 33 and a first left connecting seat 34 on both sides, and the two-section arm 2 is provided with a second right connecting seat 21 and a second left connecting seat 22 on both sides. The top end of the first actuating cylinder 31 is hinged to the second right connecting seat 21 and the bottom end is hinged to the first right connecting seat 33, and the top end of the second actuating cylinder 32 is hinged to the second left connecting seat 22 and the bottom end is hinged to the first left connecting seat 34. By providing the first right connecting seat 33, the first left connecting seat 34, the second right connecting seat 21, and the second left connecting seat 22, the driving arm can be increased and the installation of the first actuating cylinder 31 and the second actuating cylinder 32 can be facilitated.

[0055] Preferably, the first right connecting seat 33 includes: a first right connecting portion 331, a first right arc portion 332, a first right extension portion 333, and a first right connecting ear 334. The first right connecting portion 331 is fixedly disposed below the three-section arm 3. One end of the first right arc portion 332 is fixedly connected to the first right connecting portion 331, and the other end faces the two-section arm 2 and is fixedly connected to the first right extension portion 333. The first right extension portion 333 extends along the center line of the two-section arm 2. The first right connecting ear 334 is fixedly disposed on the side of the first right extension portion 333 away from the two-section arm 2. The second right connecting seat 21 includes a second right connecting portion 211 and a second right connecting ear 212. The second right connecting portion 211 is fixedly disposed on the outside of the two-section arm 2. The second right connecting ear 212 is fixedly disposed on the second right connecting portion 211. The second right connecting ear 212 is correspondingly disposed with the first right connecting ear 334.

[0056] Preferably, the first left connecting seat 34 includes: a first left connecting portion 341, a first left arc portion 342, a first left extension portion 343, and a first left connecting ear 344. The first left connecting portion 341 is fixedly disposed below the three-section arm 3. One end of the first left arc portion 342 is fixedly connected to the first left connecting portion 341, and the other end faces the two-section arm 2 and is fixedly connected to the first left extension portion 343. The first left arc portion 342 and the first right arc portion 342 are located on both sides of the three-section arm 3. The first left extension portion 343 extends along the two-section arm. Extending along the centerline, the first left connecting ear 344 is fixedly disposed on the side of the first left extension 343 away from the second section arm 2; the second left connecting seat 22 includes a second left connecting part 221 and a second left connecting ear 222. The second left connecting part 221 is fixedly disposed on the outside of the second section arm 2, and the second left connecting part 221 and the second right connecting part 211 are located on both sides of the second section arm 2. The second left connecting ear 222 is fixedly disposed on the second left connecting part 221, and the second left connecting ear 222 is correspondingly disposed to the first left connecting ear 344. In this embodiment, the first right connecting part 331 and the first left connecting part 341 are connected as one unit, and the first right connecting seat 33 and the first left connecting seat 34 form a "horn" shaped integrated structure. The specific structure of the first right connecting seat 33, the first left connecting seat 34, the second right connecting seat 21, and the second left connecting seat 22 creates space between the second section arm 2 and the third section arm 3 for installing a rotating connection structure. At the same time, its structure allows for convenient installation of the first rotating cylinder 31 and the second rotating cylinder 32. This application increases the distance between the first actuating cylinder 31 and the second actuating cylinder 32, thereby increasing the distance between their axes and the rotation axis of the three-section arm 3. This increases the effective lever arm, enabling a larger output torque. Furthermore, the first actuating cylinder 31 and the second actuating cylinder 32 can be externally mounted, preventing interference with the two-section arm 2 or the three-section arm 3 after swinging. Simultaneously, it increases the installation and maintenance space, facilitating installation and maintenance while reducing costs.

[0057] Preferably, the distance between the first right connecting ear 334 and the first left connecting ear 344 is equal to the distance between the second right connecting ear 212 and the second left connecting ear 222, and the first actuating cylinder 31 and the second actuating cylinder 32 have the same specifications. By increasing the distance between the first right connecting ear 334 and the first left connecting ear 344, and ensuring that the first actuating cylinder 31 and the second actuating cylinder 32 are symmetrically arranged, the structure becomes more compact, thereby minimizing the external dimensions. The first actuating cylinder 31 and the second actuating cylinder 32 have the same specifications, and their push-pull operation ensures a stable flow requirement for the hydraulic system, which in turn helps to maintain a constant output torque and thus ensures stable action accuracy.

[0058] Preferably, the first agitator cylinder 31 is equipped with a first displacement sensor 351 for detecting the extension and retraction of the first agitator cylinder 31, and the second agitator cylinder 32 is equipped with a second displacement sensor 352 for detecting the extension and retraction of the second agitator cylinder 32. One end of the first displacement sensor 351 is connected to the cylinder barrel of the first agitator cylinder 31, and the other end is connected to the cylinder rod, thereby realizing the detection of the extension and retraction of the first agitator cylinder 31. Similarly, the second displacement sensor 352 is also installed on the second agitator cylinder 32 in the same manner.

[0059] Preferably, the first agitator cylinder 31 is further provided with a first bidirectional hydraulic lock 361 for bidirectional oil cut-off locking of the first agitator cylinder 31, and the second agitator cylinder 32 is further provided with a second bidirectional hydraulic lock 362 for bidirectional oil cut-off locking of the second agitator cylinder 32. In this embodiment, the first bidirectional hydraulic lock 361 and the first displacement sensor 351 are arranged on both sides of the first agitator cylinder 31. When the hydraulic system actively stops supplying oil, the first bidirectional hydraulic lock 361 and the second bidirectional hydraulic lock 362 quickly cut off the oil circuit, ensuring the locking of the first agitator cylinder 31 and the second agitator cylinder 32, thereby maintaining the swing angle θ.

[0060] Preferably, both ends of the first actuating cylinder 31 and the second actuating cylinder 32 are provided with swing joint bearings 37. The top end of the first actuating cylinder 31 is hinged to the first right connecting ear 334 of the first right connecting seat 33 via the swing joint bearing 37 and the rotating shaft, and the bottom end is hinged to the second right connecting ear 212 of the second right connecting seat 21 via the swing joint bearing 37 and the rotating shaft. The top end of the second actuating cylinder 32 is hinged to the first left connecting ear 344 of the first left connecting seat 34 via the swing joint bearing 37 and the rotating shaft, and the bottom end is hinged to the second left connecting ear 222 of the second left connecting seat 22 via the swing joint bearing 37 and the rotating shaft. The swing joint bearings 37 can reduce the impact of installation errors on the first actuating cylinder 31 and the second actuating cylinder 32, reduce the installation accuracy requirements, and extend the service life of the two actuating cylinders.

[0061] Preferably, the three-section arm 3 has a rear flange 38 facing the two-section arm 2, and the two-section arm 2 has a flange 23 facing the three-section arm 3. A slewing bearing 39 is provided between the rear flange 38 and the flange 23. The rear flange 38 is connected to the slewing bearing 39 by threaded fasteners, and the flange 23 is also connected to the slewing bearing 39 by threaded fasteners. The flanges and stop are used for positioning and connection, allowing the two-section arm 2 and the three-section arm 3 to form a rotating joint, ensuring rotational rigidity and smooth rotation.

[0062] Preferably, combined with Figures 53-69As shown, the four-section boom slewing mechanism includes a rotary driver and a slewing arm assembly; the four-section boom 4 is rotatably connected to the three-section boom 3; the slewing arm assembly includes: a flat shaft 441, a second waist-shaped sleeve 442, a first slewing joint bearing 443, and a slewing arm 444; the flat shaft 441 is fixed on the four-section boom 4 and its axis is parallel to the rotation axis of the four-section boom 4, and the flat shaft 441 is provided with two mutually parallel first positioning surfaces 4411; the second waist-shaped sleeve 442 has a second waist-shaped hole 4421, and the second waist-shaped sleeve 442 is fitted on the flat shaft 441, and the two first positioning surfaces 4411 are parallel to each other. 11 abuts against the two side walls of the second waist-shaped hole 4421. The flat shaft 441 and the second waist-shaped hole 4421 have a gap along the common perpendicular direction of the axis of the flat shaft 441 and the rotation axis of the four-section arm 4. The second waist-shaped hole sleeve 442 and the four-section arm 4 have a gap. The arm output end 4441 of the rotary arm 444 is located outside the second waist-shaped hole sleeve 442 through the first rotary joint bearing 443. The arm input end 4442 is connected to the rotary driver. The rotary driver drives the arm input end 4442 to rotate, thereby driving the four-section arm 4 to rotate relative to the three-section arm 3 through the flat shaft 441. This application, by setting up a rotary arm component, utilizes the cooperation between the flat shaft 441 and the second oblong hole 4421, the cooperation between the first rotary joint bearing 443 and the second oblong hole sleeve 442, and the clearance between the second oblong hole sleeve 442 and the four-section arm 4, to achieve the release of two translational degrees of freedom and the corresponding two rotational degrees of freedom, while limiting the translational and rotational degrees of freedom directly related to the rotational accuracy of the rotary arm 444, thereby effectively avoiding the phenomenon of stiffness, ensuring precision transmission, and achieving a compact overall structure. Specifically, as shown... Figure 1 , Figure 54 , Figure 55 and Figure 58 As shown, a coordinate system is established to explain in detail the degree of freedom control of the four-section boom rotary mechanism. The X-axis is defined as the radial direction of the rotary actuator (i.e., the direction perpendicular to the axis of rotation of the flat shaft 441 and the axis of rotation of the four-section boom 4); the Z-axis is defined as the axial direction of the rotary actuator (i.e., the direction of rotation of the four-section boom 4); the Y-axis is the radial direction of the rotary actuator and is perpendicular to both the X-axis and Z-axis; the axis of rotation about the X-axis is defined as M. X M is the rotation around the Y-axis. Y M rotates about the Z-axis. ZThe flat shaft 441 and the second waist-shaped hole 4421 of the second waist-shaped sleeve 442 have gaps △4 and △5 along the X-axis direction, and the second waist-shaped sleeve 442 and the four-section arm 4 have gaps △6 and △7 along the Z-axis direction. If one of the four-section arm 4 or the three-section arm 3 is fixed, under the condition that the rotary actuator does not actively drive, the existence of gaps △4 and △5 allows the unfixed component to translate along the X-axis direction; the existence of gaps △6 and △7 allows the unfixed component to translate along the Z-axis direction; the existence of gaps △4 and △5 and the action of the first rotary joint bearing 443 allow the unfixed component to rotate around the Y-axis direction (My); the action of the first rotary joint bearing 443 allows the unfixed component to rotate around the X-axis direction (Mx). X, Z, M X M Y Since none of the four degrees of freedom are constrained, the dimensional accuracy requirements in these directions are low, and there will be no stiffness issues. The remaining two degrees of freedom, Y and M... Z The Y-axis direction can be set to the direction with less load, while Mz represents the rotary joint movement requiring precise transmission. In summary, this application, through the structure of the rotary arm component, specifically releases degrees of freedom in the direction of the main overturning moment (Mz). X and M Y The normal (X) and direction (Z) of the first slewing bearing 45's rotation axis are unconstrained, with only the rotation direction (M) precisely constrained. Z The normal (Y) of the first slewing bearing 45 rotation axis can not only ensure transmission accuracy, but also avoid damage to the rotary drive due to stiffness. At the same time, it also reduces the difficulty of machining and assembling parts.

