Modular quick-change rotary mechanical arm for construction robot

Abstract

The application relates to the technical field of mechanical arms, in particular to a modular quick-change rotary mechanical arm for a construction robot, which comprises a base, a fixed arm fixedly connected to the upper end of the base, a rotating arm rotationally connected to the upper end of the fixed arm, a connecting arm connected to the end of the rotating arm away from the fixed arm, a connecting mechanism and an automatic adjusting mechanism. The modular quick-change rotary mechanical arm for the construction robot is characterized in that the quick-change locking and the self-adaptive damping system are deeply integrated, a single medium is used to realize multiple functions such as connection locking, impact protection and temperature change compensation, the structure is simple and reliable, the modular quick-change rotary mechanical arm is better adapted to the complex operation scene of building construction, the maintenance cost is greatly reduced, and the modular quick-change rotary mechanical arm provides an efficient and stable scheme for the multi-process adaptation of the construction robot.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a modular quick-change rotary robotic arm for construction robots. Background Technology

[0002] With the intelligent upgrading of building construction, modular quick-change rotary robotic arms have become the core component of construction robots to adapt to multi-process operations. The damping protection and quick-change locking of existing rotary arms are mostly independent systems. The mainstream damping solutions have inherent defects. For example, the pure mechanical damping parameters are fixed and cannot be adaptively adjusted according to the working conditions. It is difficult to balance the flexibility of operation and the impact protection effect. They are also prone to fatigue wear and have large rigid impact. The hydraulic damping structure is complex and is prone to leakage and failure in dusty and strong vibration environments on the construction site, resulting in high maintenance costs.

[0003] The construction site experiences large temperature differences between day and night, and the working conditions are complex and changeable. Risks such as high-frequency vibration, overspeed, and over-travel impact occur frequently. Existing damping solutions have poor temperature adaptability, are prone to jamming at low temperatures, and are prone to failure at high temperatures. In addition, multiple separate mechanisms need to be added to achieve multi-dimensional protection, resulting in structural redundancy. It is impossible to solve the core pain points of quick-change locking and all-condition adaptive damping protection simultaneously through a single medium. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a modular quick-change rotary robotic arm for construction robots.

[0005] This invention adopts the following technical solution: a modular quick-change rotary robotic arm for construction robots, comprising a base, a fixed arm fixedly connected to the upper end of the base, a rotating arm rotatably connected to the upper end of the fixed arm, and a connecting arm connected to the end of the rotating arm away from the fixed arm, and further comprising: The connecting mechanism can quickly connect the connecting arm and the rotating arm, and can also automatically control the rotation speed of the connecting arm. The connecting mechanism is set inside the rotating arm. And an automatic adjustment mechanism, which can automatically adjust the damping force on the connecting arm according to the temperature, the automatic adjustment mechanism being disposed within the connecting mechanism.

[0006] As a further description of the above technical solution: the connecting mechanism includes a positioning sleeve block, which is rotatably disposed within a rotating arm. A positioning rod is fixedly connected to one end of the connecting arm near the rotating arm. A fixed sleeve is fixedly connected inside the positioning sleeve block, and the positioning rod is inserted into the fixed sleeve. A rotating rod is fixedly connected to one end of the fixed sleeve away from the positioning rod. A drive motor is connected to one end of the rotating rod along the fixed sleeve. The drive motor is fixedly connected inside the rotating arm. A placement cavity is formed inside the rotating arm, and a sliding plate is slidably disposed within the placement cavity. The sliding plate is movably sleeved... On the outside of the rotating rod, a threaded rod is threadedly connected to the outer wall of one side of the rotating arm. The end of the threaded rod inside the rotating arm is magnetic. The end of the threaded rod inside the rotating arm magnetically attracts a limiting rod. The limiting rod is movably inserted into the rotating arm. A compression ring is slidably arranged inside the rotating arm along the length direction of the rotating arm. A movable ring is slidably arranged on the side of the compression ring away from the limiting rod. Limit grooves are opened in the positioning rod, the fixing sleeve and the compression ring. The end of the movable ring away from the compression ring is fixedly connected to the sliding plate. A corrugated plate is fixedly connected between the compression ring and the movable ring.

