Construction robot

Abstract

The utility model relates to a construction robot, which comprises a box body arranged on a chassis, and the interior of the box body is configured to be of a cavity structure; the tool main body is arranged on the mechanical arm and can move to a working position along with the mechanical arm, and the tool main body is provided with a working head to work outwards; wherein a cavity in the box body can be divided into at least three function storage areas, each function storage area is provided with a covering part which can be operated to be opened or closed, and the function storage areas can be communicated with or isolated from the external environment by operating the covering parts. The construction robot is provided with the tool box capable of conveniently storing or taking different functional devices.

Description

[Technical Field]

[0001] This utility model relates to the field of construction equipment technology, and in particular to a construction robot. [Background Technology]

[0002] In construction, it is often necessary to perform tasks on the ground or walls, such as drilling, cutting, and grinding. Currently, a type of automated construction robot has emerged that can replace manual labor in these tasks.

[0003] Existing construction robots are equipped with toolboxes to store tool parts, consumables, and other auxiliary tools, allowing users to obtain the necessary functional equipment nearby and avoid wasting time. However, because the interior of the toolbox needs to make way for the construction robot's power supply, control devices, lifting devices, and other modular systems, the interior of the toolbox is irregular, making it extremely inconvenient to store or retrieve functional equipment.

[0004] Therefore, it is indeed necessary to provide an improved dust collection device to overcome the shortcomings of the prior art. [Utility Model Content]

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a construction robot with a toolbox that can conveniently store or retrieve different functional equipment.

[0006] The technical solution adopted by this utility model to solve the existing technical problems is: a construction robot, comprising:

[0007] A walking component, configured to support the walking of the construction robot;

[0008] The chassis is mounted on the walking assembly and is capable of moving with the walking assembly;

[0009] The housing is located on the chassis and has an internal cavity structure.

[0010] A lifting device is installed on the chassis and is capable of moving up and down on the chassis;

[0011] A robotic arm is mounted on the lifting device, which is capable of lifting the robotic arm up and down and can move at all angles around the lifting device.

[0012] The tool body is mounted on the robotic arm and can move with the robotic arm to the working position. The tool body is equipped with a working head for external operation.

[0013] The cavity inside the box can be divided into at least three functional storage areas, and each functional storage area is equipped with a cover that can be opened or closed. Operating the cover can connect or isolate the functional storage area from the external environment.

[0014] A further improvement is as follows: the housing includes a frame connected to the chassis, the frame having openings that correspond one-to-one with the functional storage areas, and the openings can be opened or closed by operating the cover.

[0015] A further improvement is that one side of the cover is hinged to the frame, and the other side is a free side. Operating the cover allows it to rotate around the axis at the hinge.

[0016] A further improvement is as follows: the cover is hinged to the frame via an embedded hinge, the hinge including two hinges that can rotate relative to each other, one hinge being connected to the opening of the frame, and the other hinge being connected to the side wall of the cover.

[0017] A further improvement is as follows: the construction robot also includes a piston strut, one end of which is connected to the housing and the other end is supported by the cover.

[0018] A further improvement is as follows: the construction robot also includes a sealing gasket disposed between the housing and the cover, and the cover is operated to close the cover, with the inner wall of the cover pressing against the sealing gasket to fill the gap between the cover and the frame.

[0019] A further improvement is as follows: the box has four functional storage areas inside, namely a first area, a second area, and a first tool area and a second tool area arranged opposite to each other. The first area is used to store control components, the second area is used to store vacuum cleaners, the first tool area is used to store tools, and the second tool area is used to store tool accessories.

[0020] A further improvement is as follows: the construction robot also includes a partition in a cavity inside the housing, the partition being movably inserted between the first tool area and the second tool area.

[0021] A further improvement is that the construction robot also includes an energy storage device for outputting working electrical energy, which is detachably installed at the bottom of the housing.

[0022] A further improvement is as follows: the walking component is a track chain structure, which includes two parallel tracks, and the energy storage device is disposed between the two tracks.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The construction robot of this utility model has its toolbox divided into multiple functional storage areas, each with an open opening and a flip-top door. This allows each functional storage area to hold the corresponding functional equipment, ensuring a reasonable internal space layout, independence, and non-interference between the various storage areas. It also allows the functional equipment to be placed in an orderly and uncluttered manner. [Image Description]

[0025] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings:

[0026] Figure 1 This is a three-dimensional view of the construction robot of this utility model;

[0027] Figure 2 yes Figure 1 A three-dimensional view of the walking component of the construction robot shown in the figure;

