A multifunctional wall construction robot and a module arrangement method

Abstract

The present application relates to the technical field of building decoration intelligent construction equipment, and particularly relates to a multifunctional wall surface construction robot and a module arrangement method, which comprises a lifting mechanical arm module arranged on the top of a chassis, an electric control module arranged at least partially in a first inner recess arrangement area on the top of the chassis, the electric control module extending along the side direction of the chassis and defining a second inner recess arrangement area with the lifting mechanical arm module. According to the present application, the electric control module is arranged at least partially in the first inner recess arrangement area on the top of the chassis, and the electric control module extends along the side direction of the chassis, so that the electric control module can be arranged by using the side space of the chassis, and the installation space in the middle of the chassis is reduced.

Description

Technical Field

[0001] This invention relates to the field of intelligent construction equipment technology for building decoration, and in particular to a multifunctional wall construction robot and its modular arrangement method. Background Technology

[0002] Wall decoration construction typically involves multiple processes, including wall cleaning, putty spraying, putty scraping, putty sanding, and latex paint spraying. Traditional manual construction methods are labor-intensive, and it is difficult to guarantee construction efficiency and consistency. Existing single-process wall construction robots can usually only complete one or a few of these tasks, and a complete wall construction still requires multiple machines, resulting in high equipment costs, transportation and management costs, and personnel operation costs.

[0003] To improve construction efficiency, existing technologies are increasingly incorporating multiple wall construction functions onto a single robotic platform. However, when multiple functional modules, such as a lifting robotic arm, electrical control system, material pumping system, and dust collection and removal system, are simultaneously mounted on the chassis, problems arise such as mutual encroachment on installation space, increased overall machine size, complex pipeline layout, and inconvenient maintenance. This makes it difficult to balance multi-functional integration with a compact overall structure. Therefore, how to rationally arrange multiple construction functional modules on the same chassis is a problem that multi-functional wall construction robots need to solve. Summary of the Invention

[0004] In this section, as well as in the abstract and title of this application, some simplifications or omissions may be made to avoid obscuring the purpose of this section, the abstract, and the title of this application, and such simplifications or omissions shall not be used to limit the scope of the invention.

[0005] To address the shortcomings of existing technologies, one objective of this invention is to provide a multifunctional wall construction robot.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a multifunctional wall construction robot, comprising a lifting robotic arm module disposed on the top of a chassis; an electrical control module, at least partially disposed in a first recessed arrangement area on the top of the chassis, the electrical control module extending along the side of the chassis and defining a second recessed arrangement area between the electrical control module and the lifting robotic arm module; a material bucket pumping module disposed in the second recessed arrangement area; and a dust collection and exhaust module disposed in the second recessed arrangement area and located between the material bucket pumping module and the lifting robotic arm module.

[0007] As a preferred embodiment of the multifunctional wall construction robot of the present invention, the lifting robotic arm module includes a lift, a robotic arm, and a cable chain; the lift is disposed on the top of the chassis, the robotic arm is connected to the lift, and a third concave arrangement area is formed between the lift and the dust collection and exhaust module; the cable chain is disposed within the third concave arrangement area.

[0008] As a preferred embodiment of the multifunctional wall construction robot of the present invention, it further includes a compressor module, which is disposed on the top of the chassis and located below the electrical control module.

[0009] As a preferred embodiment of the multifunctional wall construction robot of the present invention, the material barrel pumping module includes a material barrel, the material barrel includes a storage cylinder section and a shrinking discharge section located below the storage cylinder section, the outer periphery of the shrinking discharge section forms a first clearance space, and the compressor module is at least partially disposed within the first clearance space.

[0010] As a preferred embodiment of the multifunctional wall construction robot of the present invention, the material bucket pumping module further includes a paint pumping component, which is disposed on the side of the material bucket away from the electronic control module and is connected to the material bucket.

[0011] As a preferred embodiment of the multifunctional wall construction robot of the present invention, the dust collection and exhaust module includes a dust collection box and a negative pressure module. The dust collection box is disposed between the material barrel pumping module and the lifting mechanical arm module. The negative pressure module is disposed inside the dust collection box. The width of the dust collection box is not less than the installation width of the negative pressure module and is adapted to the arrangement width between the material barrel pumping module and the lifting mechanical arm module. The dust collection box extends along the length direction of the material barrel pumping module and is flush with the outer surface of the material barrel pumping module.

[0012] As a preferred embodiment of the multifunctional wall construction robot of the present invention, the bottom of the dust collection box is configured as an inclined bottom wall, the lower end of the inclined bottom wall is provided with a discharge port, the outer side of the inclined bottom wall forms a second clearance space, and the compressor module is at least partially disposed in the second clearance space.

[0013] As a preferred embodiment of the multifunctional wall construction robot of the present invention, the end of the robotic arm is provided with a quick-change interface, which is used for detachable connection of the work module group.

[0014] As a preferred embodiment of the multifunctional wall construction robot of the present invention, it further includes a power battery and a safety contact edge, wherein the power battery is disposed at the bottom of the chassis and the safety contact edge is disposed along the outer periphery of the chassis.

[0015] To address the shortcomings of existing technologies, another objective of this invention is to provide a modular arrangement method for a multifunctional wall construction robot.