[0007] As a further description of the above technical solution: the automatic adjustment mechanism includes a rotating block, which is fixedly connected to the outer wall of the rotating rod. A telescopic block is inserted at the end of the rotating block away from the rotating rod. A spring is fixedly connected between the end of the telescopic block located inside the rotating block and the rotating rod. A sliding block is slidably arranged inside the rotating rod. A spring is fixedly connected between the sliding block and the rotating rod. A pull rope is connected between the sliding block and the telescopic block. A deformable part is provided inside the corrugated plate. A connecting ring is fixedly connected to the side wall of the deformable part near the sliding block. The connecting ring abuts against the sliding block. A pressing piece is fixedly connected to the middle of the inner wall of the connecting ring.

[0008] As a further description of the above technical solution: the end of the extrusion ring away from the corrugated plate is provided with a sloping sliding surface, and the end of the limiting rod near the threaded rod is provided with a chamfer.

[0009] As a further description of the above technical solution: a non-Newtonian fluid is placed inside the placement cavity.

[0010] As a further description of the above technical solution: the placement cavity is not completely filled with non-Newtonian fluid, the upper end of the sliding plate connects the cavities on both sides of the sliding plate, and the upper end of the placement cavity near the sliding plate is connected to the outside.

[0011] As a further description of the above technical solution: the deformable part is a thermally deformable material.

[0012] As a further description of the above technical solution: the end of the extrusion sheet near the sliding block has an inclined surface.

[0013] This invention provides a modular, quick-change rotary robotic arm for construction robots, which, compared with the prior art, has the following improvements and advantages: Firstly, it achieves modular quick installation and long-term anti-loosening locking. The connecting arm can be quickly installed by operating a single threaded rod. The magnetic limit rod and the threaded rod can be automatically separated to avoid loosening of the thread due to working vibration. Combined with the wave plate buffer and the instantaneous locking characteristics of non-Newtonian fluid, it can automatically limit the position under strong vibration conditions, which greatly improves the efficiency of disassembly and assembly and the reliability of connection, and solves the shortcomings of easy connection failure in construction site environment. Secondly, it achieves full-condition adaptive damping protection. Using non-Newtonian fluid as the core medium, it can achieve multi-dimensional damping adaptation without additional separate mechanisms. When rotating at high speed, the damping increases sharply to prevent impact. The higher the boom is raised, the damping increases synchronously. It takes into account the flexibility of low-position operation and the stability of high-position operation. At the limit stroke, the damping is automatically strengthened to avoid overtravel rigid impact. Thirdly: Adaptive damping compensation when the temperature changes. It adopts a thermo-deformable material deformation part, which can automatically adjust with the ambient temperature. At high temperatures, it drives the telescopic block to extend, increasing the fluid contact area and compensating for the damping attenuation of non-Newtonian fluids at high temperatures. At low temperatures, it reduces damping to avoid the mechanism from jamming. It is suitable for the large temperature difference between day and night at the construction site and extends the service life of the mechanism. In summary, this robotic arm deeply integrates quick-change locking with an adaptive damping system, achieving multiple functions such as connection locking, impact protection, and temperature compensation with a single medium. Its structure is streamlined and highly reliable, better adapting to complex construction operation scenarios, significantly reducing maintenance costs, and providing an efficient and stable solution for multi-process adaptation of construction robots. Attached Figure Description

[0014] The present invention will be further explained below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 A perspective sectional view of the rotating arm provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the positioning rod provided in an embodiment of the present invention; Figure 4 A perspective sectional view of a wave plate provided in an embodiment of the present invention; Figure 5 for Figure 2 Enlarged view of point A in the middle; Figure 6 for Figure 3 Enlarged view of point B in the middle; Figure 7 for Figure 4 A magnified view of point C in the middle.