[0028] Figure 3 yes Figure 1 A three-dimensional view of the construction robot chassis shown in the image;

[0029] Figure 4 yes Figure 1 A perspective view of the construction robot housing shown in the image;

[0030] Figure 5 yes Figure 1 A top view of the construction robot housing shown in the image;

[0031] Figure 6 yes Figure 1 Another perspective view of the construction robot housing shown;

[0032] Figure 7 yes Figure 1 Side view of the construction robot housing shown;

[0033] Figure 8 yes Figure 1 Another perspective view of the construction robot housing shown;

[0034] Figure 9 yes Figure 1 The side sectional view of the construction robot housing shown;

[0035] Figure 10 yes Figure 1 A perspective view of the dust collection device for the construction robot shown in the image;

[0036] Figure 11 yes Figure 10 Exploded view of the dust collection device for the construction robot shown in the image;

[0037] Figure 12 yes Figure 10 A perspective view of the construction robot connector shown in the figure;

[0038] Figure 13 yes Figure 10 Another perspective view of the construction robot connector shown in the image;

[0039] Figure 14 yes Figure 10 A cross-sectional view of the construction robot connector shown;

[0040] Figure 15 yes Figure 10 The diagram shows the internal airflow path of the construction robot connector.

[0041] Figure 16 yes Figure 1 A perspective view of an embodiment of the intermediate connecting portion of the construction robot connector shown;

[0042] Figure 17 yes Figure 16 An exploded view of the middle connecting part of the construction robot connector shown in the diagram;

[0043] Figure 18 yes Figure 1 A perspective view of another embodiment of the intermediate connecting portion of the construction robot connector shown;

[0044] Figure 19 yes Figure 17 An exploded view of the middle connecting part of the construction robot connector shown.

[0045] Meaning of the reference numerals in the diagram:

[0046] 100. Assembly bracket; 101. First guide component; 102. First connecting assembly;

[0047] 200. Tool body; 201. Working head; 201a. Handle end; 201b. Cutting edge end;

[0048] 300. Robotic arm;

[0049] 400. Lifting device;

[0050] 500. Housing; 501. Frame; 502. Cover; 5021. First cover; 5022. Second cover; 5023. Third cover; 5024. Fourth cover; 503. First zone; 504. Second zone; 5041. Vacuum cleaner body; 505. First tool area; 506. Second tool area; 507. Partition; 5071. Partition guide groove; 5072. Partition guide; 509. Opening; 510. Hinge; 511. Piston strut; 512. Sealing gasket;

[0051] 600, Chassis;

[0052] 700. Traveling assembly; 701. Front traveling wheel; 702. Rear traveling wheel; 703. Track; 704. Auxiliary wheel; 705. Travel motor;

[0053] 800. Detection device; 801. Visual sensor; 802. Sensor bracket;

[0054] 900. Power supply unit;

[0055] 10. Dust collection device; 11. Dust collection component; 11a. Far end; 11b. Near end; 111. Annular ring;

[0056] 12. Connector; 121. First positioning part; 122. Second positioning part; 1221. Through hole; 1221a. Notch; 1222. Dust suction channel; 1223. Inner wall surface; 1224. Front guide surface; 1225. Rear partition surface; 1226. First air outlet; 1227. External connection part; 1228. Dust suction port;

[0057] 123. Intermediate connecting part; 1231. Opening; 1232. Switching part; 1233. Linkage accessory; 1233a. Socket part; 1233b. Linkage part; 1234. Sliding sleeve; 1234a. Sleeve part; 1234b. Protrusion;

[0058] 13. Dust collection hose; 14. Seal; 141. First sealing body; 142. Second sealing body; 14a. Annular fixing part; 14b. Brush body. [Detailed Implementation]

[0059] To make the technical solution and beneficial effects of this utility model more apparent and understandable, a detailed description is provided below by listing specific embodiments. Unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application pertains.

[0060] The terminology used in this invention is for the purpose of describing specific embodiments only and is not intended to limit the invention. For example, terms such as "upper," "lower," "front," and "rear," which indicate orientation or positional relationship, are based solely on the orientation or positional relationship shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description. They do not indicate or imply that the device referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0061] Please see Figures 1 to 3The illustration shows a construction robot according to one embodiment of this application. The construction robot can be designed to perform construction work on a construction site. It can be configured to perform construction work on ceilings, walls, and / or floors. It can also be designed to mark, drill, cut, chisel, grind, and / or set components. The construction robot may include a walking assembly 700, a chassis 600, a lifting device 400, a robotic arm 300, an assembly bracket 100, a tool body 200, a power supply device 900, and a control module.