[0063] Specifically, such as Figure 58 and 66 As shown, the main body of the flat shaft 441 is a cylinder, on which two parallel first positioning surfaces 4411 are milled. The inner hole of the second waist-shaped sleeve 442 is machined into a second waist-shaped hole 4421 along the X-axis to mate with the flat shaft 441. The length of the second waist-shaped hole 4421 is d, and the width is h. The length d of the second waist-shaped hole 4421 is greater than the diameter of the flat shaft 441, and the width h of the second waist-shaped hole 4421 is equal to the distance between the two first positioning surfaces 4411, thus leaving gaps △4 and △5 on both sides of the flat shaft 441; gaps △6 and △7 are left between the upper and lower end faces of the second waist-shaped sleeve 442 and the four-section arm 4. The two first positioning surfaces 4411 respectively abut against the flat wall surfaces on both sides of the second waist-shaped hole 4421, thereby precisely limiting the degree of freedom Y. The arrangement of the second waist-shaped sleeve 442, the second waist-shaped hole 4421, and the flat shaft 441 facilitates precise machining, thereby ensuring precise constraints.

[0064] Preferably, the four-section arm 4 has a mounting cavity, within which the flat shaft 441 and the rotary arm 444 are located. This fully utilizes the internal space of the four-section arm 4, resulting in a more compact structure and smaller overall dimensions. Specifically, the four-section arm 4 includes a front end 481, a middle section 482, and a rear end 483. The middle section 482 connects the front end 481 and the rear end 483. The four-section arm 4 as a whole adopts a hollow, weight-reducing structure formed by welding plates and stiffeners. The flat shaft 441 is installed at the front of the middle section 482, and the rotary arm 444 connects to the flat shaft 441, passing through the rear end 483 and connecting to the rotary actuator. Compared to directly driving the four-section arm 4 to rotate via the rotary actuator, this application not only balances overturning torque and rotational accuracy through the rotary arm component, but also increases the lever arm to increase torque through the rotary arm 444, which is beneficial for reducing the size of the rotary actuator and improving the load capacity of the four-section arm 4.

[0065] Preferably, the four-section arm 4 has two coaxial mounting holes 445, which are located on the upper and lower plates of the middle section 482 of the four-section arm, respectively. A bushing 446 is welded into each mounting hole 445, and the bushing 446 has a central shaft hole. The planes at both ends of the flat shaft 441, parallel to its axis, abut against the planes of the shaft hole. A shaft cap 447 is screwed to the end of the flat shaft 441, and the shaft cap 447 is pressed against the bushing 446. Since the fit length between the hole on the plate of the middle section 482 of the four-section arm and the flat shaft 441 is small, the bushing 446 is added to install the flat shaft 441. The planes at both ends of the flat shaft 441, parallel to its axis, abut against the shaft hole planes of the upper and lower bushings 446, thus limiting the rotation of the flat shaft 441. The shaft cap 447, pressed against the bushing 446, further limits the axial position of the flat shaft 441.

[0066] Specifically, reinforcing ribs are welded to the outer periphery of bushing 446 and the plate of the middle section 482 of the four-section arm to strengthen local areas. Through the cooperation of flat shaft 441 and two bushings 446, the upper and lower plates of the middle section 482 of the four-section arm are supported, thereby improving the rigidity of the four-section arm 4. The outer end of flat shaft 441 has a round hole that forms a stepped surface with the shaft hole. The end of flat shaft 441 has a threaded hole. The shaft cover 447 has a through hole corresponding to the threaded hole. Screws pass through the shaft cover 447 and are tightened at the end of flat shaft 441. The shaft cover 447 abuts against the stepped surface and the end face of flat shaft 441. The shaft cover 447 is recessed into flat shaft 441. The upper and lower shaft covers 447 limit the vertical position of flat shaft 441.

[0067] Preferably, the second waist hole sleeve 442 has an outer boss 4422 and an outer retaining spring groove 4423 on its outer periphery. The inner ring of the first rotary joint bearing 443 is sleeved on the second waist hole sleeve 442 and abuts against the outer boss 4422. The shaft retaining spring 4424 is inserted into the outer retaining spring groove 4423 to restrict the axial movement of the inner ring of the first rotary joint bearing 443. The arm output end 4441 has a joint mounting hole 4444. The joint mounting hole 4444 has an inner boss 4445 and an inner retaining spring groove 4446. The outer ring of the first rotary joint bearing 443 is located in the joint mounting hole 4444 and abuts against the inner boss 4445. The hole retaining spring 4447 is inserted into the inner retaining spring groove 4446 to restrict the axial movement of the outer ring of the first rotary joint bearing 443. Specifically, the outer boss 4422 is located above the inner boss 4445. The upper end of the inner ring of the first rotary joint bearing 443 abuts against the outer boss 4422, and the shaft retainer 4424 abuts against the lower end of the inner ring of the first rotary joint bearing 443. The lower end of the outer ring of the first rotary joint bearing 443 abuts against the inner boss 4445, and the hole retainer 4447 abuts against the upper end of the outer ring of the first rotary joint bearing 443. The vertical position of the inner ring of the first rotary joint bearing 443 is defined by the outer boss 4422, the outer retainer groove 4423, and the shaft retainer 4424, and the vertical position of the outer ring of the first rotary joint bearing 443 is defined by the inner boss 4445, the inner retainer groove 4446, and the hole retainer 4447, thus achieving precise installation of the first rotary joint bearing 443. Preferably, the four-section arm 4 and the three-section arm 3 are rotatably connected by the first rotary support 45 to form a rotary joint.

[0068] Preferably, the four-section arm 4 has a four-section arm flange 451 on its rear end 483, and the three-section arm 3 has a three-section arm front flange 452. The four-section arm flange 451 and the three-section arm front flange 452 are respectively connected to the inner and outer rings of the first slewing bearing 45. This achieves a rotatable connection between the four-section arm 4 and the three-section arm 3, ensuring smooth rotation and slewing accuracy of the four-section arm 4 relative to the three-section arm 3.

[0069] Preferably, the front flange 452 of the three-section boom is also fixedly connected to a second reducer base 46. The second reducer base 46 includes a second housing 461, an upper flange 462, and a lower flange 463. The second housing 461 is annular, and its lower end extends through the four-section boom flange 451 into the mounting cavity of the four-section boom 4. The upper end of the second housing 461 is coaxially fixed to the front flange 452 of the three-section boom via the upper flange 462, and the lower end is connected to the rotary drive via the lower flange 463. The rotary drive passes through the second housing 461. By setting the second reducer base 46 and utilizing the middle position of the second housing 461, the rotary drive can be recessed into the four-section boom 4, making full use of the internal space of the four-section boom 4 and the three-section boom 3, which helps to reduce the height of the four-section boom 4 and the three-section boom 3, making it suitable for working spaces with limited height. Specifically, the planes of the upper flange 462 and the lower flange 463 are parallel, and their stops are coaxial. Both the upper flange 462 and the three-section boom front flange 452 are connected to the inner ring of the first slewing bearing 45. The upper flange 462 is located between the three-section boom front flange 452 and the inner ring of the first slewing bearing 45, and the second housing 461 passes through the inner ring of the first slewing bearing 45. Specifically, the second housing 461, the upper flange 462, and the lower flange 463 are integral castings or welded parts. To obtain stable dimensional accuracy, the second reducer base 46 can be integrally cast or welded and then subjected to stress-relief annealing.

