Construction robot

Abstract

The utility model relates to the technical field of construction machines, in particular to a construction robot. The construction robot comprises a mechanical arm, an assembly support, a remote control device, a tool body, a detection device and a control module. The mechanical arm comprises a free end of which the height and the angle can be freely adjusted; the assembling support is arranged at the free end of the mechanical arm and can move along with the free end. The tool body is arranged on the assembling support and comprises an execution end capable of executing operation on an operation point. The detection device is connected to the assembling support and located on the outer side of the tool body in the operation direction, the detection device comprises a visual sensor with two lenses, each lens is provided with a center point, and a midperpendicular is arranged in the middle position perpendicular to the connecting line of the two center points; the executing end of the tool body comprises an axis in the working direction, and the perpendicular bisector intersects with the axis. According to the construction robot, the operation point can be accurately found for construction.

Description

[TECHNICAL FIELD]

[0001] The present application relates to the technical field of construction machines, in particular to a construction robot. [BACKGROUND]

[0002] In the existing construction operation, people often use robots to use tools to replace manual use of tools for operation. When operating, especially when the height of the operating point is high, due to limited vision, the construction personnel is difficult to accurately control the robot to operate the operating point through the control handle, which is easy to cause deviation of the operating position, not only affecting the accuracy of the construction, but also affecting the progress of the construction.

[0003] Especially when the construction of one operating point is completed, when shifting to the next operating point, due to a large amount of dust generated during the operation of the previous operating point and diffused in the air, the vision of the construction personnel is more limited. When the construction personnel standing far away adjusts the position and angle of the tool to operate the next operating point, it is easy to cause the tool to touch the surrounding obstacles, causing damage to the tool.

[0004] Therefore, it is necessary to provide a construction robot to overcome the defects in the prior art. [INVENTION CONTENTS]

[0005] In view of the deficiencies of the prior art, one of the purposes of the present application is to provide a construction robot which is convenient for accurate operation of an operating point.

[0006] The technical scheme adopted by the present application to solve the problems of the prior art is: a construction robot, comprising:

[0007] A mechanical arm comprising a free end capable of freely adjusting height and angle, the free end being capable of freely moving in a three-dimensional position space;

[0008] An assembly support provided on the free end of the mechanical arm and capable of moving with the free end;

[0009] A tool body provided on the assembly support, the tool body comprising an execution end capable of performing operation on an operating point;

[0010] A detection device connected to the assembly support and located outside the operating direction of the tool body, the detection device comprising a vision sensor having two lenses, each lens having a center point, comprising a perpendicular bisector at the middle position perpendicular to the connecting line of the two center points, and the execution end of the tool body comprising an axis in the operating direction, wherein the perpendicular bisector intersects the axis.

[0011] In some embodiments, the visual sensor is located outside the execution end of the tool body, and the vertical distance between the visual sensor and the axis of the execution end is greater than or equal to 5 cm.

[0012] In some embodiments, the detection device further comprises a depth camera capable of detecting the distance between the work point and the visual sensor.

[0013] In some embodiments, the detection device comprises a visual sensor and a sensor bracket for connecting the visual sensor to the assembly bracket, and the visual sensor is capable of moving relative to the sensor bracket in the working state, and a sensor buffer is arranged between the visual sensor and the sensor bracket to absorb the impact force of the visual sensor.

[0014] In some embodiments, the sensor bracket comprises a sensor mounting seat having a sensor accommodating cavity for mounting the visual sensor, and one end of the sensor accommodating cavity is provided with a first sensor limiting piece and the other end is provided with a second sensor limiting piece in the moving direction of the visual sensor, and the visual sensor is located between the first sensor limiting piece and the second sensor limiting piece.

[0015] In some embodiments, the first sensor limiting piece is located at the back of the visual sensor, and the sensor buffer is connected between the visual sensor and the first sensor limiting piece.

[0016] In some embodiments, at least one of the first sensor limiting piece and the second sensor limiting piece is detachably connected to the sensor mounting seat.

[0017] In some embodiments, a control module for controlling the operation of the construction robot is further included, a sensor wire harness is connected between the visual sensor and the control module, and the sensor bracket further comprises a wire harness pressing plate provided with a wire harness slot for placing the wire harness.

[0018] In some embodiments, the sensor bracket further comprises a pressing plate mounting piece provided with a pressing plate guide slot, and the wire harness pressing plate is connected to the pressing plate guide slot and is capable of moving in the direction of approaching or moving away from the visual sensor within the pressing plate guide slot.

[0019] The application also provides a construction robot, comprising:

[0020] A mechanical arm comprising a free end capable of freely adjusting height and angle, and the free end is capable of freely moving in three-dimensional space;

[0021] A remote control device configured to control the free end of the robot arm to move freely in a three-dimensional space, the remote control device comprising a display screen;

[0022] An assembly support configured to be arranged at the free end of the robot arm and to move with the free end;

[0023] A tool body configured to be detachably arranged at the assembly support, the tool body comprising an execution end configured to perform work at a work point;

[0024] A detection device connected to the assembly support and located outside the work direction of the tool body, the detection device being configured to at least capture the work point and identify an obstacle;

[0025] A control module configured to convert a work point signal detected by the detection device into a mark point on the display screen;

[0026] The control module is further configured to control the detection device and / or the tool body to not contact the obstacle.

[0027] Compared with the prior art, the present application has the following beneficial effects:

[0028] The present application replaces the eyes of the construction personnel to locate and confirm the work point by arranging the detection device on the construction robot, which not only improves the accuracy during work, but also improves the overall efficiency of the work. The work of the construction robot is less affected by height and environment, and the tool body and the detection device can avoid obstacles, which plays a certain protective role for the construction robot. [BRIEF DESCRIPTION OF DRAWINGS]

[0029] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings:

[0030] Figure 1 is a schematic diagram of the three-dimensional structure of the construction robot in the present application;

[0031] Figure 2 is a schematic diagram of the structure of the tool body and the assembly support of the construction robot in the present application;

[0032] Figure 3 is a schematic diagram of the exploded structure of the tool body and the assembly support of the construction robot in the present application;

[0033] Figure 4 is a schematic diagram of the structure of the tool body and the holding part in the present application;

[0034] Figure 5 is a schematic diagram of the structure of the tool body and the holding part in the present application; Figure 4 is an enlarged view of part B in the present application;

[0035] Figure 6 is a schematic diagram of a partial cross-sectional structure of a holding component in the present application;

[0036] Figure 7 is a schematic diagram of an exploded structure of a first connecting component of a construction robot in the present application;

[0037] Figure 8 is a schematic diagram of an exploded structure of a first connecting component of a construction robot in the present application;

[0038] Figure 9 is a schematic diagram of a damping base of a construction robot in the present application;

[0039] Figure 10 is a schematic diagram of a damping base of a construction robot in the present application from another angle;

[0040] Figure 11 is a schematic diagram of a tool body of a construction robot in the present application for connecting a portion;

[0041] Figure 12 is a schematic diagram of a first guide of a construction robot in the present application and a mechanical arm;

[0042] Figure 13 is a schematic diagram of a first mounting plate of a construction robot in the present application and a first electrical connecting seat and a second electrical connecting seat.

[0043] Figure 14 is a schematic diagram of a chassis of a construction robot in the present application and a power supply device and a lifting device installed thereon.

[0044] Figure 15 is a schematic diagram of a chassis of a construction robot in the present application and a power supply device and a lifting device installed thereon from a top view;

[0045] Figure 16 is a schematic diagram of a chassis of a construction robot in the present application and a power supply device and a collision prevention beam installed thereon;

[0046] Figure 17 is a schematic diagram of a chassis of a construction robot in the present application and a power supply guide and a power supply limiting piece installed therein;

[0047] Figure 18 is a schematic diagram of a first type of battery pack of a power supply device of a construction robot in the present application;

[0048] Figure 19 is a schematic diagram of a second type of battery pack of a power supply device of a construction robot in the present application;

[0049] Figure 20is a structural diagram of a second type of battery pack in a power supply device of a construction robot in another embodiment of the present application;

[0050] Figure 21 is a structural diagram of a partition in a construction robot in the present application;

[0051] Figure 22 is an enlarged view of part A in the present application; Figure 21

[0052] Figure 23 is a structural diagram of the interior of a box body of a construction robot in the present application;

[0053] Figure 24 is a structural diagram of the division of each area in the interior of a box body of a construction robot in the present application;

[0054] Figure 25 is a structural diagram of a storage compartment and a pipe body support of a construction robot in the present application;

[0055] Figure 26 is a structural diagram of another angle of a storage compartment and a pipe body support of a construction robot in the present application;

[0056] Figure 27 is a structural diagram of a pipe body support and a lifting end of a lifting device of a construction robot in the present application;

[0057] Figure 28 is a structural diagram of a brush provided on a storage compartment of a construction robot in the present application;

[0058] Figure 29 is a structural diagram of a brush removed from a storage compartment of a construction robot in the present application;

[0059] Figure 30 is a structural diagram of a storage compartment and a first partition of a construction robot in the present application;

[0060] Figure 31 is a structural diagram of a compartment body fixing member and a guide member of a construction robot in the present application;

[0061] Figure 32 is a structural diagram of a detection device and a tool main body of a construction robot in the present application;

[0062] Figure 33 is a schematic diagram of the positional relationship between a binocular camera and a tool main body execution end of a construction robot in the present application;

[0063] Figure 34 is an exploded structural diagram of a detection device of a construction robot in the present application;

[0064] Figure 35 ​is a structural schematic view of the rear part of the detection device of the construction robot in the present application;

[0065] Figure 36 is a structural schematic view of the control handle of the construction robot in the present application;

[0066] Figure 37 is a logic block diagram of the construction robot in the present application. [DETAILED DESCRIPTION]

[0067] The terms used in the present application are merely for the purpose of describing specific embodiments and are not intended to limit the present application. For example, the words such as "upper", "lower", "front", "back", and the like indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, merely for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the device referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0068] Please refer to Figures 1 to 37 The construction robot of one embodiment disclosed in the present application is shown, which comprises a walking assembly 700, a chassis 600, a lifting device 400, a mechanical arm 300, an assembly support 100, a tool body 200, a power supply device 900, and a control module 5091.

[0069] As shown in Figure 1 and Figure 14 The walking assembly 700 comprises walking wheels and a walking motor 705 driving the walking wheels, the walking wheels comprising front walking wheels 701, rear walking wheels 702, a caterpillar track 703 wound around the front walking wheels 701 and the rear walking wheels 702, and an auxiliary wheel 704 located between the front walking wheels 701 and the rear walking wheels 702 and capable of supporting the caterpillar track 703. The walking motor 705 drives one or both of the front walking wheels 701 and the rear walking wheels 702. The walking motor 705 is controlled by the control module 5091 to operate.

[0070] In some embodiments, the walking assembly 700 can also be only a combination of the front walking wheels 701, the rear walking wheels 702, and the walking motor 705, the walking motor 705 driving the front walking wheels 701 or the rear walking wheels 702 to achieve caterpillar walking and realize the walking of the whole robot.

[0071] As shown in Figure 14As shown in FIG. 6, the chassis 600 is arranged in a straight line, the front traveling wheels 701 are connected to the two sides of the front part of the chassis 600, and the rear traveling wheels 702 are connected to the two sides of the rear part of the chassis 600. The traveling motor 705 is arranged inside the chassis 600, and the traveling motor 705 drives the front traveling wheels 701 or the rear traveling wheels 702 to move the chassis 600. In some embodiments, the chassis 600 has a rectangular structure, and the geometric center 603 is located at the intersection of the diagonals.

[0072] As shown in FIG. 6, Figure 1 , Figure 15 , Figure 25 and Figure 26 , the lifting device 400 is fixed on the chassis 600, the lifting device 400 is a servo electric cylinder, the lifting device 400 includes a lifting cylinder and a lifting motor for driving the lifting cylinder to lift, the lifting cylinder is composed of a plurality of cylinder pieces with different inner diameters connected in a sleeve, and the upper end of the uppermost cylinder piece is the lifting end of the entire lifting cylinder.

[0073] The lifting device 400 can also be a lifting platform of other structures.

[0074] As shown in FIG. 6, Figure 1 , the mechanical arm 300 is fixed on the upper end of the lifting device 400 and can lift along with the lifting of the lifting device 400. In some embodiments, the mechanical arm 300 can be a six-axis mechanical arm, which can move around the lifting device 400 at a full angle, thereby realizing full-angle adjustment of the mechanical arm 300 to work at different positions. Specifically, the mechanical arm 300 includes a fixed end and a free end, the fixed end is used to connect with the lifting end of the lifting cylinder, and can be detachably connected by bolts. The free end is used to directly or indirectly connect with the tool body 200, so that the free end can drive the tool body 200 to freely adjust the height and angle in the three-dimensional space, so that the tool body is aligned with the work point.

[0075] As shown in FIG. 6, Figure 1 , in some embodiments, the assembly support 100 is fixedly connected to the front end of the mechanical arm 300 and can move along with the movement of the mechanical arm 300. As shown in FIG. 6, Figure 1 and Figure 2 , the tool body 200 is installed on the assembly support 100 and can perform related work along with the movement of the assembly support 100. The assembly support 100 serves to connect the tool body 200 and the mechanical arm 300.

[0076] As shown in FIG. 6, Figure 14 , Figure 15 , Figure 23 and Figure 25As shown, the power supply unit 900 is mounted on the chassis 600. The power supply unit 900 is used to provide a power source for the operation of the construction robot. The power supply unit 900 can also exchange signals with the control module 5091.

[0077] like Figure 37 As shown, the control module 5091 is used to control the operation of the construction robot. In some embodiments, the control module 5091 is also described as a controller.