[0062] The traveling assembly 700 includes traveling wheels and a traveling motor 705 that drives the traveling wheels. The traveling wheels include a front traveling wheel 701, a rear traveling wheel 702, a track 703 wound around the front traveling wheel 701 and the rear traveling wheel 702, and an auxiliary wheel 704 located between the front traveling wheel 701 and the rear traveling wheel 702 and capable of supporting the track 703. The traveling motor 705 drives one or both of the front traveling wheel 701 and the rear traveling wheel 702.

[0063] In some embodiments, the walking assembly 700 may also be a combination of a front walking wheel 701, a rear walking wheel 702 and a walking motor 705, with the walking motor 705 driving the front walking wheel 701 or the rear walking wheel 702.

[0064] A chassis 600 extends along a straight line. Front wheels 701 are connected to both sides of the front of the chassis 600, and rear wheels 702 are connected to both sides of the rear of the chassis 600. A drive motor 705 is disposed inside the chassis 600, and the drive motor 705 drives the front wheels 701 or the rear wheels 702 to move the chassis 600. In some embodiments, the chassis 600 has a rectangular structure, and its geometric center is located at the intersection of the diagonals.

[0065] The lifting device 400 is fixed on the chassis 600. The lifting device 400 is a servo electric cylinder, or it can be other lifting platforms.

[0066] The robotic arm 300 is fixed to the upper end of the lifting device 400 and can rise and fall along with the lifting device 400. In some embodiments, the robotic arm 300 can be a six-axis robotic arm, which can move at all angles around the lifting device 400. This allows the robotic arm 300 to be adjusted at all angles to perform operations at different positions.

[0067] The mounting bracket 100 is fixedly connected to the front end of the robotic arm 300 and can move along with the robotic arm 300.

[0068] The tool body 200 is mounted on the assembly bracket 100 and can perform related operations by moving with the assembly bracket 100. A working head 201 is provided at the front end of the tool body 200 for external operations, and the operation mode varies depending on the working head 201. The tool body 200 mainly holds the working head 201 through a chuck at its front end, and a switching element 1232 is also provided at the front end of the tool body 200. By operating the switching element 1232, the chuck can be tightened or loosened, thereby allowing the working head 201 to be clamped, removed, or its angle adjusted.

[0069] The power supply unit 900 is mounted on the chassis 600 and is used to provide a power source for the operation of the construction robot.

[0070] The control module is used to control the operation of the construction robot. In some embodiments, the control module is also described as a controller.

[0071] To facilitate a clear explanation of the specific content of this utility model's technical solution, the following definitions are made: the central axis of the working head 201 held at the front end of the tool body 200 and the direction parallel to it are defined as the axial direction; the radial direction of the circumference with the central axis of the working head 201 as the central axis is defined as the radial direction; the output direction of the working head 201 is defined as the front; and the direction opposite to the output direction of the working head 201 is defined as the rear.

[0072] like Figure 4 The construction robot of this application also includes a housing 500 mounted above the chassis 600. The housing 500 is a hollow box structure that is roughly rectangular. The interior of the housing 500 may include at least four functional storage areas: a first area 503, a second area 504, a first tool area 505, and a second tool area 506. Of course, the internal space of the housing 500 is not limited in number; its spatial division can be set according to actual needs. Among the above four functional storage areas, the first area 503 is at least configured to accommodate control components, such as a control handle, which is used to control the operation of the construction robot and is signal-connected to the control module. The second area 504 is at least configured to house a dust collection device, which is used to collect dust generated during the operation of the tool body. The second area 504 can also house a filter element for replacement of the filter element in the dust collection device. The first tool area is at least configured to store tools, such as an electric hammer. The second tool area is used to store tool accessories, such as dust covers, replacement drill bits (the actuator of the construction robot), other hand tools, tripods, and line markers. This arrangement allows each functional area to house its corresponding equipment, resulting in a rational and independent internal space layout that prevents interference between different areas and ensures the equipment is placed in an orderly and uncluttered manner. Furthermore, considering factors such as the convenience, safety, and space utilization of the construction robot in its usage scenarios, etc., Figure 4 ,5 The first area 503 and the second area 504 can be arranged on the front and rear sides of the box 500 (in the direction of travel of the construction robot), and the first tool area 505 and the second tool area 506 can be arranged on the left and right sides of the box 500 (horizontally perpendicular to the direction of travel of the construction robot).