[0070] Preferably, the rotary drive includes a first rotary motor 471 and a first rotary reducer 472. The housing of the first rotary reducer 472 is provided with a reducer flange 4721, which is fixedly connected to the lower flange 463. The output end of the first rotary reducer 472 is fixedly connected to the arm input end 4442, and the input end of the first rotary reducer 472 is connected to the first rotary motor 471. Specifically, the first rotary reducer 472 adopts a high-precision planetary reducer, and the first rotary motor 471 adopts a servo motor. The servo motor has a brake and a rotary encoder inside. The servo motor drives the high-precision planetary reducer, thereby causing the second reducer base 46 to drive the rotary arm 444 to rotate, which in turn drives the four-section arm 4 to rotate relative to the three-section arm 3. This application makes full use of the inner ring space of the first rotary bearing 45 and the second reducer base 46, which can match a high-ratio heavy-duty high-precision planetary reducer, making the rotary structure more compact and the overall size smaller. Therefore, the four-section arm rotary mechanism of this application can achieve both high-precision transmission and weight reduction; it can be applied to equipment with multiple motion mechanisms densely arranged in a confined space, especially multi-degree-of-freedom robotic arms. Specifically, the three-section arm 3 is also a hollow weight-reducing structure, and the input end of the first rotary reducer 472 adopts a right-angle form, so that the first rotary motor 471 can be arranged laterally inside the three-section arm 3.

[0071] Preferably, the reducer flange 4721 is located above the lower flange 463. A threaded annular plate 473 with threaded holes is provided above the reducer flange 4721. Screws pass through the lower flange 463 and the reducer flange 4721 and are screwed into the threaded holes on the annular plate 473. A lower operating port 448 is provided on the four-section arm 4, located below the four-section arm flange 451, exposing the lower flange 463. To fully utilize the internal space of the second reducer base 46, the distance between the second reducer base 46 and the first rotary reducer 472 is very small and the location is very deep. This makes it difficult to install the lower flange 463 of the second reducer base 46 and the reducer flange 4721. This application uses a screw inserted through the lower operating port 448, passing through the lower flange 463 and the reducer flange 4721, and then screwing it into the threaded hole of the screw hole annular plate 473. This allows the screw hole annular plate 473 and the lower flange 463 to clamp and position the first rotary reducer 472.

[0072] Preferably, the slewing arm 444 includes: an arm output end 4441, an arm input end 4442, and an arm inclined connecting section 4443. The arm output end 4441 is parallel to the arm input end 4442 and is higher than the arm input end 4442. The arm inclined connecting section 4443 obliquely connects the arm input end 4442 and the arm output end 4441. The arm input end 4442 is provided with an input arm flange 4448, which is fixedly connected to the output end of the first slewing reducer 472. The mechanism design of the slewing arm 444 in this application can ensure connection with the output end of the first slewing reducer 472 at a lower position and transmit the driving force to the middle position of the flat shaft 441, thereby facilitating the arrangement of the first slewing joint bearing 443, the second waist hole sleeve 442, and the bushing 446, thereby reducing the height of the four-section arm 4.

[0073] Specifically, the four-section arm 4 can be folded and rotated below the three-section arm 3 via a four-section arm rotation mechanism, thereby driving the clamp to rotate below the three-section arm 3. Firstly, since the clamp can only grip the curved part near its edge and cannot reach the middle, gripping with the four-section arm 4 extended would result in a very long cantilever arm. However, the curved part is heavy, which increases the rigidity requirements of the overall structure. This application reduces the lever arm by folding the four-section arm 4 below the three-section arm 3 before gripping the curved part, thus lowering the structural rigidity requirements and load-bearing capacity. Furthermore, the clamp rotation mechanism drives the gripping mechanism to rotate forward (i.e., away from the two-section arm), ensuring that the gripping mechanism can grip the curved part; and after gripping the curved part, the center of gravity of the curved part is kept as close as possible to the rotation center of the four-section arm rotation mechanism, which helps ensure the stability of gripping and rotation. Secondly, if the four-section arm 4 rotates to a position perpendicular to the three-section arm 3 (i.e., the four-section arm 4 rotates to the side), the clamp can be positioned to the side of the three-section arm 3. This creates space, allowing the conveyor from the rear of the gantry to deliver the curved part to the front without interference between the clamp and the curved part. This reduces the stroke of the translation mechanism and can even eliminate the need for the translation mechanism to move, thus achieving the desired positioning. Thirdly, if the curved part is gripped and rotated solely by the clamp's rotation mechanism, the rotation of the curved part will not be around its center because the gripping position is not at the center. However, the lower part of the curved part is in contact with the tunnel, and its length is relatively long, which could cause the curved part to collide with the tunnel. Therefore, it is necessary to increase the lifting height of the curved part to ensure sufficient operating space. This application utilizes the rotational coordination of a four-section arm slewing mechanism and a clamping slewing mechanism to ensure that the center of gravity of the arc-shaped component is as close as possible to the rotation center of the four-section arm slewing mechanism. During rotation, the four-section arm 4 and the clamping mechanism approximately rotate around the center of gravity of the arc-shaped component, causing the arc-shaped component to essentially rotate around its center of gravity. Therefore, in the intermediate position, this application only needs to lift the arc-shaped component a small distance to convert it from a longitudinal placement along the tunnel length to a lateral docking position. Finally, the partition plate is relatively high and lightweight. If the arc-shaped component is gripped, the partition plate will interfere with the three-section arm 3. This application can rotate and unfold the four-section arm 4 to extend the three-section arm 3, and rotate the clamping mechanism to face forward. The clamping mechanism then grips the partition plate near its edge, positioning the entire partition plate in front of the four-section arm 4. The partition plate can be higher than the three-section arm 3 and the four-section arm 4, thus lifting the partition plate within a limited space. At the same time, it can also make way for the transportation of the partition. After the four-section arm 4 and the clamp rotate to the side, the lifting mechanism only needs to be raised to meet the height requirements of the partition. At most, the translation mechanism can be moved to the side by a small stroke to make way.

[0074] Preferably, combined with Figures 70-75As shown, the clamp rotation mechanism includes a clamp rotation drive, a first reducer base 41, and a semi-flat shaft 42; the four-section arm 4 is rotatably connected to the clamp rotation cylinder 51; the first reducer base 41 is located inside the clamp rotation cylinder 51, and the first reducer base 41 has a first oblong hole 411 whose axis is perpendicular to the axis of the clamp rotation cylinder 51; the semi-flat shaft 42 includes a rotating shaft section 421 and a flat shaft section 422, the flat shaft section 422 has two parallel second positioning surfaces 423, and the clamp rotation cylinder 51 has a second positioning surface 423 whose axis is perpendicular to the axis of the clamp rotation cylinder 51. The shaft hole 511 of the axis of the cylinder 51 is inserted into the rotating shaft section 421, and the flat shaft section 422 is inserted into the first waist-shaped hole 411. The two second positioning surfaces 423 abut against the two side walls of the first waist-shaped hole 411. The flat shaft section 422 and the first waist-shaped hole 411 are separated by a gap along the axial direction of the clamp rotating cylinder 51. The first reducer base 41 and the clamp rotating cylinder 51 are separated by a gap along the axial direction of the semi-flat shaft 42. The clamp rotating driver drives the first reducer base 41 to rotate, thereby driving the clamp rotating cylinder 51 to rotate relative to the four-section arm 4 through the semi-flat shaft 42. This application achieves the release of two translational degrees of freedom and corresponding two rotational degrees of freedom by setting up a first reducer base 41 and a semi-flat shaft 42, utilizing the cooperation between the flat shaft section 422 and the first oblong hole 411, and the reserved gap between the first reducer base 41 and the clamp rotating cylinder 51. At the same time, it limits the translational and rotational degrees of freedom that are directly related to the rotational accuracy, effectively avoids the phenomenon of stiffness, ensures precision transmission, and has a compact overall structure.

[0075] Specifically, such as Figure 1 , Figure 71 and Figure 72 As shown, a coordinate system is established to explain in detail the degree of freedom control of the fixture rotation mechanism. Taking the extended four-section arm as the reference, at this point, the axial direction of the shaft hole, the length direction of the four-section arm, and the length direction of the tunnel are consistent. The coordinate system of the fixture rotation mechanism, the four-section arm rotation mechanism, and the entire equipment is consistent. The radial direction of the fixture rotary actuator, i.e., the axial direction of the shaft hole 511, is defined as the X-axis; the axial direction of the fixture rotary actuator is defined as the Z-axis; the Y-axis is the radial direction of the fixture rotary actuator and is perpendicular to both the X-axis and Z-axis; the axis of rotation around the X-axis is defined as M. X M rotates about the Y-axis. Y M rotates about the Z-axis. Z The first reducer base 41 and the clamp rotating cylinder 51 have gaps △8 and △9 along the axial direction of the semi-flat shaft 42, and the flat shaft section 422 and the first oblong hole 411 have gaps △10 and △11 along the axial direction of the clamp rotating cylinder 51. If one of the four-section arm 4 or the clamp rotating cylinder 51 is fixed, under the condition that the clamp rotating drive is not actively driven, the existence of gaps △8 and △9 allows the unfixed part to translate along the X-axis; the existence of gaps △10 and △11 allows the unfixed part to translate along the Z-axis and rotate about the Y-axis (M...Y ); Because the rotating shaft section 421 mates with the shaft hole 511, the unfixed component is allowed to rotate around the X-axis (M). X X, Z, M X M Y Since none of the four degrees of freedom are constrained, the dimensional accuracy requirements in these directions are low, and there will be no stiffness issues. The remaining two degrees of freedom, Y and M... Z The Y-axis direction can be set to the direction with the smaller load, while M... Z This refers to the rotary joint motion requiring precise transmission. In summary, this application, through the connection between the first reducer base 41 and the semi-flat shaft 42, specifically releases degrees of freedom in the direction of the main overturning moment (M). X and M Y The normal (X) and rotation axis direction (Z) of the second slewing bearing 517 are unconstrained, and only the rotation direction (M) is precisely constrained. Z The normal (Y) of the rotation axis of the second slewing bearing 517 can not only ensure transmission accuracy, but also avoid damage to the jig rotary drive, and at the same time reduce the difficulty of machining and assembling parts.