[0078] In some embodiments, during operation, the tool body 200 can move back and forth on the mounting bracket 100 along the working direction. This arrangement helps to alleviate the reverse force of the working point on the tool body 200 during operation and improves the service life of the tool body 200.

[0079] like Figure 2 As shown, in some embodiments, the assembly bracket 100 includes a first guide 101 and a first connecting component 102 and a second connecting component 103 respectively connected to the first guide 101. The tool body 200 is connected to the assembly bracket 100 through the first connecting component 102 and the second connecting component 103. At least one of the first connecting component 102 and the second connecting component 103 is movable on the first guide 101.

[0080] In some embodiments, only one of the first connecting component 102 and the second connecting component 103 can move on the first guide 101. When one of the first connecting component 102 and the second connecting component 103 can move on the first guide 101, the other can slide and connect with the tool body 200 to ensure that the tool body 200 can move back and forth as a whole during operation, so as to alleviate the reverse force of the work point on the tool body 200.

[0081] In some embodiments, both the first connecting component 102 and the second connecting component 103 are movable on the first guide 101.

[0082] like Figure 3 As shown, in some embodiments, the first connecting component 102 includes a first connecting portion 10212 and a second connecting portion 10214, and the second connecting component 103 includes a third connecting portion. The first connecting portion 10212, the second connecting portion 10214, and the third connecting portion are not collinearly arranged. The tool body 200 is disposed on the three non-collinear first connecting portions 10212, the second connecting portion 10214, and the third connecting portion. As described above, the tool body 200 is mounted on the mounting bracket 100 through the three non-collinear connection points of the first connecting portion 10212, the second connecting portion 10214, and the third connecting portion. Utilizing the stability principle of triangles, the mounting bracket 100 can provide stable mounting support for the tool body 200 in the circumferential direction.

[0083] As shown in Figure 3 some embodiments, the first connecting assembly 102 includes a first mounting plate 1021, and the first connecting part 10212 and the second connecting part 10214 are arranged on the first mounting plate 1021. The first mounting plate 1021 is further provided with a first guide part 10211 capable of guiding cooperation with the first guide 101. When the first guide part 10211 guides cooperation with the first guide 101, the tool body 200 can move on the first guide 101 following the first mounting plate 1021. The tool body 200 is connected with the first guide 101 along the working direction through the first guide part 10211 on the first mounting plate 1021, which can relieve the vibration effect of the tool body 200 during work and prolong the service life of the tool body 200.

[0084] In some embodiments, the first guide 101 is a guide rod, and at least two guide rods are arranged. The first guide part 10211 is a shaft sleeve, and the number of shaft sleeves matches the number of guide rods. One guide rod is correspondingly sleeved in one shaft sleeve, and each shaft sleeve can move on the corresponding guide rod.

[0085] In some embodiments, three guide rods are arranged, and the three guide rods are arranged in parallel with each other. Three shaft sleeves are arranged. One guide rod is correspondingly sleeved in one shaft sleeve, and each shaft sleeve can move on the corresponding guide rod. The tool body 200 is connected to the first mounting plate 1021, and three non-collinear shaft sleeves are arranged on the first mounting plate 1021. The three shaft sleeves on the first mounting plate 1021 are connected with the three guide rods respectively through the three shaft sleeves, so as to realize stable sliding of the first mounting plate 1021 on the three guide rods, and further realize that the tool body 200 moves on the three guide rods following the first mounting plate 1021 while providing stable support to the tool body 200, reducing the shaking of the tool body 200 in the non-working direction, and ensuring the accuracy of the tool body 200 working at the working point. If the tool body 200 is a drilling tool, the cooperation of the three guide rods and the shaft sleeves described above helps to improve the accuracy of the drilling tool.

[0086] As shown in Figure 3 some embodiments, the assembly support 100 includes a first mounting plate 1021, and the first mounting plate 1021 is provided with a first connecting part 10212 and a second connecting part 10214. A first damping structure 204 capable of buffering the action force between the tool body 200 and the first connecting part 10212 is arranged between the tool body 200 and the first connecting part 10212. A second damping structure 206 capable of buffering the action force between the tool body 200 and the second connecting part 10214 is arranged between the tool body 200 and the second connecting part 10214.

[0087] As shown in Figure 3As shown in the drawings, in some embodiments, the first connecting part 10212 comprises a first connecting hole 10213, and the tool body 200 is provided with a second connecting hole 209 capable of being connected and matched with the first connecting hole 10213, and the first connecting hole 10213 and the second connecting hole 209 are connected through the tool fixing part 205. In this application, the tool body 200 is connected with the first connecting part 10212 through the tool fixing part 205. In some embodiments, the tool fixing part 205 can be a bolt and nut structure.

[0088] As shown in the drawings, Figure 3 Further, in order to achieve the damping effect on the tool body 200 and the first mounting plate 1021, in this application, the tool body 200 is provided with a damping part recess 210 communicating with the second connecting hole 209, and the first damping structure 204 is arranged in the damping part recess 210, and the first damping structure 204 at least partially extends into the second connecting hole 209. In the working state, the first damping structure 204 can be in contact with the tool fixing part 205. In some embodiments, the first damping structure 204 is a damping pad. In some embodiments, the shape of the damping pad matches the shape of the damping part recess 210. In some embodiments, the damping pad is a semicircular structure.

[0089] In some embodiments, in order to further achieve stable connection of the first connecting part 10212 and the tool body 200, in this application, two first connecting parts 10212 are arranged on both sides of the first mounting plate 1021, each first connecting part 10212 has a first connecting hole 10213, and is respectively located on both sides of the second connecting hole 209. When connected, the tool fixing part 205 passes through one of the two first connecting holes 10213, then passes through the second connecting hole 209, and then passes out from the other first connecting hole 10213. Through the clamping mode of the two first connecting parts 10212, the stable connection of the first mounting plate 1021 and the tool body 200 is achieved, and the shaking of the tool body 200 in the non-working direction is reduced.

[0090] In some embodiments, in order to achieve better damping effect, in this application, damping part recesses 210 are arranged on the tool body 200 and at both ends of the second connecting hole 209, and first damping structures 204 (damping pads) are respectively arranged in the two damping part recesses 210. In the working state, the tool fixing part 205 can be in contact with the two first damping structures 204, and the damping purpose of the tool body 200 is achieved.

[0091] As shown in the drawings, Figure 13As shown, in some embodiments, the first connecting portion 10212 is further provided with a first electrical connector 202, and the first electrical connector 202 is provided with a first electrical connection terminal 2021 for supplying power to the tool body 200. The present application further comprises a second electrical connector 203 which is mounted in cooperation with the first electrical connector 202, and the second electrical connector 203 is provided with a second electrical connection terminal which is electrically connected with the power supply device 900. When the first electrical connector 202 is mounted in cooperation with the second electrical connector 203, the first electrical connection terminal 2021 is electrically connected with the second electrical connection terminal.

[0092] Specifically, the first electrical connector 202 is provided with a sliding groove 2024, and the second electrical connector 203 is provided with a sliding block 2031, and the first electrical connector 202 and the second electrical connector 203 are mounted by sliding cooperation of the sliding groove 2024 and the sliding block 2031.

[0093] In some embodiments, the first electrical connector 202 comprises two detachably connected connecting housings 2022, and each connecting housing 2022 is provided with an opening 2023 which can be connected with the tool fixing member 205. During installation, the two connecting housings 2022 are clamped on the first connecting portion 10212, the tool fixing member 205 passes through the openings 2023 of the two connecting housings 2022, the first connecting hole 10213 and the second connecting hole 209 respectively, and the two connecting housings 2022 are mounted and fixed together.

[0094] In some embodiments, each connecting housing 2022 is provided with a sliding groove 2024, and the second electrical connector 203 is provided with two sliding blocks 2031, and when the first electrical connector 202 is mounted in cooperation with the second electrical connector 203, one sliding block 2031 slides in one sliding groove 2024.

[0095] As Figure 3 shown, in some embodiments, the second damping structure 206 comprises a damping base 207 connected with the second connecting portion 10214, and a damping spring 208 acting between the damping base 207 and the tool body 200. The damping base 207 is fixed on the first mounting plate 1021, and in the working state, the reverse force of the tool body 200 acts on the damping spring 208, and the damping spring 208 transmits the force to the second connecting portion 10214, so as to achieve the purpose of damping the tool body 200 through the second connecting portion 10214.

[0096] In combination Figure 3 , Figures 8 to 11In order to stably connect the damping spring 208 between the damping base 207 and the tool body 200, in some embodiments, the damping base 207 is provided with a base protrusion 2072 capable of being inserted into the inside of the damping spring 208, and the tool body 200 is provided with a damping groove 212, and when installed, one end of the damping spring 208 is sleeved on the periphery of the base protrusion 2072, and the other end of the damping spring 208 is inserted into the inside of the damping groove 212. In this way, when the damping spring 208 is extruded by the tool body 200, it can effectively avoid disengagement with the damping base 207 or the tool body 200. In some embodiments, the damping spring 208 is provided with two.

[0097] In combination Figures 9 to 11 , in some embodiments, the damping base 207 is further provided with a second guide 2071, and the tool body 200 is provided with a second guide portion 211 that guides the second guide 2071; in the working state, the second guide 2071 can reciprocate in the second guide portion 211, and the damping spring 208 can stretch and contract in the moving direction of the second guide 2071. In some embodiments, the second guide 2071 is a rod-shaped structure, and the second guide portion 211 is a recess structure formed on the tool body 200, and in the working state, the rod-shaped structure reciprocates in the recess structure.

[0098] In some embodiments, the extension direction of the second guide 2071 is parallel to the reciprocating direction of the tool body 200.

[0099] As shown in Figures 9 to 11 , in some embodiments, two damping springs 208 are arranged on both sides of the second guide 2071, and the two damping springs 208 are isolated, which can avoid interference between the damping springs 208, especially when compressed.

[0100] As shown in Figure 8 and Figure 9 , in order to realize the installation of the damping base 207 on the first mounting plate 1021, in the present application, a first matching portion 2073 is arranged on one side of the damping base 207, and the second connecting portion 10214 includes a first limiting portion 10215, which can be installed and matched with the first matching portion 2073 to limit the movement of the damping base 207. Specifically, the first matching portion 2073 is a recess structure formed by the inward recess of the surface of the damping base 207, and the first limiting portion 10215 is a protruding structure formed by the outward protrusion of the surface of the first mounting plate 1021, and when the protruding structure is inserted into the recess structure, the first matching portion 2073 is installed and matched with the first limiting portion 10215.

[0101] As shown in Figure 8 and Figure 10 ,As shown, in order to further realize the stable installation of the shock-absorbing base 207 on the first mounting plate 1021, in the present application, a second matching part 2075 is arranged on the shock-absorbing base 207 and opposite to the first matching part 2073, and the second connecting part 10214 further comprises a second limiting part 10216, and the second matching part 2075 can be limited and matched with the second limiting part 10216 to limit the movement of the shock-absorbing base 207. In the present application, the stable installation of the shock-absorbing base 207 on the second connecting part 10214 is realized through the clamping and matching of the first limiting part 10215 and the second limiting part 10216.

[0102] As shown in Figure 8 and Figure 10 , in some embodiments, the second matching part 2075 is also a surface of the shock-absorbing base 207 inwardly recessed to form a recessed structure, and the second limiting part 10216 is a pressing block capable of being detachably matched with the first mounting plate 1021. When the pressing block is installed on the first mounting plate 1021, part of the structure of the pressing block extends into the second matching part 2075 to limit the movement of the shock-absorbing base 207.

[0103] In some embodiments, the pressing block is detachably fixed on the first mounting plate 1021 by a screw 10220.

[0104] As shown in Figure 8 and Figure 9 , in some embodiments, the first matching part 2073 is provided with a first matching protrusion 2074, and the first limiting part 10215 is provided with a first limiting gap 10218 matched with the first matching protrusion 2074. When installed, the first matching protrusion 2074 can be inserted into the first limiting gap 10218. Such arrangement can limit the movement of the shock-absorbing base 207 in the horizontal direction at the upper part of the shock-absorbing base 207.

[0105] As shown in Figure 8 and Figure 10 , in some embodiments, the first limiting part 10215 and the second limiting part 10216 are arranged one above the other to clamp the shock-absorbing base 207. When the first limiting part 10215 and the second limiting part 10216 are arranged one above the other, the first matching part 2073 and the second matching part 2075 are also arranged one above the other in correspondence.

[0106] In some embodiments, the first limiting part 10215 and the second limiting part 10216 are arranged one left and one right to clamp the shock-absorbing base 207. When the first limiting part 10215 and the second limiting part 10216 are arranged one left and one right, the first matching part 2073 and the second matching part 2075 are also arranged one left and one right in correspondence.

[0107] As shown in Figure 11As shown, in some embodiments, a protective shell 213 is also provided around the outer periphery of the second shock-absorbing structure 206 to protect the second shock-absorbing structure 206. The protective shell 213 can also prevent the shock-absorbing spring 208 from falling off under force.

[0108] like Figure 3 As shown, in some embodiments, the tool body 200 can move relative to the third connecting part in the working state. As previously described, the tool body 200 is connected to the assembly body via the first connecting component 102 and the second connecting component 103. To enable relative movement of the tool body 200 in the working state, the first mounting plate 1021 in the first connecting component 102 can move relative to the first guide member 101, allowing the tool body 200 on the first mounting plate 1021 to move along with the first guide member 101. To enable the tool body 200 to move relative to the third connecting part, as described below, the second connecting component 103 includes an annular structure composed of two bow-shaped members. The third connecting part is the inner ring 1033 of the annular structure. The front end of the tool body 200 is fitted onto the inner ring 1033, with a gap between the front end of the tool body 200 and the inner ring 1033. This gap facilitates movement of the front end of the tool body 200 within the inner ring 1033.