[0073] In some embodiments, a partition 507 is provided inside the housing 500. The partition 507 is movable within the housing 500 and separates the first tool area 505 and the second tool area 506. The electric hammer, dust hood, replacement drill bits (the execution end of the construction robot), and other manual tools are located in the first tool area 505. The tripod and line marker are located in the second tool area 506. Specifically, the housing 500 is also fixedly equipped with a partition guide 5072. The partition 507 has a partition guide groove 5071, and part of the partition guide 5072 is located within the partition guide groove 5071. When the partition 507 moves within the housing 500, the partition guide groove 5071 and the partition guide 5072 guide and cooperate. By moving the partition 507 within the housing 500, space in the first tool area 505 is made available for the second tool area 506. Of course, the space in the second tool area 506 can also be made available for the first tool area 505 by moving the partition 507 to accommodate larger tools.

[0074] like Figure 4 The outer structure of the box 500 is composed of a roughly rectangular frame 501. The frame 501 is set above the chassis 600, and the frame 501 has an opening 509 on the front and rear sides and the left and right sides, respectively, which communicates with the first area 503, the second area 504, the first tool area 505, and the second tool area 506. The opening 509 is used to connect the above four functional storage areas with the external environment, thereby facilitating the storage or retrieval of items in the above four functional storage areas.

[0075] A cover 502 may be provided on the frame 501 to cover the aforementioned opening 509. For example... Figures 4-8 The cover 502 includes a first cover 5021 corresponding to the first area 503, a second cover 5022 corresponding to the second area 504, a third cover 5023 corresponding to the first tool area 505, and a fourth cover 5024 corresponding to the second tool area 506. Each of the four areas has one cover, and each cover covers its corresponding opening 509. When it is necessary to retrieve, place, or process functional equipment in a specific area, only the corresponding cover needs to be opened to open the corresponding opening 509; the openings 509 of other areas remain closed.

[0076] The cover 502 is hinged to the frame 501 via hinges 510. In this application, the hinge 510 includes two hinges that can rotate relative to each other about the same axis. One hinge is connected to the inner wall of the opening 509, and the other hinge is connected to the side wall of the cover 502. This embedded hinge structure avoids the hinge 510 being exposed and affecting the appearance of the construction robot. Furthermore, to ensure that the cover 502 naturally covers the opening 509, the upper side of the cover 502 is hinged to the frame 501, while the lower side is free. Operating the cover 502 allows it to rotate around the upper hinge point, thus enabling it to be opened or closed like a flip-up door. This arrangement ensures that the cover 502 always tends to cover the opening 509 under its own weight. In this application, the length and number of hinges 510 can be adjusted according to the size and weight of the cover 502.

[0077] A piston rod 511 can be provided between the cover 502 and the housing 500 to support the cover 502 so that it can remain open for a long time. One end of the piston rod 511 abuts against the lower part of the housing 500, and the other end abuts against the inner wall of the cover 502. When the cover 502 is in the open state, the piston rod 511 can provide a component force to counteract the weight of the cover 502, so that the cover 502 can remain open. Furthermore, the length and support angle of the piston rod 511 can be adjusted according to the different opening degrees of the cover 502 (i.e., the different angles formed between the cover 502 and the housing 500), thereby ensuring that the cover 502 has multiple open positions.

[0078] A sealing gasket 512 may be provided between the cover 502 and the housing 500. This gasket fills the gap between the cover 502 and the housing 500 when the cover 502 is closed, preventing dust from entering the housing 500 and avoiding noise caused by direct impact when the cover 502 is closed. The sealing gasket 512 may be made of an elastic material and may be glued or otherwise fixed to the outer wall of the housing 500 and surround the opening 509. When the cover 502 is closed, it presses against the sealing gasket 512, filling the gap between the cover 502 and the housing 500. Alternatively, the sealing gasket 512 may be fixed to the inner wall of the cover 502. When the cover 502 is closed, the sealing gasket 512 is pressed against the housing 500 and surrounds the opening 509. The sealing gasket 512 may be annular or composed of multiple separate parts combined into a ring to surround the opening 509.

[0079] like Figure 10In the construction robot of this application, the tool body 200 is connected to the robotic arm 300 via an assembly bracket 100, and the robotic arm 300 delivers the tool body 200 to the construction area for construction. The tool body 200 may be a drilling tool, chisel, cutting tool, sawing tool, installation tool (e.g., for installing connecting elements such as screws or nails), grinding tool, or marking tool (e.g., a nozzle), and / or includes such tools. These tools inevitably generate dust during construction; therefore, a dust collection device 10 connected to a vacuum source can be selectively used to collect the dust and debris generated by the tool body 200 during construction.