[0076] Preferably, the first reducer base 41 includes: a first housing 412, a reducer base flange 413, and a first waist-shaped sleeve 414; the reducer base flange 413 is fixed to the first housing 412 and is used to connect the clamp rotary drive, so that the first reducer base 41 rotates coaxially with the clamp rotary drive; the first waist-shaped sleeve 414 is fixed to the first housing 412 and has a vertically arranged first waist-shaped hole 411 to cooperate with the flat shaft section 422. The size of the first waist-shaped hole 411 in the Z-axis direction is larger than the size of the flat shaft section 422, so that gaps △10 and △11 can be left on the upper and lower sides of the flat shaft section 422; a gap is left between the end face of the first waist-shaped sleeve 414 and the clamp rotary cylinder 51. The two second positioning surfaces 423 of the flat shaft section 422 respectively abut against the flat wall surfaces on both sides of the first waist-shaped hole 411, thereby precisely limiting the degree of freedom Y. The design of the first waist-shaped sleeve 414, the first waist-shaped hole 411, and the flat shaft section 422 facilitates precise machining, thereby ensuring precise constraints. Specifically, the main body of the semi-flat shaft 42 is a cylinder, with one end milled to create two parallel second positioning surfaces 423, thus forming the flat shaft section 422 and the rotating shaft section 421. The first housing 412, the reducer base flange 413, and the first waist-shaped sleeve 414 are integral castings or welded parts. To obtain stable dimensional accuracy, the first reducer base 41 can be integrally cast or welded and then subjected to stress-relief annealing.

[0077] Preferably, two first waist-shaped sleeves 414 are symmetrically arranged on the first housing 412. Each of the two first waist-shaped sleeves 414 has a first waist-shaped hole 411, and the two first waist-shaped holes 411 are coaxial, ensuring that they are perpendicular and orthogonal to the axis of the reducer base flange 413, thereby ensuring the positional accuracy after connection with the clamp rotary drive. At the same time, the two first waist-shaped sleeves 414, together with the two semi-flat shafts 42, can form symmetrical force-bearing points, which is beneficial for transmitting torque and improving structural rigidity.

[0078] Preferably, the fixture rotary drive includes a second rotary motor 515 and a second rotary reducer 516. The output end of the second rotary reducer 516 is fixedly connected to the four-section arm 4, and the housing is fixedly connected to the first reducer base 41 via a reducer base flange 413. The input end of the second rotary reducer 516 is connected to the second rotary motor 515. The first housing 412 is annular, and the second rotary motor 515 and the second rotary reducer 516 pass through the first housing 412. Specifically, the second rotary reducer 516 is a high-precision planetary reducer, and the second rotary motor 515 is a servo motor. The servo motor has a brake and a rotary encoder inside. The output end of the second rotary reducer 516 is positioned and connected to the four-section arm 4 by a flange and a stop. The housing of the second rotary reducer 516 is also positioned and connected to the first reducer base 41 by a flange and a stop. The servo motor drives the high-precision planetary reducer, thereby causing the first reducer base 41 to drive the fixture rotating cylinder 51 to rotate relative to the four-section arm 4.

[0079] Preferably, the clamping rotating cylinder 51 and the four-section arm 4 are rotatably connected via the second slewing bearing 517, forming a rotating joint. The second slewing reducer 516 is coaxially mounted inside the gearless second slewing bearing 517, making full use of the internal space of the clamping rotating cylinder 51 to arrange the second slewing reducer 516, the first reducer base 41, and the second slewing motor 515. Furthermore, the second slewing reducer 516 passes through the inner ring of the first reducer base 41, allowing it to be matched with a high-ratio, heavy-duty, high-precision planetary reducer, resulting in a more compact structure and smaller overall dimensions. Therefore, the slewing mechanism of this application achieves both high-precision transmission and weight reduction; it is suitable for equipment with multiple motion mechanisms densely arranged in confined spaces, especially multi-degree-of-freedom robotic arms.

[0080] Preferably, the clamp rotating cylinder 51 includes a cylinder body 512 and a mounting ear 513. The mounting ear 513 passes through the cylinder wall of the cylinder body 512 and is fixed on the cylinder body 512. A shaft hole 511 is formed on the mounting ear 513. This can reduce the volume of the clamp rotating cylinder 51 while ensuring the rigidity of the connection position with the semi-flat shaft 42.

[0081] Preferably, the clamp rotating cylinder 51 further includes a clamp rotating cylinder flange 514, which is fixed on the cylinder body 512 and is connected to the outer ring flange of the second slewing bearing 517.

[0082] Preferably, the four-section arm 4 is provided with a front outer flange 431 and a front inner flange 432. The front inner flange 432 is located inside the front outer flange 431 and is fixedly connected to the output end of the second rotary reducer 516. The front outer flange 431 is connected to the inner ring flange of the second slewing bearing 517, thereby realizing the rotational connection between the clamp rotating cylinder 51 and the four-section arm 4. In this embodiment, the front outer flange 431 and the front inner flange 432 are integrally machined to ensure coaxiality. Specifically, the clamp lifting mechanism includes a clamp lifting driver; a clamping seat 55 is sleeved outside the clamp rotating cylinder 51, and the clamp lifting driver drives the clamping seat 55 to slide and extend outside the clamp rotating cylinder 51; a set of main sliders 11 are fixedly provided at the front and rear ends inside the clamping seat 55, and the two sets of main sliders 11 are arranged around the outer periphery of the clamp rotating cylinder 51. Wear-resistant plate rails 24 are fixedly provided at positions corresponding to the main sliders 11 on the outer periphery of the clamp rotating cylinder 51; the main sliders 11, the mounting surfaces of the main sliders 11, and the friction surfaces of the wear-resistant plate rails 24 are all precision machined; the friction surfaces of the main sliders 11 are provided with lubricating oil grooves, which are filled with grease. The clamp lifting mechanism has the same structure as the two-section boom telescopic mechanism, and the specific structure will not be described in detail here.

[0083] Preferably, combined with Figures 76-92As shown, the clamping mechanism includes a clamping seat 55, a centering drive device 52, and a parallel clamping structure 53. The centering drive device 52 includes a centering drive component 521, a first centering link component 522, and a second centering link component 523. The first centering link component 522 and the second centering link component 523 are symmetrical about the central plane passing through the axis of the clamping seat 55, and the line connecting their hinge points forms a rhombus structure. The centering drive component 521 drives the first centering link component 522 and the second centering link component 523. The diagonal hinge points of the rhombus-shaped structure 53 extend and retract synchronously; the parallel clamping structure 53 includes two sets of clamping arm groups symmetrically arranged about the central plane. The clamping arm group includes a swing arm 531, a clamping arm 532 and a parallel limiting component 533. The first centering link component 522 and the second centering link component 523 respectively drive the swing arm 531 of the two sets of clamping arm groups to swing synchronously. The swing arm 531 swings and drives the clamping arm 532 to move. The parallel limiting component 533 limits the clamping plane of the clamping arm 532 to be parallel to the central plane. This application achieves centering by setting up a centering drive device 52, which enables the centering drive component 521 to drive the first centering link component 522 and the second centering link component 523 to extend and retract synchronously; it also sets up a parallel clamping structure 53, which enables the swing arm 531 to drive the clamping arm 532 to move, and the parallel limiting component 533 to limit the clamping plane of the clamping arm 532 to always be parallel to the center plane, ensuring that the clamping angle remains unchanged; thus, this application can achieve centering and synchronous parallel movement, ensuring the positional accuracy of the clamped object and ensuring balanced clamping force.

[0084] Preferably, the hinge point of the parallel limiting component 533 and the clamp arm 532 forms a parallelogram mechanism, with the clamp arm 532 acting as a connecting rod, making the clamping plane of the clamp arm 532 parallel to the central plane. Specifically, the parallel limiting component 533 includes two translational connecting rods, one end of which is hinged to the clamping seat 55 but the hinge positions do not coincide, and the other end of which is hinged to the clamp arm 532 but the hinge positions do not coincide. The clamping seat 55, the two translational connecting rods, and the clamp arm 532 form a parallelogram mechanism, with the clamping seat 55 acting as a frame, the two translational connecting rods acting as rockers, and the clamp arm 532 acting as a connecting rod; the swing arm 531 can drive one of the translational connecting rods to rotate, thereby driving the clamp arm 532 to move. Since the relative positions of the hinge points of the two translation links and the clamping base 55 to the virtual central plane on the clamping base 55 are fixed, the line connecting the hinge points of the two translation links and the clamping arms 532 is parallel to the line connecting the hinge points of the two translation links and the clamping base 55. This ensures that the angle of the clamping arms 532 relative to the central plane of the clamping base 55 remains unchanged. Therefore, by designing the shape of the clamping arms 532, it is possible to ensure that the clamping plane of the clamping arms 532 is always parallel to the central plane, thus ensuring that when the two clamping arms 532 approach each other, they always move parallel to the central plane. Furthermore, throughout the clamping or releasing process, aligning the central plane with the workpiece to be clamped allows the two clamping arms 532 to synchronously and parallelly clamp the workpiece.