[0016] The present invention adopts the following technical solution: a modular arrangement method for a multifunctional wall construction robot, comprising: setting a lifting robotic arm module on the top of a chassis; setting an electrical control module in a first recessed arrangement area on the top of the chassis, and extending the electrical control module along the side of the chassis to define a second recessed arrangement area between the electrical control module and the lifting robotic arm module; setting a material bucket pumping module in the second recessed arrangement area, and positioning the paint pumping component in the material bucket pumping module on the side of the material bucket away from the electrical control module; setting a compressor module below the electrical control module, and positioning the compressor module at least partially within a first clearance space formed on the outer periphery of the shrinking discharge section of the material bucket; setting a dust collection and exhaust module in the second recessed arrangement area, and positioning the dust collection and exhaust module between the material bucket pumping module and the lifting robotic arm module.

[0017] The multifunctional wall construction robot of the present invention offers the following advantages: By at least partially housing the electrical control module within a first recessed area on the top of the chassis and extending the module along the side of the chassis, the electrical control module can utilize the side space of the chassis, reducing the space occupied in the central installation area. Simultaneously, a second recessed area is defined between the electrical control module and the lifting robotic arm module, and both the material pumping module and the dust collection and removal module are housed within this second recessed area. This allows the modules related to spraying material supply, sanding and dust removal, and end-effector lifting to form a centralized and orderly arrangement on the same chassis. Therefore, the utilization rate of the top space of the chassis is improved, reducing the problem of increased overall machine size caused by simply expanding or stacking functional modules. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a top view schematic diagram of the modular layout of the multifunctional wall construction robot of the present invention.

[0020] Figure 2 This is a three-dimensional structural diagram of the multifunctional wall construction robot of the present invention from a one-view perspective.

[0021] Figure 3This is a top view schematic diagram of the module arrangement of the lifting robotic arm module, cable chain, and third concave arrangement area in the multifunctional wall construction robot of the present invention.

[0022] Figure 4 This is a three-dimensional structural diagram of the lifting robotic arm module of the present invention.

[0023] Figure 5 This is a three-dimensional structural diagram of the multifunctional wall construction robot of the present invention from another perspective.

[0024] Figure 6 This is a three-dimensional structural diagram showing the coordinated arrangement of the material bucket pumping module, dust collection and exhaust module, and compressor module in the multifunctional wall construction robot of this invention.

[0025] Figure 7 This is a three-dimensional structural diagram of the material barrel pumping module of the present invention.

[0026] Figure 8 This is a three-dimensional structural diagram of the dust removal module of the present invention.

[0027] Figure 9 This is a structural diagram showing the connection relationship between the lifting robotic arm module and the operation module group of the present invention.

[0028] Figure 10 This is a three-dimensional structural diagram of the chassis, power battery, and safety contact edge of the present invention.

[0029] In the diagram: 100, chassis; 110, first concave arrangement area; 120, second concave arrangement area; 130, third concave arrangement area; 140, power battery; 150, safety contact edge; 200, lifting robotic arm module; 210, elevator; 220, robotic arm; 230, cable chain; 240, quick-change interface; 300, electrical control module; 400, material bucket pumping module; 410, material bucket; 411, material storage cylinder section; 412, shrink discharge section; 413, first clearance space; 420, paint pumping component; 500, dust collection and discharge module; 510, dust collection box; 511, inclined bottom wall; 512, discharge port; 513, second clearance space; 520, negative pressure module; 600, compressor module; 700, operating module group. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0031] The terminology used in this invention is that which is currently widely used in the art in consideration of the function of the invention; however, these terms may vary according to the intent of those skilled in the art, precedent, or new technology in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the invention. Therefore, the terms used in this specification should not be construed as simple names, but rather based on their meanings and the overall description of the invention.

[0032] Reference Figure 1 and Figure 2 This embodiment provides a multifunctional wall construction robot, including a chassis 100, a lifting robotic arm module 200, an electrical control module 300, a material bucket pumping module 400, and a dust collection and exhaust module 500. The chassis 100 serves as the foundation for the entire machine's movement. The lifting robotic arm module 200 is located on top of the chassis 100 and is used to move the end effector between the wall height direction and the wall work position, enabling the robot to adapt to different construction processes such as wall cleaning, putty spraying, putty scraping, putty sanding, and latex paint spraying.

[0033] The lifting robotic arm module 200 includes a lift 210 and a robotic arm 220. The lift 210 is located on the top of the chassis 100, and the robotic arm 220 is connected to the lift 210 and can move up and down with the lift 210 in the height direction. Since the lift 210 and the robotic arm 220 require different amounts of space, a recessed space that is not fully occupied is naturally formed between the lift 210 and the robotic arm 220. This recessed space constitutes the first recessed arrangement area 110. The first recessed arrangement area 110 is not an additional groove structure opened on the chassis 100, but rather a space allowance formed by the structural shape and installation posture of the lifting robotic arm module 200 itself.

[0034] The electronic control module 300 is at least partially disposed within the first recessed arrangement area 110 and extends along the side of the chassis 100. Specifically, the electronic control module 300 may include an electronic control box, a driver, a control board, a power distribution component, a wiring harness connector, and a heat dissipation structure, etc., and its shape may be configured as a long strip or a box-shaped structure extending along the side of the chassis 100. By embedding the electronic control module 300 within the first recessed arrangement area 110 formed between the lift 210 and the robotic arm 220, the space provided by the lifting robotic arm module 200 itself can accommodate the electronic control module 300, avoiding the electronic control module 300 from occupying the central area of ​​the chassis 100 alone or protruding outward from the chassis 100.