[0109] Furthermore, the inner ring 1033 includes an inner plane 10331 located inside the inner ring 1033, and an outer plane 216 surrounding the outer periphery of the tool body 200. The inner plane 10331 can be slidably connected to the outer plane 216. The sliding engagement between the inner plane 10331 and the outer plane 216 reduces the resistance from the inner plane 10331 of the inner ring 1033 experienced by the front end of the tool body 200 during reciprocating motion.

[0110] In some embodiments, the two bow-shaped members are detachably connected by bolts. The two bow-shaped members are not identical, and one of the bow-shaped members is locked to the first guide member 101 by bolts, thereby achieving a fixed connection of the second connecting assembly 103 to the first guide member 101. Further, the two bow-shaped members are a first bow-shaped member 1031 and a second bow-shaped member 1032, respectively.

[0111] like Figure 2 and Figure 37 As shown, in some embodiments, this application also includes a controller (control module 5091) and a pressure sensor 104 connected to the controller via a signal.

[0112] In operation, when the tool body 200 moves forward and backward, it can transmit the pressure it experiences to the pressure sensor 104. The controller (control module 5091) can control the thrust when the tool body 200 moves forward and the pull when it moves backward based on the pressure detected by the pressure sensor 104.

[0113] As shown in Figure 2 particular, the assembly bracket 100 comprises a first connecting assembly 102 connected between the tool body 200 and the pressure sensor 104, which can transmit the force of the tool body 200 to the pressure sensor 104 in the working state.

[0114] When the mechanical arm 300 pushes the tool body 200 on the assembly bracket 100 to work at the working point, the reverse force of the working point on the tool body 200 will be transmitted to the pressure sensor 104 through the first connecting assembly 102, and the pressure sensor 104 will transmit the monitored pressure to the controller, and the controller will compare the pressure monitored by the pressure sensor 104 with the safe pressure value range stored in the database of the controller, and when the safe pressure value range exceeds the safe pressure value range limited by the controller, the controller will control the mechanical arm 300 to stop advancing. In this case, it can be judged that the execution end 201 of the tool body 200 touches a hard object, and if it continues to advance, the execution end 201 may be damaged.

[0115] In some embodiments, the maximum pushing force that the tool body 200 can withstand when advancing is less than or equal to 900N, therefore, the safe pressure value of the tool body 200 when advancing stored in the database of the controller is less than or equal to 900N, and when the tool body 200 advances, the pressure value detected by the pressure sensor 104 exceeds 900N, the controller controls the mechanical arm 300 to stop advancing.

[0116] If the pressure monitored by the pressure sensor 104 is within the safe pressure value range limited by the controller, the mechanical arm 300 will continue to push the tool body 200 to perform the work.

[0117] When the tool body 200 finishes the work, the mechanical arm 300 will pull the tool body 200 on the assembly bracket 100 back, at this time, the tool body 200 will transmit the force it receives when it is pulled back to the pressure sensor 104 through the first connecting assembly 102, and the pressure sensor 104 will continuously monitor the pressure received by the tool body 200 when it is pulled back and transmit the monitored pressure to the controller in real time, if the monitored pressure exceeds the safe pressure value range stored in the database of the controller, the controller controls the mechanical arm 300 to stop retreating. In this case, it can be judged that the execution end 201 of the tool body 200 is stuck, and if it continues to retreat, the execution end 201 may be damaged.

[0118] In some embodiments, the maximum pulling force that the tool body 200 can withstand when retreating is less than or equal to 600N, and therefore the safe pressure value of the tool body 200 when retreating stored in the controller itself database is less than or equal to 600N. When the pressure value detected by the pressure sensor 104 exceeds 600N when the tool body 200 is retreating, the controller controls the robot arm 300 to stop retreating.

[0119] If the pressure value monitored by the pressure sensor 104 is within the safe pressure value range defined by the controller, the robot arm 300 continues to pull the tool body 200 to retreat until the retreat is completed.

[0120] In some embodiments, the present application further includes a buffer structure, which is used to buffer the force between the tool body 200 and the pressure sensor 104 in the working state.

[0121] As shown in Figure 8 Specifically, the assembly support 100 includes a first connecting assembly 102, which includes a first mounting plate 1021 and a second mounting plate 1022 connected to each other, the tool body 200 is connected to the first mounting plate 1021, and the pressure sensor 104 is connected to the second mounting plate 1022. The buffer structure includes a first buffer 1023 and a second buffer 1025, the first buffer 1023 is located between the first mounting plate 1021 and the second mounting plate 1022, the second buffer 1025 is located on the side of the first mounting plate 1021 away from the second mounting plate 1022, and the first mounting plate 1021 is located between the first buffer 1023 and the second buffer 1025.

[0122] When it is necessary to perform work (drilling work, etc.), the robot arm 300 will push the tool body 200 on the assembly support 100 to advance, and the execution end 201 (such as a drill bit) of the tool body 200 will be subjected to a reverse force from the work point (such as a wall), so that the tool body 200 is subjected to a retreating force. In this case, the first mounting plate 1021 can apply the force of the tool body 200 to the first buffer 1023, and the first buffer 1023 has a buffering effect on the force of the tool body 200 when performing advancing work.

[0123] When the tool body 200 retreats after the execution end 201 of the tool body 200 finishes the work, the execution end 201 will be resisted by the work point (the friction of the sidewall of the drill hole), especially when the execution end 201 is stuck, due to the pulling effect when the tool body 200 retreats, the first mounting plate 1021 can apply the force of the tool body 200 to the second buffer 1025, and the second buffer 1025 plays a buffering role when the tool body 200 retreats, so as to prevent the robot arm 300 from pulling the tool body 200 on the assembly support 100 from retreating, and causing damage to the tool body 200 or the assembly support 100 due to hard pulling.

[0124] As shown in Figure 8 some embodiments, the present application also includes a mounting fixing member 1024 capable of connecting the first mounting plate 1021 and the second mounting plate 1022. When the mounting fixing member 1024 connects the first mounting plate 1021 and the second mounting plate 1022, the first buffer 1023 is clamped between the first mounting plate 1021 and the second mounting plate 1022, and the second buffer 1025 is located between one end of the mounting fixing member 1024 and the outer wall of the first mounting plate 1021.

[0125] Specifically, the second mounting plate 1022 is provided with a buffer mounting portion 10223 for mounting the first buffer 1023, and the first buffer 1023 has a hollow structure inside, and the first buffer 1023 can be sleeved on the buffer mounting portion 10223 through the hollow structure. When the first buffer 1023 is installed between the first mounting plate 1021 and the second mounting plate 1022, the first buffer 1023 is first installed on the buffer mounting portion 10223 of the second mounting plate 1022 through the hollow structure, and then the first mounting plate 1021 and the second mounting plate 1022 are installed and fixed by the mounting fixing member 1024.

[0126] As shown in Figure 8 order to support the installation of the first buffer 1023 without affecting the buffering effect of the first buffer 1023, the length of the buffer mounting portion 10223 is smaller than the thickness of the first buffer 1023 in the moving direction of the tool body 200. Such a design is to ensure that when the tool body 200 applies its force to the first buffer 1023 through the first mounting plate 1021, the first mounting plate 1021 will apply all the forces it receives to the first buffer 1023, without touching the buffer mounting portion 10223.

[0127] Specifically, a limiting portion 10241 is provided at one end of the mounting fastener 1024 and on the outer side of the first mounting plate 1021, and a second buffer member 1025 is located between the limiting portion 10241 and the first mounting plate 1021. The other end of the mounting fastener 1024 is connected to the second mounting plate 1022. Through the connecting support of the second mounting plate 1022, a clamping configuration is formed between the limiting portion 10241 on the mounting fastener 1024 and the first mounting plate 1021, clamping the second buffer member 1025 between the limiting portion 10241 and the first mounting plate 1021. In some embodiments, the second buffer member 1025 has a hollow structure, and the second buffer member 1025 is sleeved on the mounting fastener 1024 through its hollow structure. This arrangement helps to prevent the second buffer member 1025 from detaching from the limiting portion 10241 and the first mounting plate 1021.

[0128] Specifically, the first mounting plate 1021 is provided with a third connecting hole 10217, and the second mounting plate 1022 is provided with a fourth connecting hole 10222. The mounting fastener 1024 is fixedly connected to the third connecting hole 10217 and the fourth connecting hole 10222. The mounting fastener 1024 connects and fixes the first mounting plate 1021 and the second mounting plate 1022 by connecting the third connecting hole 10217 and the fourth connecting hole 10222.

[0129] Furthermore, one end of the mounting fastener 1024 is provided with a limiting part 10241, and the other end is provided with a slot, which is detachably equipped with a clamp 10242. During installation, the end of the mounting fastener 1024 with the slot is inserted and passes through the third connecting hole 10217 and the fourth connecting hole 10222 before protruding. Then, the clamp 10242 is engaged in the slot and can abut against the second mounting plate 1022. The end of the mounting fastener 1024 with the limiting part 10241 abuts against the first mounting plate 1021. In this way, the first mounting plate 1021 and the second mounting plate 1022 are fixed by the mounting fastener 1024, and the first buffer 1023 is clamped between the first mounting plate 1021 and the second mounting plate 1022.

[0130] like Figure 8 As shown, in some embodiments, three mounting fasteners 1024 and one first buffer 1023 are provided, with the three mounting fasteners 1024 surrounding the first buffer 1023. Since the first buffer 1023 is clamped between the first mounting plate 1021 and the second mounting plate 1022, and the three mounting fasteners 1024 connect the first mounting plate 1021 and the second mounting plate 1022, the arrangement of the three mounting fasteners 1024 surrounding the first buffer 1023 improves the balance and stability of force transmission between the first buffer 1023, the first mounting plate 1021, and the second mounting plate 1022.

[0131] As shown in Figure 12 some embodiments, the third mounting plate 105 is mounted on the mechanical arm 300 by bolts, specifically, the front end of the mechanical arm 300 is provided with a threaded hole, the third mounting plate 105 is provided with a through hole, and the bolts pass through the through hole and are connected with the threaded hole to realize the connection of the third mounting plate 105 on the mechanical arm 300.

[0132] As shown in Figure 12 some embodiments, the first guide 101 is mounted and fixed on the third mounting plate 105, specifically, the third mounting plate 105 is provided with a sleeve 1051, the first guide 101 includes first and second rod portions 1011 and 1012 with different diameters, and a stepped surface 1013 is formed between the first and second rod portions 1011 and 1012 and can abut against the end of the sleeve 1051.

[0133] During installation, the first rod portion 1011 is inserted from one end of the sleeve 1051 and exposed from the other end of the sleeve 1051, the outer surface of the first rod portion 1011 is provided with threads, the bolts are screwed with the threads of the first rod portion 1011, and as the bolts are continuously screwed in, the bolts are gradually abutted against one end of the sleeve 1051, the stepped surface 1013 of the first guide 101 is abutted against the other end of the sleeve 1051, and the sleeve 1051 is clamped between the bolts and the stepped surface 1013 to realize the mounting and fixing of the first guide 101 on the third mounting plate 105.

[0134] As shown in Figure 3 some embodiments, the second mounting plate 1022 is in sliding connection with the first guide 101, specifically, the second mounting plate 1022 is provided with a sleeve hole 10221 capable of sleeving the first guide 101, and in the working state, the tool body 200 transmits the force to the second mounting plate 1022 through the first mounting plate 1021 and the first buffer 1023 in turn, the second mounting plate 1022 will move slightly under the action of the force, and the second mounting plate 1022 is connected with the first guide 101 through the sleeve hole 10221, which can guide and stably support the second mounting plate 1022.

[0135] In some embodiments, the tool body 200 can be a drilling tool, a grinding tool, an impact tool, etc.

[0136] In combination Figure 3 and Figure 4 , in some embodiments, when the tool body 200 is detached from the assembly support 100 and the holding component 215 is mounted on the tool body 200, the tool body 200 can be used as a handheld electric tool.

[0137] In combination Figure 3 and Figure 4 In some embodiments, the handheld power tool comprises a tool body 200 and a holding component 215, the tool body 200 can be directly connected with the construction robot after the holding component 215 is removed.

[0138] As shown in Figure 4 some embodiments, the holding component 215 comprises a first mounting position 2151 and a second mounting position 2152, the first mounting position 2151 comprises a mounting hole 21511 arranged on the holding component 215. When the tool body 200 is connected with the holding component 215, only need to pass the tool fixing part 205 through the mounting hole 21511 and the second connecting hole 209, the installation and connection of the first mounting position 2151 and the first connecting part 10212 can be completed.

[0139] In combination Figure 3 , Figure 4 and Figure 5 some embodiments, the second mounting position 2152 comprises a base accommodating cavity 21521 capable of accommodating the damping base 207, the base accommodating cavity 21521 has a mounting position opening 21522, the third limiting part 21525 and the fourth limiting part 21526 are arranged at the mounting position opening. When the tool body 200 is connected with the holding component 215, the second mounting position 2152 is installed and matched with the second connecting part 10214, the third limiting part 21525 can be inserted into the first matching part 2073 of the damping base 207, and the fourth limiting part 21526 can be inserted into the second matching part 2075 of the damping base 207, which can effectively prevent the damping base 207 from being separated from the holding component 215.

[0140] As shown in Figure 6 some embodiments, the holding component 215 is further provided with a power supply mounting position 217 for installing a battery pack to supply power for the tool body 200. Further, the second type battery pack 902 in the application can be installed on the power supply mounting position 217 of the holding component 215 to supply power for the tool body 200.