[0085] Preferably, to simplify the structure and reduce its weight, the parallel limiting component 533 is optimized in this embodiment. The parallel limiting component 533 includes a translation link 5331 and a translation hinge seat 5332; the translation hinge seat 5332 is fixed to the clamping seat 55, and has a first hinge seat hole 5333 and a second hinge seat hole 5334; the swing arm 531 has a first swing arm hole 5311 and a second swing arm hole 5312, the first swing arm hole 5311 aligns with and is rotatably connected to the first hinge seat hole 5333; one end of the translation link 5331 is rotatably connected to the second hinge seat hole 5334; the clamp arm 532 has a first clamp arm hole 5321 and a second clamp arm hole 5322, the second... The swing arm hole 5312 is aligned with and rotatably connected to the first clamp arm hole 5321, and the other end of the translation link 5331 is rotatably connected to the second clamp arm hole 5322. The hinge points of the translation hinge seat 5332, the translation link 5331, the swing arm 531, and the clamp arm 532 form a parallelogram mechanism. The clamp arm 532 serves as a link, and the translation hinge seat 5332 serves as a frame. The angle between the line connecting the midpoints of the first hinge seat hole 5333 and the second hinge seat hole 5334 and the central plane is equal to the angle between the line connecting the midpoints of the first clamp arm hole 5321 and the second clamp arm hole 5322 and the clamping plane of the clamp arm 532. The translation hinge seat 5332 provided in this application creates installation space to facilitate the installation of the swing arm 531 and the translation link 5331, thereby ensuring the swing of the swing arm 531 and the translation link 5331. Furthermore, the swing arm 531 is used as the connecting rod of the parallelogram mechanism, eliminating the need for a connecting rod; this makes the swing of the swing arm 531 the active component in the parallelogram mechanism, and also limits the angle of the clamp arm 532 through the cooperation of the swing arm 531 and the translation link 5331.

[0086] Specifically, the two sets of translating hinge seats 5332 of the clamping arm assemblies are fixed on the clamping seat 55 and located on both sides of the central plane. They can be fixed to the outer wall of the clamping seat 55 by welding. The translating hinge seat 5332 includes upper and lower plates, which are supported by a supporting hinge sleeve and a support plate. The first hinge seat hole 5333 is located at the front of the translating hinge seat 5332 (i.e., the side away from the centering drive component 521), and the second hinge seat hole 5334 is located at the rear of the middle of the translating hinge seat 5332. The line connecting the first hinge seat hole 5333 and the second hinge seat hole 5334 forms an acute angle with the central plane. The first hinge seat hole 5333 is closer to the clamping seat 55 than the second hinge seat hole 5334. The clamp arm 532 includes: an upper clamp arm plate 5323, a lower clamp arm plate 5324, a side clamp arm plate 5325, and a clamp arm support assembly. The side clamp arm plate 5325 is welded and fixed between the upper clamp arm plate 5323 and the lower clamp arm plate 5324 and is located on the side away from the centering drive component 521. The clamp arm support assembly is located between the upper clamp arm plate 5323 and the lower clamp arm plate 5324 for support and is located in front of the upper clamp arm plate 5323 and the lower clamp arm plate 5324. At the end (i.e., the end facing the center plane), a mounting space with an opening towards the centering drive component 521 is formed between the upper plate 5323 and the lower plate 5324 of the clamp arm, and between the side plate 5325 of the clamp arm and the clamp arm support assembly. The first clamp arm hole 5321 is located in the middle of the upper plate 5323 and the lower plate 5324 of the clamp arm and corresponds to the mounting space. The second clamp arm hole 5322 is located at the tail end of the upper plate 5323 and the lower plate 5324 of the clamp arm. The swing arm 531 has a protrusion on one side facing the clamping seat 55, and its two sides are designed to be arc-shaped to avoid interference, so as to facilitate the swing arm 531's swing. The first swing arm hole 5311 is machined on the protrusion, the second swing arm hole 5312 is machined at the front end of the swing arm 531, and the third swing arm hole 5313 is machined at the tail end of the swing arm 531. The front end of the swing arm 531 extends into the mounting space of the clamp arm 532. After the second swing arm hole 5312 is aligned with the first clamp arm hole 5321, it is hinged by a shaft. After the first swing arm hole 5311 is aligned with the first hinge seat hole 5333, it is hinged by a shaft. The swing arm 531 rotates about the axis of the second swing arm hole 5312. The front end of the swing arm 531 can rotate within the mounting space of the clamp arm 532.

[0087] Preferably, the clamping arm assembly includes two sets of parallel limiting components 533, located on the upper and lower sides of the swing arm 531. Specifically, two vertically spaced translational hinge seats 5332 are provided on both outer walls of the clamping base 55. The translational connecting rods 5331 of the two sets of parallel limiting components 533 are located between the upper and lower plates of the translational hinge seats 5332 and are hinged. The front end of the upper set of translational connecting rods 5331 is hinged to the second clamping arm hole 5322 of the upper clamping arm plate 5323, and the front end of the lower set of translational connecting rods 5331 is hinged to the second clamping arm hole 5322 of the lower clamping arm plate 5324. This layout allows the dimensions of the swing arm 531 to be designed according to load requirements, improving the rigidity of the swing arm 531 and the clamping arm 532, and increasing the load capacity of the clamping mechanism. The parallel limiting components 533 on the upper and lower sides result in a more uniform force distribution, making the angle limitation of the clamping arm 532 more reliable and accurate. Preferably, at least three contact shoe components 534 are rotatably connected to one side of the clamping plane of the clamping arm 532. The rotation axes of the at least three contact shoe components 534 are all located within the clamping plane of the clamping arm 532, and the rotation axes of at least two of the three contact shoe components 534 are parallel. The contact shoe components 534 contact the clamped object. By swinging the contact shoe components 534 at a small angle, they can automatically adapt to the irregularities of the workpiece clamping surface. Specifically, the contact shoe component 534 includes: a contact shoe base 5341, a contact shoe mounting plate 5342, and a clamping contact shoe 5343. The contact shoe base 5341 is rotatably connected to the clamping arm support assembly of the clamping arm 532. The contact shoe mounting plate 5342 is fixed to the contact shoe base 5341 by welding, and the clamping contact shoe 5343 covers the contact shoe mounting plate 5342. The contact shoe mounting plate 5342 is made of polyurethane rubber and provides a cushioning effect by having the clamping contact shoe 5343 contact the workpiece.

[0088] Specifically, the clamp arm support assembly includes: a first angle steel 5326, a second angle steel 5327, a clamp arm support plate 5328, and two contact shoe mounting plates 5329. The first angle steel 5326 and the second angle steel 5327 are fixedly disposed between the upper clamp arm plate 5323 and the lower clamp arm plate 5324 at intervals, and are located near the front end of the upper clamp arm plate 5323 and the lower clamp arm plate 5324. The openings of the first angle steel 5326 and the second angle steel 5327 both face the front of the upper clamp arm plate 5323 and the lower clamp arm plate 5324, and also face the sides of the upper clamp arm plate 5323 and the lower clamp arm plate 5324. The clamp arm support plate 5328 is arc-shaped and welded and fixed between the upper clamp arm plate 5323 and the lower clamp arm plate 5324, and between the first angle steel 5326 and the second angle steel 5327, to support the upper clamp arm plate 5323 and the lower clamp arm plate 5324, as well as the first angle steel 5326 and the second angle steel 5327. Two contact shoe mounting plates 5329 are parallel to the upper clamp arm plate 5323 and spaced vertically. The two contact shoe mounting plates 5329 intersect with the first angle steel 5326, the second angle steel 5327, and the clamp arm support plate 5328 to form a ribbed reinforcement structure. The upper clamp arm plate 5323, the lower clamp arm plate 5324, and the two contact shoe mounting plates 5329 all have first and second contact shoe mounting holes. The first contact shoe mounting hole corresponds to the opening of the first angle steel 5326, and the second contact shoe mounting hole corresponds to the opening of the second angle steel 5327. Each clamp arm 532 is equipped with four contact shoe components 534. The contact shoe seat 5341 of the first contact shoe component 534 is hinged to the upper plate 5323 of the clamp arm and the first contact shoe seat mounting hole of the upper contact shoe seat mounting plate 5329 via a shaft, and the contact shoe seat 5341 extends into the corner space of the first angle steel 5326. The contact shoe seat 5341 of the second contact shoe component 534 is hinged to the upper plate 5323 of the clamp arm and the second contact shoe seat mounting hole of the upper contact shoe seat mounting plate 5329 via a shaft, and the contact shoe seat 5341 extends into the corner space of the second angle steel 5327. The contact shoe seat 5341 of the third contact shoe component 534 is hinged to the lower plate 5324 of the clamp arm and the first contact shoe seat mounting hole of the lower contact shoe seat mounting plate 5329 via a shaft, and the contact shoe seat 5341 extends into the corner space of the first angle steel 5326. The fourth contact shoe component 534's contact shoe seat 5341 is hinged via a shaft to the second contact shoe seat mounting hole of the lower plate 5324 of the clamp arm and the lower contact shoe seat mounting plate 5329 below. The contact shoe seat 5341 extends into the corner space of the second angle steel 5327. The four contact shoe components 534 are arranged in a rectangular shape, and the rotation axis of the contact shoe seats 5341 of the four contact shoe components 534 forms a virtual clamping plane of the clamp arm 532. The four contact shoe components 534 of the clamp arms 532 of the two sets of clamping arm groups are arranged symmetrically, that is, the eight contact shoe components 534 are symmetrical in pairs. To prevent the contact shoe seat 5341 from rotating too much due to shaking or other reasons, the contact shoe seat 5341 extends into the corner space of the angle steel, and the swing angle of the contact shoe seat 5341 is limited by the contact between the contact shoe seat 5341 and the inner wall of the angle steel.