[0035] Since the electronic control module 300 extends along the side of the chassis 100, its arrangement direction is adapted to the side profile of the chassis 100, and the control surface of the electronic control module 300 can face the outside of the chassis 100, which facilitates the operation of the robot.

[0036] Furthermore, after the electrical control module 300 is installed in the first recessed arrangement area 110, a second recessed arrangement area 120 is defined between the electrical control module 300 and the lifting robotic arm module 200. The second recessed arrangement area 120 is located within the effective installation area on the top of the chassis 100 and is close to the working support position of the lifting robotic arm module 200. The material bucket pumping module 400 is installed in the second recessed arrangement area 120 and is used to contain and transport construction materials such as putty and latex paint; the dust collection and discharge module 500 is also installed in the second recessed arrangement area 120 and is located between the material bucket pumping module 400 and the lifting robotic arm module 200, and is used to collect and discharge dust during grinding operations.

[0037] With the above arrangement, the first recessed area 110 formed by the lifting robotic arm module 200 itself is used to accommodate the electrical control module 300. The electrical control module 300 and the lifting robotic arm module 200 further cooperate to define a second recessed area 120, which is used to accommodate the material bucket pumping module 400 and the dust collection and discharge module 500. This arrangement means that the functional modules are not simply stacked side by side, but rather form a hierarchical nested spatial utilization relationship around the structural form of the lifting robotic arm module 200, thereby improving the utilization rate of the top space of the chassis 100 and reducing the overall size of the machine.

[0038] Example 2

[0039] Reference Figure 3 and Figure 4 This embodiment provides an arrangement of a lifting robotic arm module 200. The lifting robotic arm module 200 includes a lift 210, a robotic arm 220, and a cable chain 230. The lift 210 is disposed on the top of the chassis 100, and the robotic arm 220 is connected to the lift 210. The lift 210 is used to drive the robotic arm 220 to move up and down in the height direction, and the robotic arm 220 is used to move the end-effector module closer to or away from the wall and adjust the posture of the end-effector module relative to the wall.

[0040] The cable chain 230 is used to accommodate and guide at least one of the following: cables, air pipes, paint delivery pipes, and dust removal pipes connected to the robotic arm 220 or the end effector module. Since the robotic arm 220 moves up and down under the drive of the lift 210, the relevant cables or pipes need to bend and unfold synchronously with the movement of the robotic arm 220. Therefore, the cable chain 230 is needed to guide and protect the cables or pipes to prevent them from becoming entangled, excessively bent, or interfering with adjacent modules during the lifting process.

[0041] In this embodiment, the dust collection and exhaust module 500 is disposed between the material bucket pumping module 400 and the lifting robotic arm module 200, and is arranged close to the elevator 210. Since the elevator 210 typically has a main structure extending along the height direction, and the dust collection and exhaust module 500 typically has a box structure extending along the top of the chassis 100, when the two are arranged adjacent to each other, an unoccupied clamping space is formed between the elevator 210 and the dust collection and exhaust module 500, which constitutes the third concave arrangement area 130.

[0042] By placing the cable chain 230 within the third recessed arrangement area 130, the naturally formed clamping space between the elevator 210 and the dust collection and exhaust module 500 can accommodate the cable chain 230, eliminating the need to reserve additional cable chain installation width on the outside of the lifting robotic arm module 200 or in other areas of the chassis 100. Compared to arranging the cable chain 230 externally to the side, rear, or outside of the chassis 100, this embodiment reduces the additional space occupied by the cable chain 230 on the top plane of the chassis 100 and the overall outer contour space, thereby reducing the overall footprint of the machine.

[0043] Furthermore, with the cable chain 230 positioned within the third recessed area 130, a nested spatial arrangement is formed between the lifting robotic arm module 200, the dust collection and exhaust module 500, and the cable chain 230. The dust collection and exhaust module 500's proximity to the lifting robotic arm module 200 helps shorten the grinding and dust removal path; the cable chain 230's embedding between the lifting platform 210 and the dust collection and exhaust module 500 helps reduce the exposed length of the follow-up cables and pipes. Therefore, this embodiment not only achieves the follow-up guiding function of the cable chain 230 but also further improves the utilization rate of the top space of the chassis 100, making the modular arrangement of the multi-functional wall construction robot more compact.

[0044] Example 3

[0045] Reference Figure 5 and Figure 6 This embodiment provides a multi-functional wall construction robot, which also includes a compressor module 600. The compressor module 600 is disposed on the top of the chassis 100 and below the electronic control module 300. The compressor module 600 may include a compressor body, an air storage component, a filter and pressure reducing component, a noise reduction component, and a heat dissipation duct. The compressor module 600 is used to provide an air source for spraying operations, pneumatic valves, end-of-line cleaning, or other units that require compressed air.

[0046] After the electronic control module 300 extends along the side of the chassis 100, a vertical space corresponding to the top side area of ​​the chassis 100 will be formed below it. In this embodiment, the compressor module 600 is placed below the electronic control module 300, so that the electronic control module 300 and the compressor module 600 form a vertical composite arrangement, thereby making full use of the side space of the chassis 100 in the vertical direction.