[0141] In combination Figure 5 , Figure 9 and Figure 10 some embodiments, the third limiting part 21525 is provided with a third limiting gap 21523 capable of being inserted and matched with the first matching protrusion 2074. The fourth limiting part 21526 is provided with a fourth limiting gap 21524 capable of being inserted and matched with the second matching protrusion 2076, further ensuring the firmness of the connection between the damping base 207 and the holding component 215.

[0142] As shown in Figure 36 , the application also includes a remote control device 5031, through which the construction personnel can control the operation of the construction robot. The remote control device 5031 is also provided with a display screen 50311. The display screen 50311 can virtually display the position of the execution end 201 of the tool body 200 on the display screen 50311 as a reference point 50312. The remote control device 5031 is in signal connection with the control module 5091, and through the remote control device 5031, control instructions can be given to the control module 5091, and the control module 5091 controls the operation of the walking assembly 700, the lifting device 400, the mechanical arm 300 and the tool body 200 according to the control instructions.

[0143] As shown in Figure 32 , the application also includes a detection device 800, which is arranged on the assembly support 100. The detection device 800 is in signal connection with the control module 5091, and the detection device 800 can transmit the signal of the detected work point to the control module 5091, and the control module 5091 converts the signal of the work point into a mark point 50313 on the display screen 50311. With the movement of the mechanical arm 300, the detection device 800 on the assembly support 100 also moves synchronously, and at the same time, the signal of the detected work point is projected in real time to the display screen 50311 of the control handle as a movable mark point 50313. When the mark point 50313 gradually approaches and coincides with the reference point 50312, the work operation (such as drilling operation) can be carried out.

[0144] In some embodiments, the detection device 800 is also configured to be able to identify obstacles and transmit the identified obstacle information to the control module 5091, and the control module 5091 controls the movement of the mechanical arm 300 during work according to the obstacle information to prevent touching the obstacles. Specifically, the control module 5091 can control the distance of the mechanical arm 300 to advance according to the obstacle information, so as to keep the detection device 800 on the assembly support 100 from contacting the obstacles, thereby avoiding the damage of the detection device 800.

[0145] As shown in Figure 33 and Figure 36 , in some embodiments, the detection device 800 includes a visual sensor 801, which is a binocular camera with two visual lenses 8011. The median line 8014 of the connecting line between the two visual lenses 8011 intersects the axis of the execution end 201 of the tool body 200. Such arrangement facilitates the positioning of the execution end 201 of the tool body 200 in the picture of the display screen 50311 of the remote control device 5031, so as to serve as the reference point 50312.

[0146] AsFigure 33 As shown in some embodiments, the visual sensor 801 is located outside the tool body 200, and the vertical distance L1 between the visual sensor 801 and the axis of the tool body 200 is greater than or equal to 5 cm. Specifically, in order to ensure the proximity of the tool body 200, the visual sensor 801 and the tool body 200 are arranged on the mounting bracket 100, and the visual sensor 801 is located outside the tool body 200. In some embodiments, the vertical distance L1 between the visual sensor 801 and the tool body 200 is 5 cm, 6 cm, and 7 cm. Such a setting allows the visual sensor 801 to maintain a suitable vertical distance from the tool body 200, so that the field of view is not blocked by other structures in front (such as the dust cover 218, etc.).

[0147] In this application, the visual lens 8011 of the visual sensor 801 transmits the picture in real time, and the construction personnel can remotely control the mechanical arm 300 according to the picture displayed on the display screen 50311 of the remote control device 5031, so that the tool body 200 reaches the working range of the working point, and then the depth camera can detect the distance between the visual sensor 801 and the working point, and upload the distance information to the control module 5091. After the control module 5091 processes the distance information, it controls the posture of the mechanical arm 300, and then adjusts the posture of the tool body 200, so that the tool body 200 and the plane where the working point is located are in a vertical relationship.

[0148] In some embodiments, the end surface of the visual sensor 801 and the tool body 200 are in a vertical relationship. Such a setting can measure the parallelism between the visual sensor 801 and the plane where the working point is located, and the perpendicularity between the tool body 200 and the plane where the working point is located.

[0149] As shown in some embodiments, the visual sensor 801 is located outside the tool body 200, and the vertical distance L1 between the visual sensor 801 and the axis of the tool body 200 is greater than or equal to 5 cm. Specifically, in order to ensure the proximity of the tool body 200, the visual sensor 801 and the tool body 200 are arranged on the mounting bracket 100, and the visual sensor 801 is located outside the tool body 200. In some embodiments, the vertical distance L1 between the visual sensor 801 and the tool body 200 is 5 cm, 6 cm, and 7 cm. Such a setting allows the visual sensor 801 to maintain a suitable vertical distance from the tool body 200, so that the field of view is not blocked by other structures in front (such as the dust cover 218, etc.). Figure 32 and Figure 34 As shown in some embodiments, the visual sensor 801 further includes a depth camera capable of detecting the distance between the working point and the visual sensor 801. The depth camera includes two depth lenses 8012.

[0150] Specifically, when the two depth lenses 8012 can detect the distance between themselves and the plane where the working point is located, the greater the difference between the distance values measured by the two depth lenses 8012, the worse the parallelism between the end surface of the visual sensor 801 and the plane where the working point is located, that is, the worse the perpendicularity between the tool body 200 and the plane where the working point is located.

[0151] The smaller the difference between the distance values measured by the two depth lenses 8012, the better the parallelism between the end face of the visual sensor 801 and the plane where the work point is located, that is, the better the perpendicularity between the execution end 201 of the tool body 200 and the plane where the work point is located.

[0152] When the distance values measured by the two depth lenses 8012 are equal, it can be considered that the execution end 201 of the tool body 200 is perpendicular to the plane where the work point is located.

[0153] In some embodiments, the depth camera can also be used to identify the holes that have been constructed.

[0154] As shown in FIG. 8A, in some embodiments, a sensor bracket 802 for connecting the visual sensor 801 to the assembly support 100 is further included. In the working state, the visual sensor 801 can move relative to the sensor bracket 802. A sensor buffer 8028 capable of absorbing the impact force of the visual sensor 801 is arranged between the visual sensor 801 and the sensor bracket 802. Figure 34 As shown in FIG. 8B, specifically, the sensor bracket 802 includes a sensor mounting seat 8021 having a sensor accommodating cavity 8022 for mounting the visual sensor 801. In the moving direction of the visual sensor 801, one end of the sensor accommodating cavity 8022 is provided with a first sensor limiting piece 8023, and the other end is provided with a second sensor limiting piece 8025. The visual sensor 801 is located between the first sensor limiting piece 8023 and the second sensor limiting piece 8025. Such a configuration enables the visual sensor 801 to move within the distance range limited by the first sensor limiting piece 8023 and the second sensor limiting piece 8025.

[0155] As shown in FIG. 8C, in some embodiments, the first sensor limiting piece 8023 is located on the back of the visual sensor 801, and the sensor buffer 8028 is connected between the visual sensor 801 and the first sensor limiting piece 8023. Figure 34

[0156] As shown in FIG. 8D, in some embodiments, the second sensor limiting piece 8025 is located on the front of the visual sensor 801, and the sensor buffer 8028 is connected between the visual sensor 801 and the second sensor limiting piece 8025. Figure 34 As shown in FIG. 8E, in some embodiments, the sensor buffer 8028 is connected between the visual sensor 801 and the sensor mounting seat 8021.

[0157] Figure 34 ​​As shown in the drawings, in some embodiments, the sensor mounting seat 8021 is provided with a slot 8024 for inserting the second sensor limiting piece 8025, and when mounted, the second sensor limiting piece 8025 is partially located in the slot 8024 and partially extends into the sensor accommodating cavity 8022 and can abut the edge of the front part of the lens of the visual sensor 801. Further, the slot 8024 is provided with two, and correspondingly, the second sensor limiting piece 8025 is also provided with two.

[0158] As shown in the drawings, Figure 34 In order to facilitate the disassembly and assembly of the visual sensor 801 on the sensor mounting seat 8021, in the present application, at least one of the first sensor limiting piece 8023 and the second sensor limiting piece 8025 is detachably connected with the sensor mounting seat 8021. In some embodiments, both the first sensor limiting piece 8023 and the second sensor limiting piece 8025 can be detachably connected with the sensor mounting seat 8021. Specifically, both the first sensor limiting piece 8023 and the second sensor limiting piece 8025 are connected with the sensor mounting seat 8021 by bolts. In some embodiments, the first sensor limiting piece 8023 is an integral structure with the sensor mounting seat 8021, and the second sensor limiting piece 8025 is fixed on the sensor mounting seat 8021 by bolts.

[0159] As shown in the drawings, Figure 34 and Figure 35 In some embodiments, the visual sensor 801 is connected with the control module 5091 through a sensor wire harness 8013. In order to reduce the excessive shaking of the sensor wire harness 8013 during operation and to prevent the sensor wire harness 8013 from blocking the lens on the visual sensor 801, in the present application, the sensor support 802 further comprises a wire harness pressing plate 8027, and the wire harness pressing plate 8027 is provided with a wire harness slot 80271 for placing the sensor wire harness 8013. After the visual sensor is installed, the sensor wire harness 8013 will be constrained in the wire harness slot 80271 to reduce the shaking of the sensor wire harness 8013.

[0160] In combination with Figure 34 and Figure 35In some embodiments, the sensor support 802 further comprises a pressing plate mount 8026, and a pressing plate guide slot 80261 is arranged on the pressing plate mount 8026. A wire harness pressing plate 8027 is connected to the pressing plate guide slot 80261 and can move in the pressing plate guide slot 80261 in a direction close to or away from the visual sensor 801. Specifically, the pressing plate guide slot 80261 is an elongated slot, and the extension direction of the pressing plate guide slot 80261 is from near to far relative to the visual sensor 801. In this application, the wire harness pressing plate 8027 is connected to the pressing plate guide slot 80261 through a bolt, and the fixation of the wire harness pressing plate 8027 on the pressing plate mount 8026 is realized by tightening the bolt. When it is necessary to adjust the distance of the wire harness pressing plate 8027 relative to the visual sensor 801, the bolt is first loosened, and then the wire harness pressing plate 8027 is moved in the pressing plate guide slot 80261. After the position is determined, the bolt is tightened again to fix the wire harness pressing plate 8027.

[0161] In some embodiments, the detection device 800 can also be one or more of a monocular camera, a three-eyed camera, an ultrasonic sensor, a laser radar, a millimeter wave radar, an infrared night vision instrument, a thermal imager, and a microwave radar.

[0162] Meanwhile, referring to Figure 1 and Figure 15 In some embodiments, the application further provides a construction robot, comprising: a chassis assembly comprising a left walking mechanism 710, a right walking mechanism 720, and a mounting platform located between the left walking mechanism 710 and the right walking mechanism 720, the left walking mechanism 710 and the right walking mechanism 720 being driven by at least one walking motor 705; a lifting device 400 mounted on the mounting platform; a robotic arm 300 comprising a fixed end 310 and a free end 320, the fixed end 310 being mounted to the upper surface of the lifting device 400, and the free end 320 being capable of moving in a three-dimensional space relative to the fixed end 310; a work tool fixed to the free end 320 of the robotic arm 300 to perform a work function; a power supply device 900 configured to supply power to the construction robot; wherein the mounting platform has a containing space 6014, the containing space 6014 comprising a power supply containing area 6015, a lifting device containing area 6016, and a walking motor containing area 6017, the lifting device containing area 6016 being located between the power supply containing area 6015 and the walking motor containing area 6017. The power supply containing area 6015 is used to contain the power supply device 900, the lifting device containing area 6016 is used to contain the lifting device 400, and the walking motor containing area 6017 is used to contain the walking motor 705. By installing the power supply device 900, the lifting device 400, and the walking motor 705 in the respective areas of the chassis assembly, the entire construction robot has a relatively stable center of gravity, and the functional areas are independent of each other and do not interfere with each other, making it easy to disassemble and assemble, and fully utilizing the chassis space.

[0163] In some embodiments, the mass of the power device 900 is 80 kg to 120 kg. In some embodiments, the mass of the power device 900 is 80 kg, 93 kg, 100 kg, or 120 kg.

[0164] In some embodiments, the mass of the power device 900 can also be 30 kg, 50 kg, 60 kg, or 70 kg.

[0165] It should be noted that the tool body 200 in the present application can also be described as a work tool, a work assembly, or a work mechanism.

[0166] As Figure 17 In some embodiments, the mounting platform includes a support plate 6010, a left side plate 6011 located on one side of the support plate 6010, and a right side plate 6012 located on the other side of the support plate 6010, the support plate 6010, the left side plate 6011, and the right side plate 6012 enclosing a containing space 6014. The power device 900, the lifting device 400, and the walking motor 705 are located in the containing space 6014.

[0167] In combination Figure 15 and Figure 17 In some embodiments, the upper end of the left side plate 6011 and the upper end of the right side plate 6012 jointly constitute an upper support plane 6013, the upper end of the left walking mechanism 710 and the upper end of the right walking mechanism 720 jointly constitute a walking upper plane 740, and the height of the upper support plane 6013 is higher than the height of the walking upper plane 740.

[0168] In combination Figure 1 and Figure 17 In some embodiments, the construction robot further includes a box 500 having at least a containing function, and the box 500 is connected to the upper end of the left side plate 6011 and the upper end of the right side plate 6012.

[0169] In some embodiments, the box 500 includes a top, a bottom opposite the top, a first side between the top and the bottom, a second side, a third side, and a fourth side.