[0080] like Figure 10 In this application, the construction robot includes a dust collection device 10 for collecting dust and debris generated by the tool body 200 during construction. The dust collection device 10 includes a vacuum source (vacuum cleaner body 5041) placed inside the aforementioned housing 500, a dust collection component 11 disposed at the front end of the tool body 200, a connector 12 for connecting the dust collection component 11 to the assembly bracket 100, and a dust collection hose 13 for connecting the vacuum cleaner body 5041 and the dust collection component 11.

[0081] The dust collection component 11 can be a ring-shaped cover structure with openings at both the front and rear ends. It houses the working head 201 portion clamped at the front end of the tool body 200. After the vacuum cleaner body 5041 is activated, the dust collection component 11 can generate suction in the area around the working head 201, thereby collecting the dust and debris generated during construction through the dust collection hose 13 into the vacuum cleaner body 5041. The connecting component 12 is located between the dust collection component 11 and the mounting bracket 100, and its front end is detachably connected to the dust collection component 11, and its rear end is detachably connected to the mounting bracket 100. This arrangement allows the dust collection component 11 to be positioned at the front end of the tool body 200.

[0082] like Figure 10 , Figure 11 In this application, the construction robot also includes a detection device 800 positioned towards the working head 201, used to collect environmental data features at the front end of the tool body 200 in order to control the drilling robot based on the collected data. The detection device 800 includes a sensor bracket 802 that can be fixed to the front end of the mounting bracket 100 with fasteners, and a vision sensor 801 mounted on the sensor bracket 802. The vision sensor 801 can detect the working environment at the front end of the tool body 200. The vision sensor 801 can be specifically implemented as one or more of a monocular camera, a tricular camera, an ultrasonic sensor, a lidar, a millimeter-wave radar, an infrared night vision device, a thermal imager, and a microwave radar. Of course, the vision sensor 801 is not limited to the above types and can also be other devices capable of collecting environmental information data, which are not listed here.

[0083] The aforementioned assembly bracket 100 has a second connecting component 103 located at the front end. The second connecting component 103 mainly consists of two bow-shaped parts and is sleeved on the outer periphery of the tool body 200. The second connecting component 103 is not directly fixed to the tool body 200, and a certain relative displacement can occur between them. The aforementioned detection device 800 and dust collection device 10 are located at the front end of the second connecting component 103, and the three can be fastened together by bolts. The assembly bracket 100 has a first guide member 101 extending from the rear end of the tool body 200 toward the working head 201. The first guide member 101 is specifically implemented as two horizontal bars along the axial direction. The second connecting component 103, sensor bracket 802, and connector 12 are all provided with mounting holes, and several mounting holes allow the first guide member 101 to pass through. A fastening nut is threaded to the front end of the first guide member 101. Tightening the fastening nut can fix the second connecting component 103, sensor bracket 802, and connector 12 to the first guide member 101.

[0084] Since both the detection device 800 and the aforementioned dust collection device 10 are located at the front end of the tool body 200, and the dust collection device 10 needs to abut against the wall surface to be constructed to collect dust and debris around the working head 201, while the detection device 800 only needs to be positioned towards the working head 201, the dust collection device 10 is at least partially located at the front end of the detection device 800 along the working direction (the direction of the central axis of the working head 201). The detection device 800 can be located at the rear end of the dust collection device 10, but the relative positional relationship between the two is not limited to this. The detection device 800 can also be positioned on the outer periphery of the dust collection device 10 via a forward-extending sensor bracket 802, so that the projections of the two in the axial direction partially or completely overlap. With this arrangement, at least a portion of the dust collection device 10 is located at the front end of the detection device 800.

[0085] like Figure 11In this application, the detection device 800 is mounted on the outer periphery of the second connecting assembly 103 via a sensor bracket 802 extending approximately radially. Using the sensor bracket 802 to mount the detection device 800 facilitates its disassembly and replacement, and also allows the vision sensor 801 to be positioned radially outside the dust collection component 11, preventing excessive obstruction of the vision sensor 801 by the dust collection component 11. The vision sensor 801 is mounted on the tool body 200 via the sensor bracket 802, and has a vertical distance X between it and the central axis of the working head 201, satisfying 0.01m ≤ X ≤ 0.5m. Since the sensor bracket 802 has at least a radially extending portion, the vertical distance X must be greater than 0. Furthermore, the detection device 800 is located on the outer periphery of the outer shell of the tool body 200. Considering the diameter of the rotating shaft inside the tool body 200 and the thickness of the outer shell, the vertical distance X is at least 0.01m. Furthermore, the vertical distance X should not be too large, otherwise the overall height of the construction robot will be too large, limiting its application scenarios. For example, the drilling robot will not be able to enter some small elevators, and it will also be unable to perform construction in some corner areas. Additionally, if the vertical distance X is too large, the detection device 800 of the construction robot is prone to collisions with obstacles and damage during movement. Therefore, based on the actual application scenario, the maximum value of the vertical distance X should be 0.5m.