[0047] To prevent the vibration and heat of the compressor module 600 from affecting the electronic control module 300, a vibration isolation mounting base, heat insulation plate, or ventilation baffle can be installed between the compressor module 600 and the electronic control module 300. The air inlet and outlet sides of the compressor module 600 can face the outer peripheral surface of the chassis 100 to allow ventilation through the outer heat dissipation vents; the wiring harness connection side of the electronic control module 300 can face inward to connect with other functional modules inside the robot.

[0048] Compared to conventional technologies that place the compressor as a separate upper component on top of the chassis, the lower-mounted composite arrangement in this embodiment significantly reduces the space occupied by the compressor module 600 in the second recessed arrangement area 120. This allows the second recessed arrangement area 120 to primarily accommodate the material pumping module 400 and the dust collection and exhaust module 500. Simultaneously, the compressor module 600 is positioned lower than the lifting robotic arm module 200 and the material pumping module 400, which helps lower the overall center of gravity and reduce robot swaying during movement, turning, and extension of the lifting robotic arm. This arrangement allows the side space where the electronic control module 300 is located to simultaneously serve as both control and air source storage, forming a vertical functional hierarchy with the electronic control module on top and the air source on the bottom, thus improving the reuse efficiency of the top space of the chassis.

[0049] Example 4

[0050] Reference Figure 6 and Figure 7 The material tank pumping module 400 includes a material tank 410. The material tank 410 includes a storage cylinder section 411 and a shrinkage discharge section 412 located below the storage cylinder section 411. The storage cylinder section 411 is used to hold putty, latex paint, or other wall construction materials; the shrinkage discharge section 412 is located below the storage cylinder section 411 and gradually shrinks from the storage cylinder section 411 towards the discharge port, so that the construction materials in the material tank 410 can collect downwards under the action of gravity.

[0051] A first clearance space 413 is formed on the outer periphery of the shrinking discharge section 412, and the compressor module 600 is at least partially disposed within the first clearance space 413. Specifically, the horizontal projected area of ​​the storage cylinder section 411 can be larger than the horizontal projected area of ​​the shrinking discharge section 412, and the shrinking discharge section 412 shrinks inward relative to the outer wall of the storage cylinder section 411, thereby forming a space on the outer periphery of the shrinking discharge section 412 that can accommodate other modules. The first clearance space 413 can be located on the side of the shrinking discharge section 412 closest to the compressor module 600, or it can be formed along a portion of the circumference of the shrinking discharge section 412. The compressor module 600 can embed its body, gas storage component, or partial outer casing into the first clearance space 413 without obstructing the discharge path of the hopper 410.

[0052] The key to this embodiment is not merely making the material hopper 410 a structure that is wider at the top and narrower at the bottom, but rather combining the peripheral clearance space formed by the shrinking discharge section 412 with the layout requirements of the compressor module 600. If a conventional material hopper uses a structure with equal diameters at the top and bottom, the lower part of the hopper would occupy a large amount of space on the top of the chassis, forcing the compressor module 600 to be placed externally, thus increasing the overall width of the machine. This embodiment utilizes the structural feature of the lower part of the material hopper 410, which is inherently suitable for shrinking and collecting material. While ensuring the storage capacity of the storage cylinder section 411, a first clearance space 413 is formed on the outer periphery of the shrinking discharge section 412, thereby providing a partial embedding position for the compressor module 600.

[0053] Example 5

[0054] Reference Figure 6 and Figure 7 This embodiment provides a specific arrangement of a material barrel pumping module 400. The material barrel pumping module 400 includes a material barrel 410 and a paint pumping component 420. The material barrel 410 is used to contain putty, latex paint or other wall construction materials, and the paint pumping component 420 is used to pressurize and transport the construction materials in the material barrel 410 to the work module connected to the end of the robotic arm 220.

[0055] The material hopper 410 includes a storage cylinder section 411 and a shrinkage discharge section 412 located below the storage cylinder section 411. The storage cylinder section 411 forms the main storage space, and the shrinkage discharge section 412 guides the construction material in the storage cylinder section 411 downwards, allowing the construction material to enter the feed end of the paint pump 420. Since the outer diameter of the shrinkage discharge section 412 is smaller than the outer diameter of the storage cylinder section 411, a first clearance space 413 is formed on the outer periphery of the shrinkage discharge section 412. The first clearance space 413 is not simply an empty area, but a reusable installation space naturally formed by the top-larger-bottom-smaller structure of the material hopper 410.

[0056] In this embodiment, the compressor module 600 is at least partially disposed on one side of the first clearance space 413. The compressor module 600 can be arranged close to the electronic control module 300, so that the compressor module 600 can be located below the electronic control module 300, and can be embedded in the space on the outer periphery of the shrink discharge section 412 near the electronic control module 300. With this arrangement, the compressor module 600 does not need to occupy an additional independent mounting area on the top of the chassis 100, which helps to reduce the lateral dimension of the overall module arrangement.

[0057] The paint pumping unit 420 is located on the side of the material tank 410 away from the electronic control module 300 and is connected to the material tank 410. Specifically, the inlet end of the paint pumping unit 420 can be connected to the shrink discharge section 412 through an inlet pipe. The inlet pipe can be led out from the side of the shrink discharge section 412 away from the electronic control module 300 and connected to the paint pumping unit 420. Since the compressor module 600 has already occupied the side of the first clearance space 413 closest to the electronic control module 300, after the paint pumping unit 420 is located on the side away from the electronic control module 300, the paint pumping unit 420 and its pipe connected to the shrink discharge section 412 can utilize the other side of the first clearance space 413, thereby avoiding the installation area of ​​the compressor module 600.