[0170] In some embodiments, the power device 900, the lifting device 400, and the walking motor 705 are located on the same support plane.

[0171] As Figure 15In some embodiments, the support plate 6010 extends along the walking direction of the construction robot, and the ratio of the area of the power supply accommodation area 6015 to the area of the support plate 6010 is greater than 0.2 on the projection plane perpendicular to the support plate 6010. In some embodiments, the ratio of the area of the power supply accommodation area 6015 to the area of the support plate 6010 is greater than 0.2 and less than or equal to 0.5. In some embodiments, the ratio of the area of the power supply accommodation area 6015 to the area of the support plate 6010 is 0.2, 0.3, or 0.5.

[0172] As Figure 1 and Figure 15 The application also provides a construction robot, comprising: a chassis assembly comprising a left walking mechanism 710, a right walking mechanism 720, and a mounting platform located between the left walking mechanism 710 and the right walking mechanism 720, the left walking mechanism 710 and the right walking mechanism 720 being driven by at least one walking motor 705; a lifting device 400 mounted on the mounting platform; a robotic arm 300 comprising a fixed end 310 and a free end 320, the fixed end 310 being mounted to the upper surface of the lifting device 400, and the free end 320 being movable in three-dimensional space relative to the fixed end 310; a work tool fixed to the free end 320 of the robotic arm to perform a work function; a power supply device 900 configured to supply power to the construction robot; wherein the mounting platform has an accommodation space 6014, the accommodation space 6014 comprising a power supply accommodation area 6015, a lifting device accommodation area 6016, and a walking motor accommodation area 6017, the lifting device accommodation area 6016 being located between the power supply accommodation area 6015 and the walking motor accommodation area 6017, and the mounting platform having a first center line 12 symmetrical along the length direction, and the center of gravity of the lifting device accommodation area 6016 being adjacent to the first center line 12. The power supply accommodation area 6015 is used to accommodate the power supply device 900, the lifting device accommodation area 6016 is used to accommodate the lifting device 400, and the walking motor accommodation area 6017 is used to accommodate the walking motor 705. By installing the power supply device 900, the lifting device 400, and the walking motor 705 in the respective areas on the chassis assembly, and by arranging the lifting device 400 close to the first center line 12, the center of gravity of the entire machine is more centered, and the stability of the entire machine is higher.

[0173] In some embodiments, the ratio of the mass of the lifting device 400 to the mass of the power supply device 900 is greater than or equal to 1.5 and less than or equal to 3. In some embodiments, the ratio of the mass of the lifting device 400 to the mass of the power supply device 900 is 1.5, 2, or 3. By arranging the lifting device 400 close to the first center line 12, the center of gravity of the entire machine is more centered, and the stability of the entire machine is higher.

[0174] In some embodiments, the lifting device 400 has a first height in a non-working state and a second height in a working state, and the change in the center of gravity of the lifting device 400 is less than or equal to the difference between the first height and the second height. The lifting device 400 moves in the height direction, which causes the center of gravity of the lifting device 400 to change in height, and the center of gravity of the lifting device 400 to be substantially unchanged in the horizontal direction, so that the center of gravity of the lifting device 400 is centered on the first center line 12 of the mounting platform during lifting, making the entire machine more stable.

[0175] In combination Figure 1 and Figure 16 , the application also provides a construction robot, comprising: a chassis assembly comprising a left walking mechanism 710, a right walking mechanism 720, and a mounting platform located between the left walking mechanism 710 and the right walking mechanism 720, the left walking mechanism 710 and the right walking mechanism 720 being driven by at least one walking motor 705; a lifting device 400 mounted on the mounting platform; a robotic arm 300 comprising a fixed end 310 and a free end 320, the fixed end 310 being mounted to the upper surface of the lifting device 400, and the free end 320 being capable of moving relative to the fixed end 310 in a three-dimensional space; a work tool fixed to the free end 320 of the robotic arm 300 to perform a work function; a power supply device 900 configured to supply power to the construction robot; wherein the mounting platform has a containing space 6014, and the containing space 6014 comprises a power supply containing area 6015, and the opening of the power supply containing area 6015 is located at the front or rear of the construction robot. Such a design is to facilitate the taking and placing of the power supply device 900 in the power supply containing area 6015. In order to carry out repair or replacement.

[0176] In combination Figure 1 and Figure 15The application also provides a construction robot, comprising: a chassis assembly comprising a left walking mechanism 710, a right walking mechanism 720, and a mounting platform between the left walking mechanism 710 and the right walking mechanism 720, the left walking mechanism 710 and the right walking mechanism 720 being driven by at least one walking motor 705; a lifting device 400 mounted on the mounting platform; a mechanical arm 300 comprising a fixed end 310 and a free end 320, the fixed end 310 being mounted to an upper surface of the lifting device 400, and the free end 320 being movable relative to the fixed end 310 in a three-dimensional space; a work tool fixed to the free end 320 of the mechanical arm 300 to perform a work function; and a power supply device 900 configured to supply power to the construction robot; wherein the ratio of the distance between the center of gravity of the construction robot and the left walking mechanism 710 to the distance between the center of gravity G604 of the construction robot and the right walking mechanism 720 is greater than or equal to 0.9 and less than or equal to 1.1. In some embodiments, the ratio of the distance between the center of gravity G604 of the construction robot and the left walking mechanism 710 to the distance between the center of gravity G604 of the construction robot and the right walking mechanism 720 is 0.9, 1.0, or 1.1. With such an arrangement, the distance between the center of gravity G604 of the construction robot and the left walking mechanism 710 is comparable to the distance between the center of gravity G604 of the construction robot and the right walking mechanism 720, so that the center of gravity of the entire machine is more centered, and the stability of the entire machine is higher.

[0177] In combination Figure 15 and Figure 17 In some embodiments, the mounting platform comprises a support plate 6010, a left side plate 6011 on one side of the support plate 6010, and a right side plate 6012 on the other side of the support plate 6010, the power supply device 900 and the lifting device 400 being mounted on an upper surface of the support plate 6010, and the power supply device 900 and the lifting device 400 being located between the left side plate 6011 and the right side plate 6012.

[0178] In combination Figure 1 and Figure 15The application also provides a construction robot, comprising: a chassis device comprising a left walking mechanism 710, a right walking mechanism 720, and a mounting platform located between the left walking mechanism 710 and the right walking mechanism 720, the left walking mechanism 710 and the right walking mechanism 720 being driven by at least one walking motor 705; a lifting device 400 mounted on the mounting platform; a mechanical arm 300 comprising a fixed end 310 and a free end 320, the fixed end 310 being mounted to an upper surface of the lifting device 400, and the free end 320 being capable of moving in a three-dimensional space relative to the fixed end 310; a work assembly fixed to the free end 320 of the mechanical arm 300 to perform a work function; and a power supply device 900 configured to supply power to the construction robot, wherein a projection of a G center of gravity G604 of the construction robot on a work plane is located on a line 11 connecting a center of gravity of the power supply device 900 and a center of gravity of the lifting device 400 projected on the work plane. Such an arrangement is also to make the centers of gravity of the power supply device 900 and the lifting device 400 close to the center of gravity of the construction robot, thereby improving the stability of the whole machine.

[0179] As Figure 15 In some embodiments, the mounting platform has a first center line 12 that symmetrically divides the mounting platform in the extension direction, and the power supply device 900 and the lifting device 400 are located on both sides of the first center line 12, so that both ends of the mounting platform are kept in a relatively balanced position by the power supply device 900 and the lifting device 400.

[0180] In combination Figure 14 And Figure 16 In some embodiments, the mounting platform comprises a support plate 6010 extending in the walking direction of the construction robot, and the power supply device 900 and the lifting device 400 are mounted on the upper surface of the support plate 6010.

[0181] In combination Figure 1 And Figure 15The application also provides a construction robot, comprising: a mounting platform, a walking assembly 700 comprising a left walking mechanism 710 arranged on one side of the mounting platform and a right walking mechanism 720 arranged on the other side of the mounting platform, the left walking mechanism 710 and the right walking mechanism 720 being driven by at least one walking motor 705, the center of gravity of the left walking mechanism 710 and the right walking mechanism 720 being G1, and the center of gravity of the walking motor 705 being G2; a lifting device 400 mounted on the mounting platform, the lifting device 400 comprising a lifting electric cylinder and a lifting motor 401 driving the lifting electric cylinder to lift, the center of gravity of the lifting electric cylinder being G3, and the center of gravity of the lifting motor 401 being G4; a mechanical arm 300 mounted on the upper end of the lifting device 400; a work tool fixed to the free end 320 of the mechanical arm 300 to perform a work function; and a power supply device 900 configured to supply power to the construction robot, the power supply device 900 being located between the left walking mechanism 710 and the right walking mechanism 720, and the center of gravity of the power supply device 900 being G5; wherein, in a direction perpendicular to the advancing direction of the construction robot, the center of gravity G1 of the left walking mechanism 710 and the right walking mechanism 720, the center of gravity G2 of the walking motor 705, the center of gravity G3 of the lifting electric cylinder, the center of gravity G4 of the lifting motor 401, and the center of gravity G5 of the power supply device 900 are distributed along approximately the same straight line, and the centers of gravity are distributed in the middle, so that the bottom of the whole machine is more stable, and when the mechanical arm 300 and the lifting device 400 are adjusted to different postures, the bottom of the whole machine can also provide relatively stable support, so that the work is safely and efficiently performed.

[0182] It should be noted that the centers of gravity in the application are distributed along approximately the same straight line, which can be understood as the distance between the centers of gravity and the above-mentioned straight line in the horizontal direction being within the range of 50 mm.

[0183] As Figure 15 In some embodiments, the center of gravity G1 of the left walking mechanism 710 and the right walking mechanism 720, the center of gravity G2 of the walking motor 705, the center of gravity G3 of the lifting electric cylinder, the center of gravity G4 of the lifting motor 401, and the center of gravity G5 of the power supply device 900 are distributed along approximately the same straight line, and the straight line equally divides the construction robot along the walking direction.

[0184] In combination Figure 15 , Figure 16 and Figure 17In some embodiments, the upper ends of the left walking mechanism 710 and the right walking mechanism 720 jointly constitute a walking upper plane 740, the lower ends of the left walking mechanism 710 and the right walking mechanism 720 jointly constitute a walking lower plane 730, the height of the center of gravity G1 of the left walking mechanism 710 and the right walking mechanism 720, the height of the center of gravity G2 of the walking motor 705, the height of the center of gravity G3 of the lifting cylinder, and the height H2 of the center of gravity G5 of the power supply device 900 are located between the walking upper plane 740 and the walking lower plane 730, so that the chassis of the whole machine is more stable, and more stable support can be provided for the mechanical arm 300 and the lifting device 400 in the upper part of the whole machine.

[0185] As Figure 15 In some embodiments, the center of gravity of the left walking mechanism 710 is G11, and the center of gravity of the right walking mechanism 720 is G12; the center of gravity G3 of the lifting cylinder and the center of gravity G4 of the lifting motor 401 are located in the region formed between the line 11 connecting the center of gravity G11 of the left walking mechanism 710, the center of gravity G2 of the walking motor 705, the center of gravity G12 of the right walking mechanism 720, and the center of gravity G5 of the power supply device 900.

[0186] In combination Figure 14 And Figure 15 In some embodiments, the center of gravity G604 of the construction robot is also located in the region formed between the line 11 connecting the center of gravity G11 of the left walking mechanism 710, the center of gravity G2 of the walking motor 705, the center of gravity G12 of the right walking mechanism 720, and the center of gravity G5 of the power supply device 900.

[0187] As Figure 15 In some embodiments, the mounting platform includes a support plate 6010, the mounting platform includes the support plate 6010, a left side plate 6011 located on one side of the support plate 6010, and a right side plate 6012 located on the other side of the support plate 6010, the power supply device 900, the lifting device 400, and the walking motor 705 are mounted on the upper surface of the support plate 6010, and the power supply device 900, the lifting device 400, and the walking motor 705 are located between the left side plate 6011 and the right side plate 6012.

[0188] In combination Figure 1 And Figure 15In some embodiments, the application also provides a mobile construction robot, comprising: a chassis assembly configured as a mobile construction robot; a lifting device 400 installed on the chassis assembly; a mechanical arm 300 comprising a fixed end 310 and a free end 320, the fixed end 310 being installed to an upper surface of the lifting device 400, and the free end 320 being movable in a three-dimensional space relative to the fixed end 310; a working mechanism fixed to the free end 320 of the mechanical arm 300 to perform a work; a power supply device 900 configured to supply power to the mobile construction robot; the chassis assembly comprising a left walking mechanism 710, a right walking mechanism 720, a mounting platform connected between the left walking mechanism 710 and the right walking mechanism 720, and a walking motor 705 driving the left walking mechanism 710 and the right walking mechanism 720, the power supply device and the lifting device 400 being fixed to the mounting platform.

[0189] In some embodiments, the two walking motors 705 are fixed at one end of a support plate 6010 of the mounting platform, and the power supply device 900 is arranged at the other end of the support plate 6010. Arranging the power supply device at one end of the support plate 6010 facilitates the taking and placing of the power supply device 900.

[0190] As shown in Figure 15 , in some embodiments, the left walking mechanism 710 and the right walking mechanism 720 of the mobile construction robot are supported to walk on a working plane, and a ratio of a projection area of the power supply device on the working plane to an area of the support plate 6010 of the mounting platform is greater than or equal to 0.2. In some embodiments, the ratio of the projection area of the power supply device on the working plane to the area of the support plate 6010 of the mounting platform is greater than or equal to 0.2 and less than or equal to 0.6. In some embodiments, the ratio of the projection area of the power supply device on the working plane to the area of the support plate 6010 of the mounting platform is 0.2, 0.3, 0.5, or 0.6.