[0089] Preferably, the device further includes a safety pin device, which comprises at least two sets of safety pin components 54. Each safety pin component 54 includes a safety pin driver 541, a safety pin 542, and a safety pin detector 543. The safety pin driver 541 drives the safety pin 542 through the contact shoe component 534 of one set of clamping arms and inserts it into the contact shoe component 534 of another set of clamping arms. The safety pin detector 543 is used to detect whether the safety pin 542 is inserted into the contact shoe component 534 of the other set of clamping arms. The workpiece has two pin holes arranged vertically. By driving the safety pin 542 through the pin holes and then inserting it into the contact shoe component 534 of the other set of clamping arms, positioning can be achieved when gripping the workpiece, and safety protection can be achieved.

[0090] Specifically, each of the eight shoe holders 5341 has a through hole for a vertical shoe mounting plate 5342, and corresponding clearance holes are also provided in the shoe mounting plate 5342 and the clamping shoe 5343. After the safety pin 542 extends from the through hole of one shoe holder 5341, it penetrates the pin hole in the workpiece and then inserts into the through hole of the opposite shoe holder 5341. For each clamping arm 532 of a set of clamping arms, the upper and lower shoe holders 5341 corresponding to the first angle steel 5326 are welded and fixed to the side away from the other set of clamping arms. The safety pin actuator 541 is a hydraulic cylinder equipped with a hydraulic lock. The safety pin actuator 541 is mounted on the end of the mounting sleeve via a flange connection. The cylinder rod extends into the mounting sleeve and is connected to the safety pin 542 via a ball joint. On the side of each of the two corresponding shoe seats 5341 of the other set of clamping arms, away from the safety pin actuator 541, a guide sleeve is welded and fixed. After the safety pin 542 is inserted into the shoe seat 5341, it continues to be inserted into the guide sleeve, thereby increasing the engagement length. Each of the two corresponding shoe seats 5341 of the other set of clamping arms has a detection hole perpendicular to the through hole. The safety pin detector 543 uses two pairs of photoelectric limit switches, which are installed inside the detection holes. When the safety pin 542 is inserted into the shoe seat 5341 and blocks the light from the photoelectric switch, the detection signal changes, and the electronic control system can determine that the safety pin 542 is in the inserted state. The safety pin device structure of this application can reliably realize the insertion and removal action of the safety pin 542, thereby assisting in clamping the workpiece.

[0091] Specifically, each of the two sets of clamping arms 532 is equipped with a pin hole recognition camera, located near the safety pin device. Before the clamping shoe 5343 contacts the workpiece, the pin hole recognition camera determines the relative position of the pin hole and the safety pin 542. If it is within the allowable deviation range, the clamping action continues until the clamping shoe 5343 contacts the workpiece and compresses the clamping shoe 5343 to reach the preset clamping force. The safety pin actuator 541 has a built-in displacement sensor and a hydraulic pressure sensor. Based on three data points—the hydraulic pressure of the safety pin actuator 541 being within a predetermined safety range, the displacement sensor indicating that the hydraulic cylinder is in the clamping position, and the safety pin detector 543 being triggered—a comprehensive judgment is made to ensure the safe and reliable clamping of the workpiece. This ensures the clamping and releasing actions of the clamping shoe 5343 and the insertion and removal actions of the safety pin 542.

[0092] Preferably, the clamping seat 55 is provided with a centering groove 551 vertically arranged along the central plane; the centering drive component 521 includes a clamping cylinder 5211 and a centering member 5212. The clamping cylinder 5211 is vertically arranged along the central plane, and the centering member 5212 is connected to the clamping cylinder 5211 and slides along the centering groove 551. The centering groove 551 guides and limits the centering member 5212. The centering member 5212 is a roller inlaid with a rolling bearing and is installed on a hinge shaft at one end of the clamping cylinder 5211. The roller rolls in the centering groove 551. The first centering linkage component 522 includes a first centering linkage 5221 and a second centering linkage 5222. One end of the first centering linkage 5221 is rotatably connected to the upper end of the clamping cylinder 5211, and the other end is rotatably connected to one end of the second centering linkage 5222. The other end of the second centering linkage 5222 is rotatably connected to the lower end of the clamping cylinder 5211. The rotatably connected ends of the first and second centering linkages 5221 and 5222 drive the swing arm 531 of a set of clamping arms to swing. The second centering linkage component 523 includes a third centering linkage 5231 and a fourth centering linkage 5232. One end of the third centering linkage 5231 is rotatably connected to the upper end of the clamping cylinder 5211, and the other end is rotatably connected to one end of the fourth centering linkage 5232. The other end of 2 is rotatably connected to the lower end of the clamping cylinder 5211. The end of the third centering link 5231 and the fourth centering link 5232 rotatably connected drives the swing arm 531 of another set of clamping arms to swing. The first centering link 5221, the second centering link 5222, the third centering link 5231 and the fourth centering link 5232 form a rhombus. The two ends of the vertical diagonal of this rhombus are connected to the clamping cylinder 5211, and the two ends of the horizontal diagonal of the rhombus are connected to the swing arm 531. The first centering link 5221 and the third centering link 5231 are rotatably connected, and the second centering link 5222 and the fourth centering link 5232 are rotatably connected. The center of the centering member 5212 corresponds to the rotation axis of the first centering link 5221 and the third centering link 5231. This application utilizes a four-bar linkage mechanism consisting of four equal-length centering links 5221, 5222, 5231, and 5232 connected end-to-end to form a rhombus shape. The upper and lower hinge points are connected to the cylinder barrel and cylinder rod of the clamping cylinder 5211, respectively. By sliding the centering component 5212 within the centering groove 551, the upper hinge point is kept within the central plane, thus ensuring that the vertical diagonal of the rhombus-shaped four-bar linkage lies within the central plane. When the clamping cylinder 5211 extends and retracts, the two lateral hinge points extend and retract synchronously. These two lateral hinge points are connected to the swing arms 531 of two sets of clamping arms. Due to the centering and synchronous extension and retraction of the rhombus-shaped four-bar linkage, the two swing arms 531 also swing synchronously. Finally, through the action of the parallel clamping structure 53, the two clamping arms 532 can synchronously press against the two sides of the central vertical plate on the workpiece.

[0093] Preferably, the centering groove 551 is formed by welding steel plates and reinforcing ribs, and is welded to the upper region of the rear outer wall of the clamping seat 55. The centering component 5212 is a rotating roller, which is rotatably connected to the upper end of the clamping cylinder 5211, and rolls along the centering groove 551. This ensures both accurate centering and smooth operation of the clamping cylinder 5211.

[0094] Preferably, the upper and lower ends of the clamping cylinder 5211 are provided with second rotary joint bearings, and the inner ring of the second rotary joint bearing is provided with a hinge shaft. The first centering link 5221 and the third centering link 5231 are rotatably connected to the hinge shaft at the upper end of the clamping cylinder 5211, and the centering member 5212 is rotatably connected to the hinge shaft at the upper end of the clamping cylinder 5211. The second centering link 5222 and the fourth centering link 5232 are rotatably connected to the hinge shaft at the lower end of the clamping cylinder 5211. One end of the first centering link 5221 and the second centering link 5222 is rotatably connected to the swing arm 531 of a set of clamping arm groups through the second cross joint 524. The other end of the third centering link 5231 and the fourth centering link 5232 is rotatably connected to the swing arm 531 of another set of clamping arm groups through the second cross joint 524. The second slewing joint bearing eliminates the effects of machining and assembly errors, ensuring smooth movement at the hinge point and preventing the mechanism from becoming stiff. The second cross joint 524 enables variable-angle power transmission, ensuring smooth driving of the swing arm 531 to swing.

[0095] Specifically, the second cross joint 524 includes: a transverse hinge sleeve, a hinge connector, and a vertical hinge sleeve. The first centering link 5221 and the second centering link 5222 are hinged to the transverse hinge sleeves of their corresponding second cross joints 524 via shafts. The third centering link 5231 and the fourth centering link 5232 are hinged to the transverse hinge sleeves of their corresponding second cross joints 524 via shafts. The third swing arm hole 5313 of the swing arm 531 is aligned with the vertical hinge sleeve of the corresponding second cross joint 524 and then hinged via a shaft. The hinge shaft at the upper end of the clamping cylinder 5211 passes through the first centering link 5221 and the third centering link 5231 and extends into the centering groove 551. The rotating roller is connected and installed at the end of the hinge shaft via a bearing.

[0096] Preferably, the centering drive component 521 further includes a hydraulic lock 5213, which is used for bidirectional oil cut-off locking. When the hydraulic system actively stops supplying oil, the hydraulic lock 5213 quickly cuts off the oil circuit to lock the position, thereby maintaining the position of the swing arm 531. Specifically, the centering drive component 521 is also equipped with a displacement sensor for detecting the amount of extension and retraction. One end of the displacement sensor is connected to the cylinder barrel, and the other end is connected to the cylinder rod, thereby detecting the amount of extension and retraction of the centering drive component 521, i.e., detecting the clamping thickness. The centering drive component 521 is also equipped with an oil pressure sensor for detecting the clamping force, providing conditions for intelligent clamping control. Specifically, the centering drive device 52 is located on the rear side of the clamping seat 55, the swing arm 531 and the parallel limiting component 533 are located on the left and right sides of the clamping seat 55 and extend to the front side of the clamping seat 55, and the clamp arm 532 is located on the front side of the clamping seat 55, forming a layout around the clamping seat 55, which not only amplifies the clamping force arm but also makes the structure more compact. The clamping base 55 has a hollow cylindrical structure, which can accommodate lifting and rotating mechanisms, creating conditions for expanding other degrees of freedom motion mechanisms. Specifically, the outer wall of the front side of the clamping base 55 is equipped with a buffer pad for contacting and cushioning the rear end face of the central vertical plate on the workpiece. Furthermore, all hydraulic cylinders in the entire machine can be replaced with servo electric cylinders, thus eliminating the hydraulic system. Servo electric cylinders offer numerous advantages, including high control precision, fast response, low control difficulty, no leakage risk, no media contamination risk, high working efficiency, energy saving and environmental protection, and low maintenance costs.