[0058] Compared to placing the paint pump 420 on the side closer to the electronic control module 300, the arrangement in this embodiment avoids the paint pump 420's feed pipe and the compressor module 600 crossing, overlapping, or obstructing each other in the same space. If the paint pump 420 is placed close to the electronic control module 300, the paint pump 420 and its feed pipe will occupy the space on the side of the shrink discharge section 412 closest to the electronic control module 300. The compressor module 600 will then be difficult to embed in the first clearance space 413 and can only move to the outside of the chassis 100 or other areas, which may easily lead to an increase in the overall width of the machine, a loose module arrangement, or an increase in the detour distance of the pipeline.

[0059] By positioning the paint pump 420 on the side of the material tank 410 away from the electronic control module 300, the first clearance space 413 can be spatially divided into two sides: the side closer to the electronic control module 300 is used to accommodate the compressor module 600, and the side farther from the electronic control module 300 is used to arrange the paint pump 420 and its feed pipe connected to the shrink discharge section 412. This ensures that the compressor module 600 has embedded installation space and that a shorter, straighter connection path is formed between the paint pump 420 and the shrink discharge section 412, reducing the risk of pipe detours, bends, and blockages.

[0060] Example 6

[0061] Reference Figure 1 , Figure 6 and Figure 8This embodiment provides an arrangement of a dust collection and exhaust module 500. The dust collection and exhaust module 500 includes a dust collection box 510 and a negative pressure module 520. The dust collection box 510 is located between the material bucket pumping module 400 and the lifting robotic arm module 200, and the negative pressure module 520 is located inside the dust collection box 510. The dust collection and exhaust module 500 is mainly used to provide negative pressure suction for the end-of-line operation module during putty sanding, wall cleaning, and other operations, allowing sanding dust, wall dust, or other particulate matter to enter the dust collection box 510 through the dust removal pipeline, thereby reducing dust at the construction site.

[0062] In this embodiment, after the material bucket pumping module 400 is disposed within the second recessed arrangement area 120, it does not completely occupy the entire lateral width of the second recessed arrangement area 120. The lateral arrangement width here refers to the available distance in the direction from the material bucket pumping module 400 toward the lifting robotic arm module 200, that is, the space reserved between the material bucket pumping module 400 and the lifting robotic arm module 200. This space forms the remaining arrangement width for installing the dust collection box 510.

[0063] The width of the dust collection box 510 can be customized according to the remaining arrangement width between the material bucket pumping module 400 and the lifting robotic arm module 200. Specifically, the width of the dust collection box 510 is not less than the installation width of the negative pressure module 520 to ensure that the negative pressure module 520 can be installed inside the dust collection box 510; at the same time, the width of the dust collection box 510 is adapted to the remaining arrangement width between the material bucket pumping module 400 and the lifting robotic arm module 200, so that the dust collection box 510 can be fitted between the material bucket pumping module 400 and the lifting robotic arm module 200.

[0064] Since the dust collection box 510 is mainly used to form a dust collection chamber, its shape can be customized according to the remaining space on top of the chassis 100. For example, it can be set as a cuboid box, an irregularly shaped box, or a partially recessed box. Therefore, after the material bucket pumping module 400 is arranged, the lateral dimension of the dust collection box 510 can be determined according to the actual remaining width between the material bucket pumping module 400 and the lifting robotic arm module 200, and the dust collection box 510 can fill the remaining space in the width direction. With this setting, the dust collection box 510 does not need to occupy an additional independent installation area on top of the chassis 100, but can be embedded by utilizing the space not fully occupied by the material bucket pumping module 400.

[0065] Furthermore, the dust collection box 510 extends along the length of the material barrel pumping module 400 and is flush with the outer surface of the material barrel pumping module 400. In other words, the dust collection box 510 not only adapts to the remaining distance between the material barrel pumping module 400 and the lifting robotic arm module 200 in the width direction, but also extends along the outer contour of the material barrel pumping module 400 in the length direction until it approaches the edge of the chassis 100 or forms a flush relationship with the outer surface of the material barrel pumping module 400. Through this arrangement, the dust collection box 510 can achieve a larger effective volume without increasing the overall width of the machine.

[0066] Example 7

[0067] Reference Figure 6 and Figure 8 The bottom of the dust collection box 510 is configured as an inclined bottom wall 511, and a discharge port 512 is provided at the lower end of the inclined bottom wall 511. A second clearance space 513 is formed on the outer side of the inclined bottom wall 511, and the compressor module 600 is at least partially disposed within the second clearance space 513. The inclined bottom wall 511 can be gradually lowered from the side near the lifting robotic arm module 200 to the side near the discharge port 512, or it can be gradually lowered from the front end to the rear end of the dust collection box 510, as long as it can allow dust, particulate matter, or grinding waste to collect towards the discharge port 512 under the action of gravity.

[0068] A second clearance space 513 is formed on the outer side of the inclined bottom wall 511. Here, "outer side" can be understood as the side of the inclined bottom wall 511 relative to the dust-collecting space inside the dust collection box 510. Since the inclined bottom wall 511 is not horizontally arranged, a wedge-shaped or near-wedge-shaped external space is formed between the inclined bottom wall 511 and the top mounting surface of the chassis 100; this space is the second clearance space 513. In this embodiment, the compressor module 600 is at least partially disposed within the second clearance space 513, so that the external gap formed by the inclined bottom wall 511 is no longer a non-functional remaining space, but is transformed into a partial accommodating space for the compressor module 600.