[0086] Furthermore, the dust collection component 11 is mounted to the front end of the second connecting assembly 103 via a connector 12 extending approximately axially. Therefore, in the axial direction, the dust collection component 11 is positioned at the front end of the detection device 800. In the construction robot of this application, to avoid the dust collection component 11 excessively obstructing the collection range of the detection device 800, the external contour of the dust collection component 11 needs to be limited. Spatially, the dust collection component 11 can be divided into a distal end 11a away from the detection device 800 along the working direction and a proximal end 11b adjacent to the detection device 800, wherein the cross-sectional contour of the distal end 11a is set to be smaller than that of the proximal end 11b. In this application, the dust collection component 11 can be specifically implemented as a conical cover structure with openings at both the front and rear ends, and the diameter of its distal end 11a is smaller than the diameter of its proximal end 11b. Of course, the dust collection component 11 can also be implemented as a square pyramidal cover structure or a triangular pyramidal cover structure with openings at both the front and rear ends. In addition, the dust collection component 11 can also be implemented as a stepped cover structure with openings at both the front and rear ends. Any cover structure in this application that has its far end 11a's cross-section enclosed by the near end 11b's cross-section profile when the cross-section of the dust collection component 11 is cut in a direction perpendicular to the central axis of the working head can be used as an implementation of the dust collection component 11.

[0087] like Figure 11In this application, the dust collection component 11 is specifically implemented as a conical cover with openings at both the front and rear ends. It is a corrugated tube made of rubber or other elastic materials. The dust collection component 11 can extend and retract along the working direction to match the travel depth of the working head 201 (i.e., as the drilling depth of the working head 201 increases, the length of the dust collection component 11 gradually decreases). The length extension direction of the outer peripheral wall of the dust collection component 11 forms an angle α with the central axis of the working head 201. Considering the appropriate diameter of the front opening of the dust collection component 11 and minimizing the obstruction of the field of view of the vision sensor 801 by the dust collection component 11, the angle α must be ≥ 5°. The length of the dust collection component 11 is generally 160 mm, and the diameter of the near end 11b is generally 85 mm. In this application, when the angle α is 4°, the diameter of the far end 11a of the dust collection component 11 is approximately 73.81 mm, which is only 11.19 mm smaller than the diameter of the near end 11b. It still obstructs the field of view of the vision sensor 801 to a considerable extent. When the included angle α is 5°, the diameter of the far end 11a of the dust collection component 11 is about 71 mm, which is 14 mm smaller than the diameter of the near end 11b. This will not obstruct the field of view of the vision sensor 801 too much, nor will it affect the dust collection effect due to the small coverage area.

[0088] The distal end 11a of the dust collection component 11 may also be equipped with an annular ring 111 made of a rigid material for abutting against the wall surface to prevent the dust collection component 11 from being worn due to direct contact with the wall surface. The front end face of the annular ring 111 has multiple spaced protrusions, which allows gaps to remain between adjacent protrusions and the wall surface when the annular ring 111 abuts against the wall surface, allowing dust and debris to enter the internal cavity of the dust collection component 11 for easy collection.

[0089] like Figure 11 In this application, along the working direction, the connector 12 can be divided into a first positioning part 121, an intermediate connecting part 123, and a second positioning part 122. The three parts can be injection molded into one piece, or they can be formed into one piece by welding or fastening. The three parts can also be detachably connected. In short, any structural component intended to connect the dust collection part 11 to the assembly bracket 100 can be used as an embodiment of the connector 12 in this application.

[0090] In this application, the connector 12 is integrally injection molded from metal. The first positioning part 121 can be specifically implemented as an annular plate with a large central hole in its middle portion to allow the front end of the tool body 200 to pass through. Two small mounting holes are also formed on the first positioning part 121, allowing the front end of the aforementioned first guide member 101 to pass through. A nut is threaded onto the front end of the first guide member 101, which can then be fixedly connected to the mounting bracket 100.