[0015] In the diagram: 1. Base; 2. Fixed arm; 3. Rotating arm; 4. Connecting arm; 5. Connecting mechanism; 51. Positioning sleeve; 52. Positioning rod; 53. Threaded rod; 54. Placement cavity; 55. Rotating rod; 56. Drive motor; 57. Sliding plate; 58. Limiting rod; 59. Fixed sleeve; 510. Extrusion ring; 511. Wave plate; 512. Limiting groove; 513. Moving ring; 514. Inclined sliding surface; 6. Automatic adjustment mechanism; 61. Pull rope; 62. Sliding block; 63. Spring one; 64. Connecting ring; 65. Deformable part; 66. Extrusion plate; 67. Rotating block; 68. Telescopic block; 69. Spring two. Detailed Implementation

[0016] To make the technical means, creative features, objectives, and effects of this invention readily understandable, the invention is further described below with reference to specific illustrations. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0017] Please see Figure 1 - Figure 7 This invention provides a technical solution: a modular quick-change rotary robotic arm for construction robots, including a base 1, a fixed arm 2 fixedly connected to the upper end of the base 1, a rotating arm 3 rotatably connected to the upper end of the fixed arm 2, and a connecting arm 4 connected to the end of the rotating arm 3 away from the fixed arm 2, and further including: The connecting mechanism 5 can quickly connect the connecting arm 4 to the rotating arm 3, and can also automatically control the rotation speed of the connecting arm 4. The connecting mechanism 5 is set inside the rotating arm 3. And an automatic adjustment mechanism 6, which can automatically adjust the damping force on the connecting arm 4 according to the temperature, is provided in the connecting mechanism 5.

[0018] Specifically, it achieves modular quick installation and long-term anti-loosening locking. The connecting arm 4 can be quickly installed by operating the single threaded rod 53. The magnetic limit rod 58 and the threaded rod 53 can be automatically separated to avoid loosening of the thread due to operation vibration. With the buffer of the wave plate 511 and the instantaneous locking characteristics of non-Newtonian fluid, it can automatically limit the position under strong vibration conditions, which greatly improves the efficiency of disassembly and assembly and the reliability of connection, and solves the shortcomings of easy connection failure in construction site environment.

[0019] It achieves adaptive damping protection under all working conditions. Using non-Newtonian fluid as the core medium, it can achieve multi-dimensional damping adaptation without the need for additional separate mechanisms. When rotating at high speed, the damping increases sharply to prevent impact. The higher the boom is raised, the damping increases synchronously. It takes into account the flexibility of low-position operation and the stability of high-position operation. At the limit stroke, the damping is automatically strengthened to avoid rigid impacts from overtravel.

[0020] The adaptive damping compensation for temperature changes utilizes a thermo-deformable material deformation section 65, which can automatically adjust with the ambient temperature. At high temperatures, it drives the telescopic block 68 to extend, increasing the fluid contact area and compensating for the damping attenuation of non-Newtonian fluids at high temperatures. At low temperatures, it reduces damping to prevent the mechanism from jamming, adapting to the large temperature difference between day and night at the construction site and extending the service life of the mechanism.

[0021] In another embodiment of the present invention, the connecting mechanism 5 includes a positioning sleeve 51, which is rotatably disposed within the rotating arm 3. A positioning rod 52 is fixedly connected to one end of the connecting arm 4 near the rotating arm 3. A fixing sleeve 59 is fixedly connected inside the positioning sleeve 51, and the positioning rod 52 is inserted into the fixing sleeve 59. A rotating rod 55 is fixedly connected to one end of the fixing sleeve 59 away from the positioning rod 52. A drive motor 56 is connected to one end of the rotating rod 55 along the fixing sleeve 59. The drive motor 56 is fixedly connected within the rotating arm 3. A placement cavity 54 is provided within the rotating arm 3, and a sliding plate 57 is slidably disposed within the placement cavity 54. The sliding plate 57 is movably sleeved on the outside of the rotating rod 55. A threaded rod 53 is threadedly connected to the outer wall of one side of the boom 3. One end of the threaded rod 53 located inside the boom 3 is magnetic. The end of the threaded rod 53 located inside the boom 3 magnetically attracts a limiting rod 58. The limiting rod 58 is movably inserted into the boom 3. A compression ring 510 is slidably arranged inside the boom 3 along the length direction of the boom 3. A moving ring 513 is slidably arranged on the side of the compression ring 510 away from the limiting rod 58. Limiting grooves 512 are opened in the positioning rod 52, the fixing sleeve 59 and the compression ring 510. The end of the moving ring 513 away from the compression ring 510 is fixedly connected to the sliding plate 57. A corrugated plate 511 is fixedly connected between the compression ring 510 and the moving ring 513.