[0191] It should be understood that the power supply device in the application is equivalent to the power supply device 900 in terms of functional attributes.

[0192] In some embodiments, the power capacity of the power supply device 900 is greater than or equal to 8 kWh and less than or equal to 11.7 kWh.

[0193] As shown in Figure 15 , in some embodiments, the walking motor 705, the lifting device 400, and the power supply device 900 are sequentially and spacedly arranged along an upper surface of the support plate 6010.

[0194] In combination with Figure 1 , Figure 16 and Figure 17As shown, the application also provides a mobile construction robot, comprising: a chassis assembly configured as a mobile construction robot; a lifting device 400 installed on the chassis assembly; a mechanical arm 300 comprising a fixed end 310 and a free end 320, the fixed end 310 being installed to an upper surface of the lifting device 400, and the free end 320 being movable relative to the fixed end 310 in a three-dimensional space; a work mechanism fixed to the free end 320 of the mechanical arm 300 to perform work; a power supply device 900 configured to supply power to the mobile construction robot; the chassis assembly comprises a left walking mechanism 710, a right walking mechanism 720, a mounting platform connected between the left walking mechanism 710 and the right walking mechanism 720, and a walking motor 705 driving the left walking mechanism 710 and the right walking mechanism 720, and the power supply device and the lifting device 400 are fixed to the mounting platform; wherein the mounting platform has a power supply accommodating cavity 609 accommodating the power supply device, and the power supply device is detachably inserted into the power supply accommodating cavity 609 along a first linear direction, and the left walking mechanism 710 and the right walking mechanism 720 of the mobile construction robot are supported to walk on a working plane, and an included angle a between the first linear direction of the power supply device inserted into the power supply accommodating cavity 609 and the working plane is greater than or equal to 0 degrees and less than 90 degrees. In some embodiments, the included angle a between the first linear direction of the power supply device inserted into the power supply accommodating cavity 609 and the working plane is greater than or equal to 0 degrees, 30 degrees, 45 degrees, 60 degrees or 90 degrees. In some embodiments, the first linear direction of the power supply device 900 inserted into the power supply accommodating cavity 609 is parallel to the direction of travel of the mobile construction robot. The above angle setting enables the power supply device to be assembled in the power supply accommodating cavity 609 in parallel to the walking direction. It can also be assembled in the power supply accommodating cavity 609 perpendicular to the walking direction. It can also be assembled in the power supply accommodating cavity 609 in an inclined manner. The diversified power supply device assembly mode enables the construction robot to meet the needs of different practical scenarios.

[0195] In some embodiments, the mounting platform has a front portion and a rear portion, the power supply device 900 is located at the front portion of the mounting platform, and the walking motor 705 driving the left walking mechanism 710 and the right walking mechanism 720, the lifting device 400 and the power supply device 900 are arranged in sequence along the direction of travel of the mobile construction robot.

[0196] In some embodiments, the mounting platform has a front portion and a rear portion, the power supply device is located at the rear portion of the mounting platform, and the power supply device, the lifting device 400 and the walking motor 705 driving the left walking mechanism 710 and the right walking mechanism 720 are arranged in sequence along the direction of travel of the mobile construction robot.

[0197] In combination Figure 1 and Figure 17As shown, the application also provides a mobile construction robot, comprising: a chassis assembly configured to support the mobile construction robot at least to walk; a lifting device 400 installed on the chassis assembly; a mechanical arm 300 comprising a fixed end 310 and a free end 320, the fixed end 310 being installed to an upper surface of the lifting device 400, and the free end 320 being movable in a three-dimensional space relative to the fixed end 310; a working mechanism fixed to the free end 320 of the mechanical arm 300 to perform work; a power supply device 900 configured to supply power to the mobile construction robot; the chassis assembly comprises a left walking mechanism 710, a right walking mechanism 720, a mounting platform connected between the left walking mechanism 710 and the right walking mechanism 720, and a walking motor 705 driving the left walking mechanism 710 and the right walking mechanism 720, and the power supply device 900 and the lifting device 400 are fixed to a support plate 6010 of the mounting platform; wherein the support plate 6010, together with an upper end of the left walking mechanism 710 and an upper end of the right walking mechanism 720, forms a walking upper plane 740. The support plate 6010 on which the power supply device 900 and the lifting device 400 are installed is lower than the upper end of the left walking mechanism 710 and the upper end of the right walking mechanism 720, together forming the walking upper plane 740, so that the center of gravity of the whole machine is set lower, and the whole machine runs more stably.

[0198] In some embodiments, the left walking mechanism 710 and the right walking mechanism 720 are track structures.

[0199] In some embodiments, the left walking mechanism 710 comprises at least two walking wheels, and the right walking mechanism 720 comprises at least two walking wheels.

[0200] In some embodiments, the mounting platform comprises a support plate 6010 extending along the walking direction, and side plates 6071 located on both sides of the support plate 6010, the support plate 6010 and the two side plates 6071 defining a containing space 6014, the power supply device 900 and the lifting device 400 being fixed to an upper surface of the support plate 6010 and at least partially located in the containing space 6014.

[0201] In some embodiments, the center of gravity of the power supply device 900 is at a distance from the upper surface of the support plate 6010 that is less than the height of the left walking mechanism 710 and / or the right walking mechanism 720.

[0202] In some embodiments, the left walking mechanism 710 and the right walking mechanism 720 of the mobile construction robot walk on a working plane, the distance H1 between the upper surface of the support plate 6010 and the working plane being less than the distance H3 between the axis of the walking motor and the working plane.

[0203] The application also provides a mobile construction robot, comprising: a chassis assembly configured as a mobile construction robot; a lifting device 400 installed on the chassis assembly; a mechanical arm 300 comprising a fixed end 310 and a free end 320, the fixed end 310 being installed on the upper surface of the lifting device 400, and the free end 320 being movable relative to the fixed end 310 in a three-dimensional space; a work mechanism fixed to the free end 320 of the mechanical arm 300 to perform work; a power supply device 900 configured to supply power to the mobile construction robot; the chassis assembly comprises a left walking mechanism 710, a right walking mechanism 720, a mounting platform connected between the left walking mechanism 710 and the right walking mechanism 720, and a walking motor 705 driving the left walking mechanism 710 and the right walking mechanism 720, and the power supply device and the lifting device 400 are installed on the mounting platform; wherein the mounting platform defines a containing space 6014, the power supply device comprises a battery box formed in the containing space 6014, the battery box contains a plurality of battery packs, and the battery packs are contained in the battery box in a side-by-side direction; wherein the battery packs can be detached from the battery box and configured to supply power to other cordless power tools.

[0204] In some embodiments, the two walking motors 705 are fixed on the mounting platform near one end of the walking mechanism.

[0205] In some embodiments, the width of the battery box is more than half of the distance between the left walking mechanism 710 and the right walking mechanism 720.

[0206] As shown in Figure 18 , Figure 19 and Figure 20 In some embodiments, the battery pack has an electrical output terminal, and the battery box has an electrical input terminal 903 matched with the battery pack. The power supply device 900 comprises battery packs of different shape specifications, and the battery packs of different shape specifications can share the electrical input terminal 903 in the battery box.

[0207] In some embodiments, the battery pack comprises a battery pack shell and a battery core unit, the battery core unit is arranged in the battery pack shell, and the battery core unit is a lithium battery core.

[0208] In some embodiments, the work mechanism and the walking motor 705 driving the left walking mechanism 710 and the right walking mechanism 720 are both configured to be powered by the plurality of battery packs.

[0209] As shown in Figure 14As shown, in some embodiments, in order to ensure the overall stability of the construction robot, especially when the lifting device 400 is raised and the mechanical arm 300 is extended, in order to prevent the entire robot from falling over, in the present application, the lifting device 400 and the power supply device 900 are arranged on the chassis 600, one of the lifting device 400 and the power supply device 900 is arranged at the front of the chassis 600, and the other is arranged at the rear of the chassis 600. The chassis 600 extends along a horizontal plane, and the center of gravity G604 of the construction robot substantially overlaps the geometric center 603 of the chassis 600 in a horizontal plane perpendicular to the chassis 600. Such arrangement makes the overall center of gravity G604 of the construction robot more centered and relatively lower in height, especially when the tool body 200 is working, under the action of the reverse force at the working point, the probability of overturning of the construction robot during working can be reduced. Moreover, the overall center of gravity G604 of the construction robot is more centered, which can improve the flexibility of the construction robot when turning and the stability when climbing.

[0210] As shown in FIG. 6, in some embodiments, the length L of the chassis 600 is greater than or equal to 120 cm and less than or equal to 140 cm, the width W is greater than or equal to 50 cm and less than or equal to 60 cm, and the height H is greater than or equal to 26 cm and less than or equal to 32 cm. Specifically, the length L of the chassis 600 is greater than or equal to 120 cm, 130 cm or 140 cm, the width W is 50 cm, 55 cm or 60 cm, and the height H is 26 cm, 28 cm or 32 cm. Figure 16 As shown in FIG. 6, in some embodiments, the length L of the chassis 600 is greater than or equal to 120 cm and less than or equal to 140 cm, the width W is greater than or equal to 50 cm and less than or equal to 60 cm, and the height H is greater than or equal to 26 cm and less than or equal to 32 cm. Specifically, the length L of the chassis 600 is greater than or equal to 120 cm, 130 cm or 140 cm, the width W is 50 cm, 55 cm or 60 cm, and the height H is 26 cm, 28 cm or 32 cm.

[0211] Figure 16 As shown in FIG. 6, in some embodiments, the height H1 of the chassis 600 from the ground is greater than or equal to 6 cm and less than or equal to 12 cm. Specifically, the height H1 of the chassis 600 from the ground is 6 cm, 8 cm or 12 cm.

[0212] As shown in FIG. 6, in some embodiments, the projection area of the power supply device 900 on the projection plane perpendicular to the chassis 600 accounts for more than 30% of the projection area of the chassis 600, but not higher than 60%. In some embodiments, the projection area of the power supply device 900 accounts for 30%, 35% or 40% of the projection area of the chassis 600. A larger space is left on the chassis 600 to install the power supply device 900, so that the power supply device 900 can have larger energy storage, providing sufficient endurance for the construction robot. Figure 15 As shown in FIG. 6, in some embodiments, the projection area of the power supply device 900 on the projection plane perpendicular to the chassis 600 accounts for more than 30% of the projection area of the chassis 600, but not higher than 60%. In some embodiments, the projection area of the power supply device 900 accounts for 30%, 35% or 40% of the projection area of the chassis 600. A larger space is left on the chassis 600 to install the power supply device 900, so that the power supply device 900 can have larger energy storage, providing sufficient endurance for the construction robot.

[0213] Figure 15 ​​As shown in some embodiments, the projection area of the lifting device 400 accounts for more than 10% but no more than 30% of the projection area of the chassis 600. In some embodiments, the projection area of the lifting device 400 accounts for 10%, 12% or 15% of the projection area of the chassis 600. Since the lifting device 400 is heavy, it is arranged on the chassis 600 so that the overall chassis 600 of the construction robot is lower. Since the power supply device 900 is also mounted on the chassis 600, in order to give the power supply device 900 installation space, and the space of the chassis 600 is limited, the volume of the lifting device 400 on the chassis 600 cannot be too large.

[0214] In some embodiments, the power capacity of the power supply device 900 is greater than or equal to 8Kwh and less than or equal to 11.7KWh. Specifically, the power capacity of the power supply device 900 is 8KWh, 10KWh or 11.7KWh. The selection of the large-capacity power supply device 900 can provide the construction robot with longer endurance.

[0215] In some embodiments, the power supply device 900 is assembled on the chassis 600, and the ratio of the output energy of the power supply device 900 to the width of the chassis 600 is greater than or equal to 0.066Kw / cm. In some embodiments, the ratio of the output energy of the power supply device 900 to the width of the chassis 600 is greater than or equal to 0.08Kw / cm but less than 0.5Kw / cm. Such arrangement enables the power supply device 900 to provide more electrical energy for the construction robot in a limited space.

[0216] As shown in some embodiments, Figure 18 , Figure 19 and Figure 20 In some embodiments, the power supply device 900 includes any one of a first type of battery pack 901 and a second type of battery pack 902 with different power capacities, and at least one of the first type of battery pack 901 and the second type of battery pack 902 can be detached from the chassis 600 to power the riding lawn mower. Of course, at least one of the first type of battery pack 901 and the second type of battery pack 902 can also be detached from the chassis 600 to power the all-terrain vehicle or snowplow.

[0217] In some embodiments, the energy density of the first type of battery pack 901 is greater than or equal to 86Wh / kg and less than or equal to 125.6Wh / kg. In some embodiments, the energy density of the first type of battery pack 901 is 86Wh / kg, 100Wh / kg or 125.6Wh / kg. The energy density of the second type of battery pack 902 is greater than or equal to 100Wh / kg and less than or equal to 250Wh / kg. In some embodiments, the energy density of the second type of battery pack 902 is 100Wh / kg, 180Wh / kg or 250Wh / kg.

[0218] In some embodiments, the capacity of the first type battery pack 901 is greater than or equal to 8 kWh and less than or equal to 11.7 kWh. In some embodiments, the capacity of the first type battery pack 901 is 8 kWh, 10 kWh, or 11.7 kWh. In some embodiments, the capacity of the second type battery pack 902 is greater than or equal to 0.5 kWh and less than or equal to 5 kWh. In some embodiments, the capacity of the second type battery pack 902 is 0.5 kWh, 3 kWh, or 5 kWh. In some embodiments, since the capacity of the second type battery pack 902 is smaller than that of the first type battery pack 901, the second type battery pack 902 can also be detached to power a handheld power tool.