[0091] The second positioning part 122 is located at the front end of the first positioning part 121. Specifically, the second positioning part 122 can be a cylinder with openings at both ends and a cavity, its outer periphery being an annular wall. The inner wall of the rear end of the dust collector 11 is fitted onto this annular wall, and a clamp is fitted onto the outer wall of the rear end of the dust collector 11. The circumference of the clamp is adjustable. When the dust collector 11 is fitted onto the outer periphery of the second positioning part 122, shortening the circumference of the clamp can fix the dust collector 11 to the second positioning part 122. The middle portion of the second positioning part 122 has a relatively small through hole 1221 to allow the working head 201 to pass through.

[0092] An annular suction channel 1222 is also formed inside the second positioning part 122, and the suction channel 1222 surrounds the aforementioned through hole 1221. The suction channel 1222 is surrounded by the inner wall surface 1223 of the second positioning part 122, the front guide surface 1224 formed in the inner cavity of the second positioning part 122, and the rear baffle surface 1225. Figure 12 The front guide surface 1224 extends inwardly from the front end of the second positioning part 122 towards the rear end, forming a roughly conical surface with openings at both ends. An annular gap exists between the rear opening and the dust collection channel 1222, which serves as the first air vent 1226, connecting the dust collection channel 1222 and the internal cavity of the dust collector 11. The rear baffle surface 1225 is located at the rear end of the front guide surface 1224, extending radially inward from the inner wall surface 1223 of the second positioning part 122. The through hole 1221 is formed in the middle of the rear baffle surface 1225. When the dust collector 11 is snapped and fixed to the outer periphery of the second positioning part 122, the dust collection channel 1222 is located within the internal cavity of the dust collector 11. Dust and debris collected by the dust collector 11 enter the dust collection channel 1222 through the first air vent 1226.

[0093] A sealing element 14 is provided in the through hole 1221 formed in the aforementioned rear partition surface 1225. It extends radially inward from the inner wall of the through hole 1221 and abuts against the outer periphery of the working head 201, thus isolating the front end area of ​​the sealing element 14 from the rear end area and preventing dust and debris from the front end area from entering the rear end area. Figure 14The sealing element 14 consists of two disc-shaped structures, a first sealing body 141 and a second sealing body 142, arranged side by side, with the first sealing body 141 located at the rear end of the second sealing body 142. Both sealing bodies are brushes with identical structures, each including an annular fixing member 14a and a brush body 14b arranged circumferentially on the inner wall of the annular fixing member 14a. The annular fixing member 14a can be engaged with the inner wall of the through hole 1221 by a claw forming the through hole 1221, while the brush body 14b extends radially inward and abuts against the outer periphery of the working head 201. With this arrangement, after the sealing element 14 is combined with the partition surface 1225 and the working head 201, the front area of ​​the sealing element 14 is isolated from the rear area, preventing dust and debris from entering one side of the tool body 200 through the connecting member 12, and facilitating the collection of dust and debris by the dust collection device 10. The working head 201, structurally and functionally, can be divided into a handle end 201a with a smooth outer peripheral surface and a cutting edge end 201b extending axially forward from the handle end 201a. The handle end 201a is used to insert into the front end of the tool body 200, and the cutting edge of the cutting edge end 201b is used for working on walls. The brush body 14b abuts against the outer peripheral surface of the handle end 201a. Its smooth outer peripheral surface can reduce wear on the brush body 14b, thereby extending the service life of the two sealing bodies.

[0094] A notch 1221a is also formed on the side wall of the aforementioned through hole 1221. The notch 1221a allows the aforementioned dust suction channel 1222 to communicate with the radially outer regions of the first sealing body 141 and the second sealing body 142, thereby creating a negative pressure on the upper surface of the first sealing body 141. This reduces the possibility that dust will continue to pass through the first sealing body 141 after passing through the second sealing body 142, while simultaneously removing a small amount of dust that has passed through the second sealing body 142.

[0095] An external connection 1227 is also formed on the outer wall of the second positioning part 122, extending outward for connection with the dust collection hose 13. The external connection 1227 has a tubular structure, with its front end communicating with the dust suction channel 1222 inside the second positioning part 122, and its rear end communicating with the dust collection hose 13. The external connection 1227 can be integrally formed with the second positioning part 122, or it can be welded or bonded together. The rear end of the external connection 1227 can also be flared to facilitate connection with the dust collection hose 13. A connecting rib can also be provided between the external connection 1227 and the first positioning part 121 to improve the stability of the connection between the external connection 1227 and the connector 12.