[0022] The end of the compression ring 510 away from the corrugated plate 511 has a sloping sliding surface 514, and the end of the limiting rod 58 near the threaded rod 53 has a chamfer.

[0023] A non-Newtonian fluid is placed inside the placement cavity 54.

[0024] The placement cavity 54 is not completely filled with non-Newtonian fluid. The upper end of the sliding plate 57 connects the cavities on both sides of the sliding plate 57. The upper end of the placement cavity 54 near the sliding plate 57 is connected to the outside.

[0025] Specifically, it achieves modular quick installation and long-term anti-loosening locking. The connecting arm 4 can be quickly installed by operating the single threaded rod 53. The magnetic limit rod 58 and the threaded rod 53 can be automatically separated to avoid loosening of the thread due to operation vibration. With the buffer of the wave plate 511 and the instantaneous locking characteristics of non-Newtonian fluid, it can automatically limit the position under strong vibration conditions, which greatly improves the efficiency of disassembly and assembly and the reliability of connection, and solves the shortcomings of easy connection failure in construction site environment.

[0026] It achieves adaptive damping protection under all working conditions. Using non-Newtonian fluid as the core medium, it can achieve multi-dimensional damping adaptation without the need for additional separate mechanisms. When rotating at high speed, the damping increases sharply to prevent impact. The higher the boom is raised, the damping increases synchronously. It takes into account the flexibility of low-position operation and the stability of high-position operation. At the limit stroke, the damping is automatically strengthened to avoid rigid impacts from overtravel.

[0027] In another embodiment of the present invention, the automatic adjustment mechanism 6 includes a rotating paddle 67, which is fixedly connected to the outer wall of the rotating rod 55. A telescopic block 68 is inserted at the end of the rotating paddle 67 away from the rotating rod 55. A spring 69 is fixedly connected between the end of the telescopic block 68 located inside the rotating paddle 67 and the rotating rod 55. A sliding block 62 is slidably arranged inside the rotating rod 55. A spring 63 is fixedly connected between the sliding block 62 and the rotating rod 55. A pull rope 61 is connected between the sliding block 62 and the telescopic block 68. A deformable part 65 is provided inside the wave plate 511. A connecting ring 64 is fixedly connected to the side wall of the deformable part 65 near the sliding block 62. The connecting ring 64 abuts against the sliding block 62. A pressing piece 66 is fixedly connected to the middle of the inner wall of the connecting ring 64.

[0028] The deformable part 65 is made of a heat-deformable material.

[0029] An inclined surface is formed at one end of the extrusion plate 66 near the sliding block 62.

[0030] Specifically, this robotic arm deeply integrates quick-change locking with an adaptive damping system, achieving multiple functions such as connection locking, impact protection, and temperature change compensation with a single medium. Its structure is simplified and highly reliable, better adapting to complex construction operation scenarios, significantly reducing maintenance costs, and providing an efficient and stable solution for multi-process adaptation of construction robots.