[0219] Furthermore, the tool body 200 in this application can be detached from the construction robot and, after the gripping component 215 is installed, can be used as a handheld power tool. This handheld power tool can use the first type battery pack 901 or the second type battery pack 902 in this application as a power source.

[0220] like Figure 17 As shown, in some embodiments, a power receiving cavity 609 is provided within the chassis 600, and a power guide 607 is provided within the power receiving cavity 609. When the power device 900 is assembled or disassembled from the chassis 600, the power device 900 can guide and cooperate with the power guide 607 within the power receiving cavity 609. Specifically, the power guide 607 can guide the power device 900 to be inserted into or removed from the chassis 600.

[0221] In some embodiments, the power guide 607 includes a base plate 6072 for supporting the bottom of the power device 900 and a side plate 6071 for limiting the sides of the power device 900.

[0222] In some embodiments, the extension direction of the power guide 607 is consistent with the front-rear direction of the chassis 600. In some embodiments, the power supply device 900 can be mounted into the power supply receiving cavity 609 from the front or rear of the chassis 600. Specifically, the power supply device 900 can be mounted into the power supply receiving cavity 609 from the rear of the chassis 600.

[0223] like Figure 15 As shown, in order to limit the power device 900 on the power guide 607 and prevent the power device 900 from moving excessively into the chassis 600, a power limiting member 608 is provided in the guiding direction of the power guide 607. Specifically, the power limiting member 608 is provided at the end of the power guide 607 and is used to limit the power device 900 that slides into the chassis 600.

[0224] CombinationFigure 16 , Figure 23 and Figure 26 As shown, in some embodiments, a power cover 605 is provided at the end of the power guide 607 away from the power limiting member 608. The power cover 605 is fixed to the chassis 600 by bolts and is located at the entrance of the power receiving cavity 609. In some embodiments, a power switch 606 for controlling the power supply is provided on the power cover 605.

[0225] In some embodiments, the power cover 605 is further provided with a charging interface for charging the power supply device 900.

[0226] In some embodiments, the power cover 605 is provided with a display screen that displays information such as the remaining power of the power device 900, the output power, the output voltage, and the output current.

[0227] like Figure 15 As shown, in some embodiments, the walking assembly 700 further includes a walking motor 705 disposed within the chassis 600. The walking motor 705, the lifting device 400, and the power supply device 900 are sequentially arranged on the same plane of the chassis 600. The walking motor 705 is located on the side of the lifting device 400 away from the power supply device 900. This arrangement makes more rational and efficient use of the space in the chassis 600. The power supply device 900 can supply power to the walking motor 705 and the lifting device 400. Specifically, the lifting device 400 is fixedly connected to the chassis 600 using M16 bolts and nuts.

[0228] In some embodiments, the chassis 600 is a cavity structure formed by a support plate and side plates. The upper surface of the bottom wall inside the chassis 600 is a mounting plane, and the walking motor 705, the lifting device 400, and the power supply device 900 are mounted on the mounting plane of the chassis 600. In some embodiments, the side plates include a left side plate located on one side of the support plate and a right side plate located on the other side of the support plate.

[0229] like Figure 14 , Figure 15 , Figure 16As shown in the drawings, in some embodiments, a first anti-collision beam 601 is arranged at the front of the chassis 600, and a second anti-collision beam 602 is arranged at the rear of the chassis 600. At least one of the first anti-collision beam 601 and the second anti-collision beam 602 is arranged outside the power supply device 900 in the assembly direction of the power supply device 900. The anti-collision beams are arranged to protect the construction robot when colliding with external objects during travel. Further, in order to facilitate the disassembly and assembly of the power supply device 900, the power supply device 900 is arranged at the end of the chassis 600. In order not to interfere with the assembly and removal of the power supply device 900, the first anti-collision beam 601 or the second anti-collision beam 602 arranged close to the power supply device 900 is arranged in an arched structure. The anti-collision beam of the arched structure is located at the end of the construction robot and outside the power supply device 900. In an embodiment, the second anti-collision beam 602 is arranged in an arched structure.

[0230] As shown in the drawings, Figure 23 In some embodiments, a box 500 is further arranged above the chassis 600. Specifically, the box 500 is composed of a frame 501 and a cover 502 covering the frame 501, and an accommodation space is formed inside the box 500.

[0231] As shown in the drawings, Figure 21 The frame 501 is arranged with four feet 50101, and the frame 501 is installed on the chassis 600 through the four feet 50101. Further, a plurality of connecting blocks 50102 connected with the feet 50101 are fixedly arranged on the chassis 600. Each foot 50101 is provided with at least two connecting blocks 50102, and each connecting block 50102 limits the movement of the same foot 50101 in different directions.

[0232] In some embodiments, one foot 50101 is provided with two connecting blocks 50102 in the same plane. One of the connecting blocks 50102 is used to limit the movement of the foot 50101 in the travel direction of the construction robot, and the other connecting block 50102 is used to limit the movement of the foot in the direction perpendicular to the travel direction of the construction robot.

[0233] As shown in the drawings, Figure 24As shown, in some embodiments, the inside of the box 500 comprises a first area 503, a second area 504 and a third area. The first area 503 is at least configured to install a remote control device 5031, which is used to control the construction robot to work, and the remote control device 5031 is in signal connection with the control module 5091. The second area 504 is at least configured to place a dust collection device, which is used to collect dust generated when the tool body 200 works, and the second area 504 can also place a filter core 5042, which is used as a backup for replacement of the filter core 5042 in the dust collection device; the third area is at least configured to accommodate tools, including power tools, dust collection covers 218, drill bits (the execution end 201 of the construction robot), tripods 5061, line markers and other manual tools, etc. Such a setting enables each functional area to correspond to the placement of related functional equipment, so that the internal space layout of the box 500 is reasonable, independent and does not interfere with each other, and also enables the functional equipment to be placed in order and not messy.

[0234] As shown in FIG. 6, Figure 23 In some embodiments, the present application further comprises an electrical control area 509 on the top of the box 500 for installing the control module 5091.

[0235] As shown in FIG. 6, Figure 1 and Figure 23 In some embodiments, the present application is further provided with an alarm device 5010, which is in signal connection with the control module 5091. The alarm device 5010 can emit an alarm sound or flash light when the construction robot works abnormally, reminding the construction personnel to power off the construction robot. Specifically, the construction robot is provided with a control switch that can control the on-off of the circuit of the construction robot.

[0236] Figure 21 、 Figure 22 and Figure 24As shown, in some embodiments, the third region is provided with a partition 507, which is movable within the third region and capable of separating the third region into a first tool area 505 and a second tool area 506 for accommodating different tools. The electric tool, the dust collection cover 218, the drill bit, the execution end 201 of the construction robot, and other manual tools are located in the first tool area 505. The tripod 5061 and the leveling instrument are located in the second tool area 506. Specifically, the partition 507 is further provided with a partition 507 guide, the partition 507 is provided with a partition 507 guide slot, and the partition 507 guide is partially located in the partition 507 guide slot. When the partition 507 moves within the third region, the partition 507 guide slot and the partition 507 guide guide each other. The partition 507 moves in position within the third region to vacate the space of the first tool area 505 to the second tool area 506. Of course, the space of the second tool area 506 can also be vacated to the first tool area 505 by moving the position of the partition 507 to meet the placement of larger tools within the third region.

[0237] As shown, Figure 21 in some embodiments, the partition 507 is provided with a mounting hole 5073 for mounting an article. The mounting hole 5073 can be mounted with a hook for hanging tools or other articles. Of course, tools or other articles can be directly hung on the mounting hole 5073.

[0238] As shown, Figure 1 and Figure 23 in some embodiments, the box 500 includes a frame 501 and a cover 502 covering the frame 501, the cover 502 including a first cover corresponding to the first region 503, a second cover corresponding to the second region 504, a third cover corresponding to the first tool area 505, and a fourth cover corresponding to the second tool area 506. Each of the four regions is provided with a cover, and each cover covers its own region. When it is necessary to take, place, or process functional equipment in the corresponding region, only the corresponding cover needs to be opened for operation, and the covers of other regions remain closed. Functional equipment includes remote control devices 5031, dust collection devices, electric tools, etc.

[0239] As shown, Figure 23 in some embodiments, the frame 501 within the box 500 is sequentially provided with a first partition 5011, a second partition 5012, and a third partition 5013 from top to bottom, and the first partition 5011 is configured to separate the internal and external environments of the box 500. The third partition 5013 is configured to separate the space of the box 500 and the chassis 600.

[0240] Further, the control module 5091 of the electric control area 509 is located between the first partition layer 5011 and the second partition layer 5012. The first area 503, the second area 504 and the third area are located between the second partition layer 5012 and the third partition layer 5013. The areas are separated according to their respective functional attributes, so that the internal layout of the box 500 is regular and does not interfere with each other.

[0241] As shown in Figure 21 and Figure 23 , in some embodiments, the box 500 of the present application has a space for accommodating the lifting device 400. The bottom of the lifting device 400 is fixedly connected to the chassis 600, the middle part of the lifting device 400 passes through the box 500, and the part exposed above the box 500 includes the lifting end 402 which can be lifted and connected to the mechanical arm 300. Specifically, the lifting device 400 passes through the third partition layer 5013, the second partition layer 5012 and the first partition layer 5011 in sequence, and is exposed above the first partition layer 5011. A partition plate is arranged around the lifting device 400 to separate the lifting device 400 from the internal space of the box 500.

[0242] In some embodiments, a protective cover is arranged between the first partition layer 5011 and the lifting end 402 of the lifting device 400.

[0243] As shown in Figure 23 , in some embodiments, the alarm device 5010 is arranged on the upper surface of the first partition layer 5011. When the alarm device 5010 is a warning light, the warning light is arranged on the first partition layer 5011 which is located at the uppermost part of the box 500. Such arrangement helps the construction workers to observe the light emitted by the warning light and facilitates the timely handling of emergency situations of the construction robot.

[0244] In some embodiments, the construction robot of the present application can also not be provided with the lifting device 400, but the mechanical arm 300 is directly installed on the frame 501.

[0245] As shown in Figure 23 , in some embodiments, the present application further comprises a dust collecting cover 218 arranged on the execution end 201 of the tool body 200. The dust collecting cover 218 is used to collect dust generated during the operation of the execution end 201. Specifically, the dust collecting cover 218 is a hollow structure and is sleeved on the execution end 201 (drill) of the tool body 200. The dust collecting cover 218 is fixed on the first guide 101 of the assembly support 100.

[0246] As shown in Figure 23As shown, the dust collection device of the present application includes a dust collector body 5041 and a dust collection pipe 5043 connected between the dust collection cover 218 and the dust collector body 5041, the dust collector body 5041 is installed in the box body 500 of the construction robot, and the dust generated when the execution end 201 of the tool body 200 works can be sucked into the dust collector body 5041 through the dust collection pipe 5043. In some embodiments, the dust collector body 5041 is signal connected with the control module 5091 and is controlled by the control module 5091.

[0247] As shown in Figure 25 , Figure 26 , Figures 28 to 30 As shown, the present application also includes a storage device 508 for storing the dust collection pipe 5043, and the dust collection pipe 5043 is at least partially stored in the storage device 508. The dust collection pipe 5043 can also be completely stored in the storage device 508 when it is detached from the dust collection cover 218 and the dust collector body in the non-working state.

[0248] In the working state, the lifting device 400 and the mechanical arm 300 are extended to a certain height, and since the dust collector body 5041 is installed in the box body 500 of the construction robot, in order to enable the dust collection pipe 5043 to connect the dust collection cover 218 and the dust collector body 5041 and realize the dust transport from the dust collection cover 218 to the dust collector body 5041 through the dust collection pipe 5043, the length of the dust collection pipe 5043 in the present application is relatively long. Since the lifting device 400 and the mechanical arm 300 are in the retracted state in the non-working state, it is necessary to store the relatively long dust collection pipe 5043 in the storage device 508 to prevent the dust collection pipe 5043 from being randomly placed on the box body 500 and affecting the subsequent construction work.

[0249] As shown in Figures 25 to 27 In order to fix the dust collection pipe 5043, the present application provides a pipe body support 403 on the lifting end 402 of the lifting device 400, and the pipe body support 403 includes a pipe body fixing part 4033 for fixing the dust collection pipe 5043. In the working state, when the lifting end 402 rises, the pipe body support 403 can pull the dust collection pipe 5043 in the storage device 508 to extend. When the lifting end 402 descends, the pipe body support 403 can push the external dust collection pipe 5043 to move to the storage device 508. Specifically, the pipe body support 403 includes a first clamping piece 4031 and a second clamping piece 4032, the first clamping piece 4031 includes a first inner recess structure 40311, the second clamping piece 4032 includes a second inner recess structure 40321, the pipe body fixing part 4033 includes a first annular structure with an internal cavity formed by the combination of the first inner recess structure 40311 and the second inner recess structure 40321, and the dust collection pipe 5043 can be clamped in the first annular structure formed by the combination of the first inner recess structure 40311 and the second inner recess structure 40321.

[0250] like Figure 25 and Figure 26 As shown, in some embodiments, the storage device 508 includes a storage opening 5081, and the chassis 600 extends horizontally. In a horizontal direction perpendicular to the chassis 600, the tube fixing part 4033 is located directly above the storage opening 5081. This arrangement ensures that when the lifting end 402 of the lifting device 400 descends, the suction tube 5043 follows the lifting end 402 downwards. The tube support 403 guides the descent of the suction tube 5043, allowing it to fall directly into the storage device 508 through the storage opening 5081 during descent. This ingenious design eliminates the need for manual guidance of the suction tube 5043 into the storage device 508, making the construction robot more convenient to operate.