[0069] Example 8

[0070] Reference Figure 9 The robotic arm 220 has a quick-change interface 240 at its end, which is used for detachable connection to the work module assembly 700. The work module assembly 700 may include at least one of a wall cleaning module, a putty spraying module, a putty scraping module, a putty sanding module, and a latex paint spraying module. The quick-change interface 240 may include one or more of a mechanical positioning part, a locking part, an electrical connection part, a pneumatic connection part, a material connection part, and a negative pressure connection part.

[0071] The mechanical positioning part may include positioning pins, positioning holes, conical positioning structures, or limiting steps, used to determine the position and orientation of the work module relative to the end of the robotic arm 220 during the installation of the work module assembly 700. The locking part may include manual latches, pneumatic latches, electric latches, or bolt locking components, used to fix the work module assembly 700 to the end of the robotic arm 220. The electrical connection part is used to transmit control signals and power to the work module assembly 700; the air connection part is used to connect to compressed air supplied by the compressor module 600; the material connection part is used to connect to putty or latex paint output from the material pump module 400; and the negative pressure connection part is used to connect to the dust collection and exhaust module 500 to provide vacuum suction negative pressure.

[0072] In this embodiment, the quick-change interface 240 is located at the end of the robotic arm 220, allowing the same robotic arm 220 to switch between different work modules according to different construction procedures. When performing putty spraying or latex paint spraying, the spraying module in the work module group 700 is connected to the discharge end of the paint pump 420 via a material connection part; when performing putty scraping, the scraping module can be fixed to the end of the robotic arm 220 via a mechanical positioning part and a locking part, and its posture can be adjusted via a control line; when performing sanding operations, the sanding module can be connected to the dust collection and exhaust module 500 via a negative pressure connection part, allowing sanding dust to be collected along the dust suction pipe. Thus, the quick-change interface 240 allows the material bucket pumping module 400, the dust collection and exhaust module 500, and the compressor module 600 on the chassis 100 to serve different end-effector work modules respectively.

[0073] Through the above structure, the robot can adapt to various wall construction processes on the same chassis platform and the same lifting robotic arm module 200, reducing the need for switching between multiple single-process equipment. The quick-change interface 240 also makes the maintenance, cleaning, and replacement of the work module group 700 more convenient, reducing downtime at the construction site.

[0074] Example 9

[0075] Reference Figure 10 This embodiment provides a multifunctional wall construction robot, which also includes a power battery 140 and a safety contact edge 150. The power battery 140 is disposed at the bottom of the chassis 100, and the safety contact edge 150 is disposed along the outer periphery of the chassis 100. The power battery 140 can be disposed in the lower battery compartment of the chassis 100, which can be located at the longitudinal center of the chassis 100 or near the center of gravity. The power battery 140 can be installed by a pull-out type, a recessed type, or a replaceable type to facilitate maintenance and replacement on the construction site.

[0076] By placing the power battery 140 at the bottom of the chassis 100, the center of gravity of the entire machine can be lowered. Since the multi-functional wall construction robot has multiple upper-mounted modules such as the lifting robotic arm module 200, the material pumping module 400, the dust collection and exhaust module 500, and the electrical control module 300, placing the power battery 140 at the top of the chassis would further raise the center of gravity and occupy space originally intended for the recessed arrangement of these functional modules. In this embodiment, placing the power battery 140 at the bottom allows more space on the top of the chassis to be used for the formation of the first recessed arrangement area 110, the second recessed arrangement area 120, and the third recessed arrangement area 130. Simultaneously, the weight of the battery balances the extension torque of the upper lifting robotic arm module 200.

[0077] The safety edge 150 is disposed along the outer periphery of the chassis 100 and may include an elastic edge, a pressure-sensitive edge, or a contact-type safety switch. When the robot moves on the construction site, if the outer periphery of the chassis 100 comes into contact with personnel, walls, scaffolding, material stacks, or other obstacles, the safety edge 150 can generate a trigger signal to cause the robot to decelerate, stop, or perform obstacle avoidance actions. Because the present invention reduces the outward protrusion of multiple functional modules through a recessed arrangement, the protective boundary formed by the safety edge 150 along the outer periphery of the chassis 100 can more accurately correspond to the outer contour of the entire machine, preventing some modules from exceeding the protection range of the safety edge 150.

[0078] Example 10

[0079] Reference Figure 1 , Figure 3 , Figure 6 and Figure 8 This embodiment provides a modular arrangement method for a multifunctional wall construction robot. This modular arrangement method is used to spatially plan the lifting robotic arm module 200, electrical control module 300, material bucket pumping module 400, dust collection and exhaust module 500 and compressor module 600 on the top of the chassis 100, so that multiple functional modules can form a compact and non-interfering arrangement on the same chassis 100.