[0097] Specifically, the gantry crane ensures the movement of the entire device and provides space for the passage of prefabricated components. The gantry crane also includes a parking device, which, by supporting itself against the tunnel wall, ensures its stability. The lifting and translating device's lifting mechanism achieves excellent anti-tilt capability while ensuring smooth lifting and long-term stability; the translating mechanism adapts to the characteristics of the cantilevered robotic arm, possessing strong anti-tilt capability, a compact structure, and ensuring the cantilever length and load capacity of the robotic arm. The robotic arm's compact structure not only offers high control precision but also facilitates assembly and debugging, ensuring long-term reliability under cantilever load operation. The clamp integrates rotation, lifting, and parallel centering clamping, resulting in a very compact structure and reduced weight. In summary, the structure of this application has extremely high scalability; through size design, it can be scaled up or down, adapting not only to large tunnels such as highway tunnels but also to medium and small-sized integrated pipeline tunnels, with a very wide range of market applications. Specifically, the tunnel is equipped with vehicle tracks, including tracks for main gantry cranes and tracks for transport vehicles. The main gantry crane tracks are wider for the movement of the gantry cranes, while the transport vehicle tracks are narrower and smaller than the width of the passageway to facilitate the transport of prefabricated components. The gantry cranes and robotic arms in this application are quite long, making it difficult to hoist them into the tunnel as a whole from the shaft. Therefore, they must be hoisted in and then assembled. However, the structure of this application is complex and precise. Using a parts assembly method results in a cumbersome process, long time consumption, and difficulties in debugging, which can easily cause project delays. To address this problem, this application adopts a segmented disassembly and assembly method, which can balance the characteristics of the overall structure with the convenience of assembly.

[0098] The working principle of the device in this application is as follows: The following is a detailed explanation using the assembly of prefabricated components for a pipeline integrated utility tunnel as an example. After the tunnel shield is completed and the tunnel segments are installed, two types of prefabricated components are assembled continuously.

[0099] S1: The gantry crane moves to the arc-shaped part gripping station; the four-section arm rotates 90° from the extended forward position to the side of the three-section arm, with the clamp opening facing the center of the tunnel. The translation mechanism causes the robotic arm to be offset, thus making room for the workpiece passage width; the lifting mechanism rises to the highest point, making room for the workpiece passage height.

[0100] S2: Two transport vehicles, one in front and one behind, carry the curved component and the middle partition, respectively. The battery-powered vehicle pushes the two transport vehicles to the gantry car. The front transport vehicle, carrying the longitudinally placed curved component, passes through the gantry car and stops below the robotic arm. The rear transport vehicle, carrying the middle partition, stops at a certain distance behind the front transport vehicle.

[0101] S3: The lifting mechanism lowers to the unloading height; the translation mechanism moves to return the robotic arm to the center position, aligning the clamping mechanism with and extending into the central plate of the arc-shaped part; the robotic arm moves, and the clamping lifting mechanism drives the clamping mechanism to rise and fall so that the safety pin is aligned with the pin hole on the arc-shaped part, the safety pin of the clamping mechanism passes through the pin hole on the arc-shaped part, and the clamping contact shoe clamps the vertical plate on the arc-shaped part from both sides; the lifting mechanism raises to the driving height so that the transport vehicle does not obstruct the longitudinal movement of the arc-shaped part.

[0102] S4: The gantry car moves to the rotating station; the lifting mechanism lowers appropriately to the optimal rotation height; the four-section arm continues to rotate 90° to fold under the three-section arm, and the clamp rotation mechanism drives the clamping mechanism to rotate, thereby realizing the rotation of the arc-shaped part 90° to the side.

[0103] S5: The gantry car moves to the docking position.

[0104] S6: The two-section arm moves longitudinally and descends appropriately to the docking height; the clamping lifting mechanism moves slightly to allow the arc-shaped part to gradually fall until it is in place; the clamping mechanism opens to release the arc-shaped part for easy removal.

[0105] S7: The two-section arm retracts, and the clamping mechanism exits the arc-shaped part; the four-section arm rotates 90° to the side of the three-section arm, and the translation mechanism is offset to make way for the passage width of the middle partition; the slide rises to the highest point to make way for the passage height of the middle partition, and the gantry moves to the middle partition gripping station; the clamp and the four-section arm continue to rotate 90° synchronously and unfold, and the clamp opening faces forward, the translation mechanism returns to the center, the lifting mechanism rises to the highest point, and the translation mechanism is offset to make way; the transport vehicle carries the middle partition through the gantry to the front of the clamping mechanism; the lifting mechanism lowers to the unloading height; the translation mechanism moves to make the robotic arm return to the center position, so that the clamping mechanism is aligned with the middle partition; the robotic arm adjusts the posture of the clamping mechanism so that the safety pin is aligned with the pin hole on the middle partition and clamps the middle partition.

[0106] S8: The lifting mechanism raises the partition to the driving height so that the transport vehicle does not obstruct the longitudinal movement of the partition.

[0107] S9: The gantry car moves to the docking position.

[0108] S10: The two-section boom moves longitudinally with precision, and the lifting mechanism lowers appropriately to the docking height; the clamping lifting mechanism moves slightly, causing the middle partition to gradually fall until it is in place; the clamping mechanism opens, releasing the middle partition for easy exit.

[0109] The above is a complete assembly process, which is repeated continuously until the assembly task of the entire project is completed.

[0110] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A prefabricated component assembly equipment, characterized in that, include: A gantry crane can travel along the length of a tunnel, and it forms a spatial passage for transport vehicles to pass through. A lifting and translating device includes a lifting mechanism and a translating mechanism. The lifting mechanism is used to drive the robotic arm to lift and lower in the vertical direction, and the translating mechanism is used to drive the robotic arm to translate in the horizontal direction. The robotic arm includes: a first arm (1), a second arm (2), a third arm (3), a fourth arm (4), and a first arm pitching mechanism; the tail end of the first arm (1) is connected to a lifting and translating device, and the first arm pitching mechanism drives the first arm (1) to pitch and swing in the vertical direction; the second arm (2) is connected to the first arm (1) through a second arm telescopic mechanism, and the second arm telescopic mechanism drives the second arm (2) to extend and retract relative to the axis of the first arm (1); the tail end of the third arm (3) is connected to the front end of the second arm (2) through a third arm swing mechanism, and the third arm swing mechanism drives the third arm (3) to swing relative to the axis of the second arm (2); the tail end of the fourth arm (4) is connected to the front end of the third arm (3) through a fourth arm rotation mechanism, and the fourth arm rotation mechanism drives the fourth arm (4) to yaw and rotate relative to the third arm (3) in the horizontal direction. The fixture includes: a fixture rotation mechanism, a fixture lifting mechanism, and a clamping mechanism (5); the fixture rotation mechanism is connected to the front end of the four-section arm (4) and drives the fixture lifting mechanism to rotate, the rotation axis of the fixture lifting mechanism is parallel to the rotation axis of the four-section arm (4); the clamping mechanism (5) is connected to the fixture lifting mechanism, and the fixture lifting mechanism drives the clamping mechanism (5) to move along the rotation axis of the fixture lifting mechanism, the clamping mechanism (5) is used to clamp the preform.

2. The prefabricated component assembly equipment according to claim 1, characterized in that, The lifting mechanism includes: a vertical track group set on the main steel structure (88), a lifting slide (85), and a slide lifting drive mechanism (81) for driving the lifting slide (85) to move up and down along the vertical track group; the slide lifting drive mechanism (81) includes a rope row (819) and a linear reciprocating drive device (813), the two ends of the linear reciprocating drive device (813) are respectively connected to the rope row (819) and the main steel structure (88) through lifting joint bearings (8110), and the end of the rope row (819) away from the linear reciprocating drive device (813) is fixedly connected to the lifting slide (85); the vertical track group includes at least two non-coplanar tracks, and the lifting slide (85) is provided with rollers corresponding to the tracks and capable of rolling along the tracks.

3. The prefabricated component assembly equipment according to claim 1, characterized in that, The translation mechanism includes: a lifting slide (851), a translation slide (6), and a translation drive mechanism, wherein the translation drive mechanism drives the translation slide (6) to move horizontally along the lifting slide (851); The lifting slide body (851) is provided with a first guide rail mounting surface (71) and a second guide rail mounting surface (72) arranged opposite to each other. The first guide rail mounting surface (71) and the second guide rail mounting surface (72) are arranged vertically. The lifting slide body (851) is provided with a horizontal third guide rail mounting surface (73). The third guide rail mounting surface (73) is located between the first guide rail mounting surface (71) and the second guide rail mounting surface (72). The translation slide body (6) includes: a vertical mounting part (61), a horizontal connecting part (62) and a vertical anti-tilt part (63). The vertical mounting part (61) is located on the side of the first guide rail mounting surface (71) away from the second guide rail mounting surface (72). The vertical anti-tilt part (63) is located on the side of the second guide rail mounting surface (72) away from the first guide rail mounting surface (71). The horizontal connecting part (62) is located above the third guide rail mounting surface (73). The horizontal connecting part (62) is fixedly connected to the top of the vertical mounting part (61) and the vertical anti-tilt part (63). A first linear guide rail (64) is provided between the vertical mounting part (61) and the first guide rail mounting surface (71), a third linear guide rail (66) is provided between the horizontal connecting part (62) and the third guide rail mounting surface (73), and a second linear guide rail (65) is provided between the vertical anti-tilting part (63) and the second guide rail mounting surface (72).