[0251] In some embodiments, the narrowest part of the storage opening 5081 is larger than the outer diameter of the suction tube 5043. In some embodiments, the storage device 508 has a square structure, and the storage opening 5081 also has a square structure, with the narrowest part of the storage opening 5081 being larger than the outer diameter of the suction tube 5043. This arrangement allows the suction tube 5043 to fall into the storage device 508 more easily when it descends.

[0252] In some embodiments, the storage device 508 is a hollow cylindrical structure, and the storage opening 5081 is circular, with the inner diameter of the circular storage opening 5081 being larger than the outer diameter of the suction pipe 5043.

[0253] In some embodiments, the ratio of the diameter of the storage opening to the diameter of the suction pipe is greater than 1 and less than 2. The ratio being greater than 1 allows the suction pipe to fall freely into the storage device under its own weight, while the ratio being less than 2 prevents the suction pipes from tangling when placed side-by-side at the storage opening. Specifically, the ratio of the storage opening diameter to the suction pipe diameter is 1, 1.5, or 1.8.

[0254] In some embodiments, this application further includes a control module 5091 that controls the operation of the tool body 200. A control harness is connected between the control module 5091 and the tool body 200, and the control harness is at least partially located within the storage device 508. This arrangement allows the storage device 508 to not only store the vacuum cleaner hose 5043, but also to store the control harness.

[0255] In the present application, the control module 5091 is arranged on the box body 500 of the chassis 600, and the tool body 200 is arranged on the mechanical arm 300. Due to the long distance, a long control wire harness is needed to transmit the control signal between the mechanical arm 300 and the control module 5091. In the non-working state, the control wire harness needs to be stored. The storage device 508 stores the dust suction pipe 5043 and the control wire harness, and achieves the purpose of multipurpose use of the storage device 508.

[0256] In some embodiments, the pipe fixing part 4033 is further configured to fix the control wire harness, and plays a guiding role in the movement of the control wire harness into the storage device 508.

[0257] As shown in Figures 25 to 27 some embodiments, the control wire harness is arranged in the wire harness pipe 214, and the pipe support 403 is further configured to connect the wire harness pipe 214. Specifically, the first clamping part 4031 further comprises a third inner recess structure 40312, the second clamping part 4032 further comprises a fourth inner recess structure 40322, and the pipe fixing part 4033 further comprises a second annular structure with an inner hollow formed by the combination of the third inner recess structure 40312 and the fourth inner recess structure 40322. The wire harness pipe 214 can be clamped in the second annular structure formed by the combination of the third inner recess structure 40312 and the fourth inner recess structure 40322. The pipe support 403 plays a guiding role in the movement of the wire harness pipe 214 into the storage device 508 through the second annular structure.

[0258] As shown in Figure 28 and Figure 29 some embodiments, the side wall of the storage device 508 is provided with a first through hole 5088 and a second through hole 5089. The first through hole 5088 matches the outer shape of the dust suction pipe 5043, and the dust suction pipe 5043 passes out through the first through hole 5088 and is connected with the external dust collector body 5041. The second through hole 5089 matches the outer shape of the wire harness pipe 214, and the wire harness pipe 214 passes out of the storage device 508 through the second through hole 5089 and extends to the electric control area 509.

[0259] As shown in Figure 29 and Figure 30 some embodiments, the storage device 508 is provided with a guide 5090, which has an arc-shaped structure matching the outer shape of the dust suction pipe 5043 or the wire harness pipe 214. The guide 5090 is used to guide the dust suction pipe 5043 and the wire harness pipe 214 when they are rising or falling, so as to reduce the bending of the pipes during movement.

[0260] In some embodiments, the ratio of the length of the storage device 508 to the length of the housing 500 along the direction of travel of the construction robot is greater than or equal to 3% and less than or equal to 5%. In some embodiments, the ratio of the length of the storage device 508 to the length of the housing 500 is 3%, 4%, or 5%. This arrangement results in a smaller space occupied by the storage device 508 along the length of the housing 500, and also allows the housing 500 to have more space to store or install other components.

[0261] like Figure 28 and Figure 30 As shown, since the storage opening 5081 is an open structure, in some embodiments, the opening of the storage opening 5081 is vertically upward. To reduce the amount of debris falling into the storage device 508, this application provides a stop at the storage opening 5081 of the storage device 508. The stop is made of a deformable material, and the suction pipe 5043 can resist the force of the stop when falling or rising, and can move within the storage opening 5081. Specifically, the stop can be a brush 5084 located at the storage opening 5081. The brush 5084 reduces the amount of debris falling into the storage device 508. The brush 5084 includes bristles and a base for mounting the bristles. The base can be fixed to the opening of the storage device 508 by bolts or adhesive.

[0262] like Figures 28 to 30 As shown, in some embodiments, the storage device 508 consists of a bottom wall and four side walls. The storage opening 5081 is located above the storage device 508. When debris falls into the storage device 508, in order to facilitate the cleaning of the debris inside the storage device 508, this application provides a cleaning opening 5086 and a cleaning cover 5087 that can cover the cleaning opening 5086 at the bottom of the storage device 5088. When it is necessary to clean the debris, open the cleaning cover 5087, remove the debris from the cleaning opening 5086, and then close the cleaning cover 5087 on the cleaning opening 5086.

[0263] In some embodiments, the storage device 508 may also be configured as a structure with an open bottom, which may use a third partition 5013 as its bottom to prevent debris from falling into other areas.

[0264] Please also refer to Figure 23 , Figure 30 and Figure 31In some embodiments, the box 500 is arranged on the chassis 600, and the storage device 508 is fixed inside the box 500. Specifically, the storage opening 5081 is provided with a bin fixing member 5085, and the bin fixing member 5085 includes a first bin fixing part 50851 and a second bin fixing part 50852. In some embodiments, the first bin fixing part 50851 is a bayonet, and the first partition layer 5011 is provided with an opening for the bin fixing member 5085 to be inserted into, and the bayonet is in clamping connection with the opening of the first partition layer 5011. The second fixing part is inserted into the storage opening 5081 and is in interference fit with the inner wall of the storage device 508.

[0265] In some embodiments, the storage device 508 is located inside the box 500, and the storage opening 5081 extends to the outside of the box 500. In some embodiments, the lifting device includes a lifting mechanism and a limiting mechanism, the lifting mechanism includes a plurality of lifting cylinders and a lifting motor 401 for driving the lifting cylinders to lift, and the lifting end 402 is located on the uppermost lifting cylinder. The limiting mechanism is arranged outside the lifting mechanism and is used to fix the lifting mechanism on the frame of the box 500. Further, the limiting mechanism is a support bracket fixedly installed in the box 500 to support the lifting mechanism.

[0266] In some embodiments, the storage device 508 is fixed on the limiting mechanism, and the storage device 508 is arranged close to the lifting device, so that the dust collection pipe 5043 on the lifting end 402 can fall into the storage device 508, improving the efficiency of storing the dust collection pipe 5043 and reducing the risk of the dust collection pipe 5043 falling from the storage opening 5083.

[0267] As shown in Figure 28 and Figure 29 In some embodiments, the box 500 is arranged on the chassis 600, and the storage device 508 is arranged in the box 500. The storage device 508 includes an air inlet 5083 and an air outlet. The air inlet 5083 is used to introduce the gas in the box 500 into the storage device 508, and the air outlet is used to discharge the gas in the storage device 508 from the storage device 508. Such arrangement is helpful for dissipating the heat generated by the electrical equipment arranged inside the box 500.

[0268] Further, in the horizontal direction, the air inlet 5083 corresponds to the electrical control area 509. Such arrangement is helpful for dissipating the heat generated by the control module 5091 of the electrical control area 509 through the air inlet 5083 and then through the air outlet.

[0269] In some embodiments, the air outlet and the storage opening 5081 in the present application are the same structure, that is, the storage opening 5081 can be used as the air outlet at the same time.

[0270] As shown in Figure 21 andFigure 23 As shown, in order to improve the heat dissipation effect, in some embodiments, a heat dissipation fan 5082 is arranged on the storage device 508, which can drive the airflow in the storage device 508 to flow. Through the driving of the heat dissipation fan 5082, the speed of the airflow in the storage device 508 is improved, and in turn the heat dissipation effect inside the box 500 and the chassis 600 is improved, especially the heat dissipation effect of the control module 5091, the power supply device 900. In some embodiments, the control module 5091 can control the operation of the heat dissipation fan 5082.

[0271] As Figure 23 shown, in this application, although the inside of the box 500 is provided with multiple partitions (the first partition 5011, the second partition 5012 and the third partition 5013), but each partition has a gap between the frame 501, so that the gas inside the chassis 600 and the box 500 can flow, especially under the driving of the heat dissipation fan 5082, which helps to dissipate the heat generated inside the chassis 600 and the box 500. Further, the power supply device 900 is arranged in the chassis 600, and the gas flowing through the power supply device 900 can enter the air inlet 5083 through the gap of the box 500 and then be discharged through the air outlet, dissipating the heat generated by the power supply device 900.

[0272] As Figure 25 and Figure 26 shown, in some embodiments, the lifting device 400 includes a lifting motor 401, the chassis 600 is provided with a power supply device 900, the lifting motor 401 and the power supply device 900 are located in the chassis 600, the chassis 600 is arranged in the horizontal direction, and in the vertical direction perpendicular to the horizontal direction of the chassis 600, the storage device 508 is located above at least one of the lifting motor 401 and the power supply device 900.

[0273] In some embodiments, the operation of the lifting motor 401 is controlled by the control module 5091.

[0274] In some embodiments, the air inlet 5083 of the storage device 508 is located above the power supply device 900, which is conducive to dissipating heat from the power supply device 900. In some embodiments, the air inlet 5083 of the storage device 508 is located above the lifting motor 401, which is conducive to dissipating heat from the lifting motor 401.

[0275] In some embodiments, along the direction of travel of the construction robot, the storage device 508 is located between the lifting motor 401 and the power supply device 900, and in some embodiments, the air inlet 5083 of the storage device 508 is located between the lifting motor 401 and the power supply device 900, which is to simultaneously consider dissipating heat from the lifting motor 401 and the power supply device 900.

[0276] The present application is not limited to the above-described specific embodiments. Those skilled in the art can easily understand that the present application has many alternatives without departing from the principles and scope of the present application. The scope of protection of the present application is defined by the contents of the claims.

Claims

1. A construction robot, characterized in that, include: A robotic arm includes a free end that can be freely adjusted in height and angle, the free end being able to move freely in a three-dimensional space; An assembly bracket is provided at the free end of the robotic arm and is able to move with the free end; A tool body is disposed on the assembly bracket, the tool body including an execution end capable of performing work at a work point; a detection device is connected to the assembly bracket and located on the outer side of the tool body in the work direction, the detection device including a vision sensor with two lenses, each lens having a center point, and a perpendicular bisector at the midpoint of the line connecting the two center points, the execution end of the tool body including an axis in the work direction, wherein the perpendicular bisector intersects the axis.

2. The construction robot according to claim 1, characterized in that: The vision sensor is located on the outside of the execution end of the tool body, and the vertical distance between the vision sensor and the axis of the execution end is greater than or equal to 5cm.

3. The construction robot according to claim 1, characterized in that: The detection device also includes a depth camera capable of detecting the distance between the work point and the visual sensor.

4. The construction robot according to claim 1, characterized in that: The detection device includes a vision sensor and a sensor bracket for connecting the vision sensor to the mounting bracket. In operation, the vision sensor can move relative to the sensor bracket. A sensor buffer is provided between the vision sensor and the sensor bracket to absorb the impact force of the vision sensor.

5. The construction robot according to claim 1, characterized in that: The sensor bracket includes a sensor mounting base with a sensor receiving cavity for mounting the vision sensor. In the direction of movement of the vision sensor, a first sensor limiting member is provided at one end of the sensor receiving cavity, and a second sensor limiting member is provided at the other end. The vision sensor is located between the first sensor limiting member and the second sensor limiting member.

6. The construction robot according to claim 5, characterized in that: The first sensor limiting member is located on the back of the vision sensor, and the sensor buffer is connected between the vision sensor and the first sensor limiting member.

7. The construction robot according to claim 5, characterized in that: At least one of the first sensor limiting member and the second sensor limiting member is detachably connected to the sensor mounting base.

8. The construction robot according to claim 4, characterized in that: It also includes a control module for controlling the operation of the construction robot. A sensor harness is connected between the vision sensor and the control module. The sensor bracket also includes a harness pressure plate, and the harness pressure plate is provided with a harness slot for placing the harness.

9. The construction robot according to claim 8, characterized in that: The sensor bracket also includes a pressure plate mounting component, which has a pressure plate guide groove. The wire harness pressure plate is connected to the pressure plate guide groove and can move within the pressure plate guide groove in a direction close to or away from the vision sensor.

10. A construction robot, characterized in that, include: A robotic arm includes a free end that can be freely adjusted in height and angle, the free end being able to move freely in three-dimensional space; A remote control device is configured to control the free end of the robotic arm to move freely in three-dimensional space, the remote control device including a display screen; An assembly bracket is provided at the free end of the robotic arm and is able to move with the free end; The tool body is detachably mounted to the mounting bracket, and the tool body includes an actuating end capable of operating at a work point; A detection device is connected to the assembly bracket and located on the outside of the working direction of the tool body. The detection device has at least the function of capturing the working point and identifying obstacles. The control module is configured to convert the work point signal detected by the detection device into a marker point on the display screen; The control module is also configured to prevent the detection device and / or the tool body from contacting the obstacle.

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