[0080] The module arrangement method includes: setting a lifting robotic arm module 200 on the top of the chassis 100. The lifting robotic arm module 200 includes a lift 210 and a robotic arm 220. The lift 210 is arranged along the height direction, and the robotic arm 220 is connected to the lift 210 and can be lifted and lowered by the lift 210. Since the lift 210 is a vertical support structure, the robotic arm 220 extends outward relative to the lift 210 and needs to reserve space for swinging, storage, and avoidance. Therefore, a first concave arrangement area 110 is naturally formed between the lift 210 and the robotic arm 220. This first concave arrangement area 110 is not an additional groove opened on the chassis 100, but rather a usable space formed by the structural shape and installation posture of the lifting robotic arm module 200 itself.

[0081] After forming the first recessed arrangement area 110, an electronic control module 300 is disposed within the first recessed arrangement area 110, and the electronic control module 300 extends along the side of the chassis 100. The electronic control module 300 may include an electronic control box, a driver, a control board, a power distribution component, a wiring harness connector, and a heat dissipation structure, etc. By embedding the electronic control module 300 at least partially within the first recessed arrangement area 110, the space between the elevator 210 and the robotic arm 220 can be used to accommodate the electronic control module 300, avoiding the electronic control module 300 from occupying the central area of ​​the chassis 100 alone or protruding outward from the chassis 100.

[0082] After the electronic control module 300 extends along the side of the chassis 100, a second recessed arrangement area 120 is further defined between the electronic control module 300 and the lifting robotic arm module 200. The second recessed arrangement area 120 is located within the effective installation area on the top of the chassis 100 and is close to the working support position of the lifting robotic arm module 200. This second recessed arrangement area 120 is used to centrally arrange the material bucket pumping module 400 and the dust collection and discharge module 500 related to processes such as spraying, scraping, and grinding, so that the construction material supply module and the dust removal module can form a compact arrangement around the lifting robotic arm module 200.

[0083] A material tank pumping module 400 is installed within the second recessed arrangement area 120. The material tank pumping module 400 includes a material tank 410 and a paint pumping component 420. The material tank 410 includes a storage cylinder section 411 and a shrinkage discharge section 412 located below the storage cylinder section 411. The storage cylinder section 411 forms the main storage space, and the shrinkage discharge section 412 guides the construction material to the discharge position. Because the outer diameter of the shrinkage discharge section 412 is smaller than the outer diameter of the storage cylinder section 411, a first clearance space 413 is formed around the outer periphery of the shrinkage discharge section 412.

[0084] A compressor module 600 is positioned below the electronic control module 300, with at least a portion of the compressor module 600 located on one side of the first clearance space 413. Specifically, the compressor module 600 can be embedded in the first clearance space 413 near the electronic control module 300, thereby reducing the space occupied by the compressor module 600 on the top of the chassis 100. This arrangement allows the compressor module 600 to be positioned close to the electronic control module 300 for easy power supply and control connections, while also utilizing the space created by the shrinking structure below the material hopper 410 to reduce the overall module stacking height.

[0085] When arranging the material tank pumping module 400, the paint pumping component 420 is positioned on the side of the material tank 410 away from the electrical control module 300, and the paint pumping component 420 is connected to the shrink discharge section 412. The feed end of the paint pumping component 420 can be connected to the shrink discharge section 412 via a feed pipe, which extends from the side of the shrink discharge section 412 away from the electrical control module 300. Since the compressor module 600 has already utilized the first clearance space 413 on the side close to the electrical control module 300, the paint pumping component 420 and its feed pipe utilize the other side of the first clearance space 413, thereby avoiding the paint pumping component 420 and its pipe competing with the compressor module 600 for space on the same side.

[0086] A dust collection and discharge module 500 is installed in the second recessed arrangement area 120, and the dust collection and discharge module 500 is located between the material bucket pumping module 400 and the lifting robotic arm module 200. The dust collection and discharge module 500 includes a dust collection box 510 and a negative pressure module 520, with the negative pressure module 520 installed inside the dust collection box 510.

[0087] The width of the dust collection box 510 is determined based on the remaining arrangement width between the material bucket pumping module 400 and the lifting robotic arm module 200, and the width of the dust collection box 510 is not less than the installation width of the negative pressure module 520 to ensure that the negative pressure module 520 can be installed inside the dust collection box 510. Since the dust collection box 510 is mainly used to form a dust collection chamber, its shape can be customized according to the remaining space. Therefore, the width of the dust collection box 510 can be determined based on the actual distance between the material bucket pumping module 400 and the lifting robotic arm module 200, so that the dust collection box 510 fits and fills the space between the material bucket pumping module 400 and the lifting robotic arm module 200 in the width direction.

[0088] Furthermore, the dust collection box 510 extends along the length of the material barrel pumping module 400 and is flush with the outer surface of the material barrel pumping module 400. With this configuration, the dust collection box 510 can not only fill the remaining space between the material barrel pumping module 400 and the lifting robotic arm module 200 in the width direction, but also extend along the material barrel pumping module 400 to near the edge of the chassis 100 in the length direction, thereby increasing the effective volume of the dust collection box 510 without increasing the overall width of the machine.

[0089] After the lifting robotic arm module 200 and the dust collection and exhaust module 500 are installed, a third recessed arrangement area 130 is formed between the lifting platform 210 and the dust collection and exhaust module 500. A cable chain 230 is installed in the third recessed arrangement area 130. The cable chain 230 is used to accommodate and guide cables, air pipes, paint delivery pipes or dust removal pipes connected to the robotic arm 220 or the end effector module.