4. The prefabricated component assembly equipment according to claim 1, characterized in that, The two-section telescopic mechanism includes a telescopic drive component. The first section arm (1) is sleeved on the outside of the second section arm (2). The telescopic drive component drives the second section arm (2) to slide and telescopically extend inside the first section arm (1). A set of main sliders (11) are fixed at the front end and the rear end of the first section arm (1). The two sets of main sliders (11) are arranged around the outer periphery of the second section arm (2). Wear-resistant plate rails (24) are fixed at the corresponding positions of the main sliders (11) on the outer periphery of the second section arm (2). The main sliders (11), the mounting surface of the main sliders (11), and the friction surface of the wear-resistant plate rails (24) are all precision machined. The friction surface of the main sliders (11) is provided with a lubricating oil groove (111), and the lubricating oil groove (111) is filled with grease.

5. The prefabricated component assembly equipment according to claim 1, characterized in that, The three-section arm swing mechanism includes a torsion component. The two-section arm (2) is rotatably connected to the three-section arm (3). The torsion component includes a first rubbing cylinder (31) and a second rubbing cylinder (32). The first rubbing cylinder (31) and the second rubbing cylinder (32) are located on both sides of the two-section arm (2). When the first rubbing cylinder (31) extends, the second rubbing cylinder (32) retracts, or when the first rubbing cylinder (31) retracts, the second rubbing cylinder (32) extends, providing a torque in the opposite direction for the swing of the three-section arm (3) relative to the two-section arm (2).

6. The prefabricated component assembly equipment according to claim 1, characterized in that, The four-section boom slewing mechanism includes a rotary driver and a slewing boom assembly; The four-section arm (4) is rotatably connected to the three-section arm (3); The rotary arm component includes: a flat shaft (441), a second waist-shaped sleeve (442), a first rotary joint bearing (443), and a rotary arm (444); the flat shaft (441) is fixed on the four-section arm (4) and its axis is parallel to the rotation axis of the four-section arm (4), and the flat shaft (441) is provided with two mutually parallel first positioning surfaces (4411); the second waist-shaped sleeve (442) is provided with a second waist-shaped hole (4421), and the second waist-shaped sleeve (442) is sleeved on the flat shaft (441), and the two sides of the first positioning surface (4411) are provided with a second waist-shaped hole (4421). The positioning surface (4411) abuts against the two side walls of the second waist-shaped hole (4421). The flat shaft (441) and the second waist-shaped hole (4421) have a gap along the common perpendicular direction of the axis of the flat shaft (441) and the rotation axis of the four-section arm (4). The second waist-shaped hole sleeve (442) has a gap with the four-section arm (4). The arm output end (4441) of the rotary arm (444) is located outside the second waist-shaped hole sleeve (442) through the first rotary joint bearing (443), and the arm input end (4442) is connected to the rotary driver. The rotary driver drives the input end (4442) of the drive arm to rotate, thereby driving the four-section arm (4) to rotate relative to the three-section arm (3) through the flat shaft (441).

7. The prefabricated component assembly equipment according to claim 1, characterized in that, The clamp rotation mechanism includes: a clamp rotation driver, a first reducer base (41), and a half-flat shaft (42). The four-section arm (4) is rotatably connected to the clamp rotating cylinder (51); The first reducer base (41) is located inside the clamp rotating cylinder (51), and the first reducer base (41) has a first waist-shaped hole (411) whose axis is perpendicular to the axis of the clamp rotating cylinder (51). The semi-flat shaft (42) includes a rotating shaft section (421) and a flat shaft section (422). The flat shaft section (422) is provided with two parallel second positioning surfaces (423). The clamping rotating cylinder (51) is provided with a shaft hole (511) whose axis is perpendicular to the axis of the clamping rotating cylinder (51). The rotating shaft section (421) is inserted into the shaft hole (511), and the flat shaft section (422) is inserted into the first waist-shaped hole (411). The two second positioning surfaces (423) abut against the two side walls of the first waist-shaped hole (411). The flat shaft section (422) and the first waist-shaped hole (411) are separated by a gap along the axial direction of the clamping rotating cylinder (51). The first reducer base (41) and the clamping rotating cylinder (51) are separated by a gap along the axial direction of the semi-flat shaft (42). The clamp rotary driver drives the first reducer base (41) to rotate, thereby driving the clamp rotary cylinder (51) to rotate relative to the four-section arm (4) through the semi-flat shaft (42).

8. A prefabricated component assembly equipment according to claim 7, characterized in that, The clamping mechanism (5) includes: a clamping seat (55), a centering drive device (52), and a parallel clamping structure (53); The centering drive device (52) includes: a centering drive component (521), a first centering link component (522), and a second centering link component (523). The first centering link component (522) and the second centering link component (523) are symmetrical about the central plane passing through the axis of the clamping seat (55), and the connecting line of their hinge points forms a rhombus structure. The centering drive component (521) drives the diagonal hinge points of the rhombus formed by the first centering link component (522) and the second centering link component (523) to extend and retract synchronously. The parallel clamping structure (53) includes two sets of clamping arm groups symmetrically arranged about the central plane. The clamping arm group includes: a swing arm (531), a clamp arm (532), and a parallel limiting component (533). The first centering link component (522) and the second centering link component (523) respectively drive the swing arms (531) of the two sets of clamping arm groups to swing synchronously. The swing arms (531) swing and drive the clamp arms (532) to move. The parallel limiting component (533) limits the clamping plane of the clamp arms (532) to be parallel to the central plane.

9. A prefabricated component assembly equipment according to claim 8, characterized in that, The parallel limiting component (533) includes a translation link (5331) and a translation hinge seat (5332); the translation hinge seat (5332) is fixed on the clamping seat (55), and the translation hinge seat (5332) is provided with a first hinge seat hole (5333) and a second hinge seat hole (5334); the swing arm (531) is provided with a first swing arm hole (5311) and a second swing arm hole (5312), the first swing arm hole (5311) and the first hinge seat hole (5333) are aligned and rotatably connected; one end of the translation link (5331) is rotatably connected to the second hinge seat hole (5334); the clamp arm (532) is provided with a first clamp arm hole (5321) and a second clamp arm hole (5322). The second swing arm hole (5312) is aligned with and rotatably connected to the first clamp arm hole (5321). The other end of the translation link (5331) is rotatably connected to the second clamp arm hole (5322). The hinge points of the translation hinge seat (5332), translation link (5331), swing arm (531) and clamp arm (532) form a parallelogram mechanism. The clamp arm (532) serves as a link, and the translation hinge seat (5332) serves as a frame. The angle between the line connecting the midpoints of the first hinge seat hole (5333) and the second hinge seat hole (5334) and the central plane is equal to the angle between the line connecting the midpoints of the first clamp arm hole (5321) and the second clamp arm hole (5322) and the clamping plane of the clamp arm (532).

10. A prefabricated component assembly equipment according to claim 8 or 9, characterized in that, The clamping seat (55) is provided with a centering groove (551) vertically arranged along the central plane; the centering drive component (521) includes a clamping cylinder (5211) and a centering component (5212). The clamping cylinder (5211) is vertically arranged along the central plane, and the centering component (5212) is a roller with a rolling bearing, which is mounted on a hinge shaft at one end of the clamping cylinder (5211). The roller rolls in the centering groove (551), and the centering groove (551) guides and limits the centering component (5212); the first centering connecting rod component (522) The first pair of centering links (5221) and the second pair of centering links (5222) are included. One end of the first pair of centering links (5221) is rotatably connected to the upper end of the clamping cylinder (5211), and the other end is rotatably connected to one end of the second pair of centering links (5222). The other end of the second pair of centering links (5222) is rotatably connected to the lower end of the clamping cylinder (5211). The rotatably connected ends of the first pair of centering links (5221) and the second pair of centering links (5222) drive the swing arm (531) of a set of clamping arms to swing. The second pair of centering link components (523) include... The third pair of connecting rods (5231) and the fourth pair of connecting rods (5232) are connected in the following ways: one end of the third pair of connecting rods (5231) is rotatably connected to the upper end of the clamping cylinder (5211), and the other end is rotatably connected to one end of the fourth pair of connecting rods (5232). The other end of the fourth pair of connecting rods (5232) is rotatably connected to the lower end of the clamping cylinder (5211). The rotatably connected end of the third pair of connecting rods (5231) and the fourth pair of connecting rods (5232) drives the swing arm (531) of another set of clamping arms to swing. The first pair of connecting rods (5221) and the second pair of connecting rods (5232) are connected in the following ways. The central connecting rod (5222), the third pair of central connecting rods (5231), and the fourth pair of central connecting rods (5232) form a rhombus. The two ends of the vertical diagonal of this rhombus are connected to the clamping cylinder, and the two ends of the horizontal diagonal of the rhombus are connected to the swing arm. The first pair of central connecting rods (5221) and the third pair of central connecting rods (5231) are rotatably connected, and the second pair of central connecting rods (5222) and the fourth pair of central connecting rods (5232) are rotatably connected. The center of the centering member (5212) corresponds to the rotation axis of the first pair of central connecting rods (5221) and the third pair of central connecting rods (5231).

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