[0031] Working principle: When using this device, before installing the connecting arm 4 onto the connecting mechanism 5, the rotating rod 55 is rotated by the drive motor 56. The rotating rod 55 drives the fixed sleeve 59 to rotate, so that the limiting groove 512 in the fixed sleeve 59 is aligned with the limiting rod 58. Then, the connecting arm 4 and the positioning rod 52 are moved toward the rotating arm 3. When the positioning rod 52 is pressed by the conical surface on the positioning sleeve block 51, the positioning rod 52 automatically inserts into the center of the fixed sleeve 59. Then, the threaded rod 53 is turned, so that the threaded rod 53 drives the limiting rod 58 toward the positioning rod 52. When the threaded rod 53 is moved, the connecting arm 4 is slightly rotated. When the threaded rod 53 is fully screwed to the bottom, the connecting arm 4 and the positioning rod 52 are limited by the limiting rod 58. At this time, the connecting arm 4 is at its limit rotation angle. Then, the drive motor 56 is started, so that the rotating rod 55, the fixed sleeve 59, the positioning rod 52 and the connecting arm 4 rotate together. After the chamfer on the limiting rod 58 is squeezed by the rotating arm 3, the limiting rod 58 will disengage from the threaded rod 53. The connecting arm 4 rotates from the limit rotation angle to the normal use angle and can then be used normally. The installation of the connecting arm 4 is quick and convenient. Furthermore, after the connecting arm 4 is installed, if the positioning rod 52 is limited according to the existing technology, only the threaded rod 53 will exist. Long-term and frequent compression will cause the threaded rod 53 to loosen. When this solution is adopted, the limiting rod 58 and the threaded rod 53 can be separated. When the limiting rod 58 loosens, it will move outward. The limiting rod 58 will first compress the inclined sliding surface 514, so that the compression ring 510 is compressed towards the wave plate 511. The wave plate 511 is elastic and can play a certain buffering role for the limiting rod 58. The wave plate 511 quickly compresses the moving ring 513, causing the sliding plate 57 to move quickly. Due to the non-Newtonian fluid setting, the sliding plate 57 will be blocked when it moves too fast, so that the limiting rod 58 can be limited in time when the vibration is too large, preventing the compression of the threaded rod 53 and effectively preventing the threaded rod 53 from loosening. When the rotating rod 55 rotates, the rotating block 67 will rotate accordingly. Due to the non-Newtonian fluid setting, the connecting arm 4 will not rotate suddenly and rapidly, which can prevent the connecting arm 4 from loosening when subjected to vibration or collision during use, causing the transported goods to fall off. Moreover, when the rotating arm 3 and the connecting arm 4 are lifted at a greater angle, the non-Newtonian fluid will flow more toward the rotating block 67, increasing the contact area between the rotating block 67 and the non-Newtonian fluid. This makes the speed of the rotating block 67 more obstructed when it rotates with the rotating rod 55. The higher the lifting height of the robotic arm, the longer the working lever arm, and the rotational inertia and overturning risk increase simultaneously. Existing fixed damping cannot take into account both the flexibility of low-position movement and the stability of high-position operation. The damping effect in this technology increases synchronously with the lifting height. When the connecting arm 4 rotates to its limit angle again, the squeezing plate 66 will squeeze the sliding block 62, and the tension of the sliding block 62 on the pull rope 61 will decrease. Under the action of the spring 69, the telescopic block 68 moves to the outside of the rotating block 67, thereby increasing the contact area between the rotating block 67 and the telescopic block 68 and the non-Newtonian fluid, which can quickly improve the damping effect and prevent the connecting arm 4 from rotating to its limit angle at too high a speed, which would affect the machine itself. Furthermore, when the working environment temperature rises, the deformable part 65 expands, and the connecting ring 64 presses the sliding block 62 toward the pull rope 61, causing the telescopic block 68 to extend. At this time, the wave plate 511 presses the moving ring 513 and the sliding plate 57, compressing the space on the side of the sliding plate 57 away from the wave plate 511. The area of ​​the non-Newtonian fluid in this cavity with the rotating block 67 and the telescopic block 68 increases, thereby further improving the damping effect and preventing the damping effect of the non-Newtonian fluid from decreasing when heated. Conversely, when cooled, the damping effect can be reduced to prevent obstruction of the rotation of the rotating rod 55.