[0090] With the above-described module arrangement method, the first concave arrangement area 110 formed by the lifting robotic arm module 200 itself is used to accommodate the electrical control module 300; the second concave arrangement area 120 defined between the electrical control module 300 and the lifting robotic arm module 200 is used to arrange the material bucket pumping module 400 and the dust collection and discharge module 500; the first clearance space 413 formed on the outer periphery of the retractable discharge section 412 is used by the feed pipes of the compressor module 600 and the paint pumping component 420 respectively; the remaining width between the material bucket pumping module 400 and the lifting robotic arm module 200 is filled by the dust collection box 510; the third concave arrangement area 130 formed between the elevator 210 and the dust collection and discharge module 500 is used to accommodate the cable chain 230. Therefore, the functional modules are not simply stacked on top of the chassis 100, but are arranged in a hierarchical nested manner around the recessed areas, avoidance areas and remaining areas naturally formed by different modules. This improves the utilization rate of the top space of the chassis 100, reduces the overall footprint of the machine, and enhances the structural compactness and construction applicability of the multi-functional wall construction robot in multi-process construction scenarios.

[0091] Finally, it should be noted that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways as long as they do not depart from the scope of the present invention.

Claims

1. A multi-functional wall construction robot, characterized in that: include, A lifting robotic arm module (200) is mounted on top of the chassis (100); An electronic control module (300) is at least partially disposed in a first recessed arrangement area (110) on the top of the chassis (100), the electronic control module (300) extends along the side of the chassis (100) and defines a second recessed arrangement area (120) between itself and the lifting robotic arm module (200). A material barrel pumping module (400) is disposed within the second concave arrangement area (120); The dust collection and exhaust module (500) is disposed in the second concave arrangement area (120) and located between the material bucket pumping module (400) and the lifting robotic arm module (200).

2. The multifunctional wall construction robot as described in claim 1, characterized in that: The lifting robotic arm module (200) includes a lift (210), a robotic arm (220), and a cable chain (230). The elevator (210) is located on the top of the chassis (100), the robotic arm (220) is connected to the elevator (210), and a third concave arrangement area (130) is formed between the elevator (210) and the dust collection and exhaust module (500). The drag chain (230) is disposed within the third concave arrangement area (130).

3. The multifunctional wall construction robot as described in claim 1 or 2, characterized in that: It also includes a compressor module (600), which is disposed on top of the chassis (100) and below the electronic control module (300).

4. The multifunctional wall construction robot as described in claim 3, characterized in that: The material barrel pumping module (400) includes a material barrel (410), the material barrel (410) includes a storage cylinder section (411) and a shrink discharge section (412) located below the storage cylinder section (411), the outer periphery of the shrink discharge section (412) forms a first clearance space (413), and the compressor module (600) is at least partially disposed in the first clearance space (413).

5. The multifunctional wall construction robot as described in claim 4, characterized in that: The material barrel pumping module (400) further includes a paint pumping component (420), which is located on the side of the material barrel (410) away from the electrical control module (300) and is connected to the material barrel (410).

6. The multifunctional wall construction robot as described in claim 4 or 5, characterized in that: The dust collection and discharge module (500) includes a dust collection box (510) and a negative pressure module (520). The dust collection box (510) is disposed between the material barrel pumping module (400) and the lifting mechanical arm module (200). The negative pressure module (520) is disposed inside the dust collection box (510). The width of the dust collection box (510) is not less than the installation width of the negative pressure module (520) and is adapted to the arrangement width between the material barrel pumping module (400) and the lifting mechanical arm module (200). The dust collection box (510) extends along the length direction of the material barrel pumping module (400) and is flush with the outer surface of the material barrel pumping module (400).

7. The multifunctional wall construction robot as described in claim 6, characterized in that: The bottom of the dust collection box (510) is configured as an inclined bottom wall (511), and a discharge port (512) is provided at the lower end of the inclined bottom wall (511). A second clearance space (513) is formed on the outer side of the inclined bottom wall (511), and the compressor module (600) is at least partially disposed in the second clearance space (513).

8. The multifunctional wall construction robot as described in claim 2, characterized in that: The end of the robotic arm (220) is provided with a quick-change interface (240), which is used for detachably connecting the work module group (700).

9. The multifunctional wall construction robot as described in claim 7 or 8, characterized in that: It also includes a power battery (140) and a safety contact edge (150), the power battery (140) being disposed at the bottom of the chassis (100) and the safety contact edge (150) being disposed along the outer periphery of the chassis (100).

10. A modular arrangement method for a multifunctional wall construction robot, characterized in that: include, A lifting robotic arm module (200) is installed on the top of the chassis (100). An electronic control module (300) is provided in a first recessed arrangement area (110) on the top of the chassis (100), and the electronic control module (300) extends along the side of the chassis (100) to define a second recessed arrangement area (120) between the electronic control module (300) and the lifting robotic arm module (200). A material barrel pumping module (400) is provided in the second concave arrangement area (120), and the paint pumping component (420) in the material barrel pumping module (400) is located on the side of the material barrel (410) away from the electronic control module (300); A compressor module (600) is provided below the electronic control module (300), and the compressor module (600) is located at least partially within the first clearance space (413) formed on the outer periphery of the shrinkage discharge section (412) of the material barrel (410); A dust collection and discharge module (500) is provided in the second concave arrangement area (120), and the dust collection and discharge module (500) is located between the material bucket pumping module (400) and the lifting mechanical arm module (200).

Images