[0032] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A modular quick-change rotary robotic arm for a construction robot, comprising a base (1), a fixed arm (2) fixedly connected to the upper end of the base (1), a rotating arm (3) rotatably connected to the upper end of the fixed arm (2), and a connecting arm (4) connected to the end of the rotating arm (3) away from the fixed arm (2), characterized in that, Also includes: The connecting mechanism (5) can quickly connect the connecting arm (4) and the rotating arm (3) while also automatically controlling the rotation speed of the connecting arm (4). The connecting mechanism (5) is located inside the rotating arm (3). And an automatic adjustment mechanism (6) that can automatically adjust the damping force on the connecting arm (4) according to the temperature, wherein the automatic adjustment mechanism (6) is disposed in the connecting mechanism (5).

2. The modular quick-change rotary robotic arm for construction robots according to claim 1, characterized in that: The connecting mechanism (5) includes a positioning sleeve (51), which is rotatably disposed within the rotating arm (3). A positioning rod (52) is fixedly connected to one end of the connecting arm (4) near the rotating arm (3). A fixing sleeve (59) is fixedly connected inside the positioning sleeve (51). The positioning rod (52) is inserted into the fixing sleeve (59). A rotating rod (55) is fixedly connected to one end of the fixing sleeve (59) away from the positioning rod (52). A drive motor (56) is connected to one end of the rotating rod (55) along the original path of the fixing sleeve (59). The drive motor (56) is fixedly disposed within the rotating arm (3). A placement cavity (54) is provided within the rotating arm (3). A sliding plate (57) is slidably disposed within the placement cavity (54). The sliding plate (57) is movably sleeved outside the rotating rod (55). 3) A threaded rod (53) is threaded on one side of the outer wall. The end of the threaded rod (53) located inside the rotating arm (3) is magnetic. The end of the threaded rod (53) located inside the rotating arm (3) is magnetically attracted to a limiting rod (58). The limiting rod (58) is movably inserted into the rotating arm (3). A compression ring (510) is slidably arranged inside the rotating arm (3) along the length direction of the rotating arm (3). A moving ring (513) is slidably arranged on the side of the compression ring (510) away from the limiting rod (58). A limiting groove (512) is opened in the positioning rod (52), the fixing sleeve (59) and the compression ring (510). The end of the moving ring (513) away from the compression ring (510) is fixedly connected to the sliding plate (57). A corrugated plate (511) is fixedly connected between the compression ring (510) and the moving ring (513).

3. A modular quick-change rotary robotic arm for a construction robot according to claim 2, characterized in that: The automatic adjustment mechanism (6) includes a rotating paddle (67), which is fixed to the outer wall of the rotating rod (55). A telescopic block (68) is inserted at one end of the rotating paddle (67) away from the rotating rod (55). A spring (69) is fixed between the end of the telescopic block (68) located inside the rotating paddle (67) and the rotating rod (55). A sliding block (62) is slidably arranged inside the rotating rod (55). A spring (63) is fixed between the sliding block (62) and the rotating rod (55). A pull rope (61) is connected between the sliding block (62) and the telescopic block (68). A deformable part (65) is provided inside the wave plate (511). A connecting ring (64) is fixed to one side wall of the deformable part (65) near the sliding block (62). The connecting ring (64) abuts against the sliding block (62). A pressing piece (66) is fixed to the middle of the inner wall of the connecting ring (64).

4. A modular quick-change rotary robotic arm for construction robots according to claim 2, characterized in that: The end of the extrusion ring (510) away from the corrugated plate (511) has a sloping surface (514), and the end of the limiting rod (58) near the threaded rod (53) has a chamfer.

5. A modular quick-change rotary robotic arm for a construction robot according to claim 2, characterized in that: The placement cavity (54) contains a non-Newtonian fluid.

6. A modular quick-change rotary robotic arm for a construction robot according to claim 2, characterized in that: The placement cavity (54) is not completely filled with non-Newtonian fluid. The upper end of the sliding plate (57) connects the cavities on both sides of the sliding plate (57). The upper end of the placement cavity (54) near the sliding plate (57) is connected to the outside.

7. A modular quick-change rotary robotic arm for a construction robot according to claim 3, characterized in that: The deformable part (65) is a thermally deformable material.

8. A modular quick-change rotary robotic arm for a construction robot according to claim 3, characterized in that: The extrusion plate (66) has an inclined surface at one end near the sliding block (62).

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