[0096] An axially extending dust suction port 1228 is also formed on the outer wall of the second positioning part 122, connecting the area in front of the front guide surface 1224 with the dust suction channel 1222. This allows dust and debris to be less likely to be sucked into the dust suction channel 1222 during horizontal drilling, instead accumulating on the lower side due to gravity. At this time, the dust suction port 1228 is positioned on the lower side, facilitating the removal of accumulated dust and debris and preventing excessive dust accumulation from causing the dust collection part 11 to sag or fold poorly. Figure 15 When the dust collection device 10 is working, it can roughly form four airflow paths: the first airflow path enters from the front end of the dust collection component 11 and passes through the second sealing body 142, then flows radially outward through the gap between the first sealing body 141 and the second sealing body 142, and finally enters the outer part 1227 through the notch 1221a; the second airflow path enters from the rear end of the first sealing body 141 and passes through the first sealing body 141, then flows radially outward through the gap between the first sealing body 141 and the second sealing body 142, and finally enters the outer part 1227 through the notch 1221a; the third airflow path enters from the front end of the dust collection component 11 and enters the dust suction channel 1222 through the first air outlet 1226, and then enters the outer part 1227; the fourth airflow path enters from the front end of the dust collection component 11 and enters the outer part 1227 through the dust suction port 1228. The arrangement of such multiple airflow paths can improve the dust collection effect of the dust collection device 10 and avoid the accumulation of dust and debris.

[0097] The aforementioned notch 1221a creates a negative pressure between the gap between the first sealing body 141 and the second sealing body 142. This negative pressure creates a first airflow path, preventing dust and debris from passing through the second sealing body 142 and then continuing through the first sealing body 141. It also creates a second airflow path, further preventing dust and debris from passing through the first sealing body 141 and accelerating the airflow to replenish the air entering the second positioning part 122, thus preventing blockage inside the dust collection component 11. In the aforementioned third airflow path, since the external connection part 1227 is located at the rear end of the suction channel 1222, dust and debris entering from the front end of the dust collection component 11 follow a forward-to-back path into the external connection part 1227 without bending, thus preventing dust and debris from accumulating at bends. The main function of the fourth airflow path is that when the tool is drilling horizontally, dust and debris are not easily drawn into the dust collection channel 1222 by gravity through the front guide surface 1224. Instead, they tend to accumulate on the lower side of the dust collection component 11. The dust collection port 1228 is located on the lower side, which facilitates the removal of the accumulated dust and debris and allows it to enter the outer part 1227 through the dust collection port 1228. This avoids the dust collection component 11 from sagging or folding poorly due to excessive accumulation of dust and debris.

[0098] The intermediate connecting part 123 extends forward from the front end of the first positioning part 121 along the working direction to the rear end of the second positioning part 122. Its function is to connect the first positioning part 121 and the second positioning part 122 so that the dust collection device 10 can be installed on the mounting bracket 100.

[0099] like Figure 11 This is the first specific embodiment of the intermediate connecting part 123 of this application. The intermediate connecting part 123 includes three arms spaced apart and extending along the working direction. Both ends of each arm are fixedly connected to the first positioning part 121 and the second positioning part 122, respectively. An opening 1231 is formed between two adjacent arms, and the size of the opening 1231 is sufficient to allow the operator's fingers to pass through and operate the switching member 1232. After the fingers are inserted into the opening 1231, they can push the switching member 1232 to move axially or rotate circumferentially to release the chuck, thereby removing, clamping, or adjusting the angle of the working head 201.

[0100] like Figure 16 , Figure 17 This is a second specific embodiment of the intermediate connecting part 123 of this application. The intermediate connecting part is a tubular structure extending along the working direction. An opening 1231 is formed on the peripheral wall of the tubular structure, and the size of the opening 1231 is small, insufficient to allow the operator's fingers to pass through. For this reason, a linkage attachment 1233 is provided on the outer periphery of the intermediate connecting part 123. The linkage attachment 1233 includes a sleeve part 1233a located on the outer periphery of the tubular structure, and a linkage part 1233b extending from the sleeve part 1233a toward the switching member 1232 and passing through the opening 1231. The linkage part 1233b is linked with the switching member 1232. With this configuration, the operator can operate the linkage attachment 1233 from outside the intermediate connecting part 123, or the linkage attachment 1233 can be driven by other mechanical components, thereby pushing the switching member 1232 to move axially or rotate circumferentially under the action of the linkage part 1233b, so as to release the chuck, thereby removing, clamping, or adjusting the angle of the working head 201.

[0101] like Figure 18 , Figure 19This is the third specific embodiment of the intermediate connecting portion 123 of this application. The intermediate connecting portion is a tubular structure extending along the working direction. An opening 1231 is formed on the peripheral wall of the tubular structure, and the size of the opening 1231 is small, insufficient to allow the operator's fingers to pass through. For this reason, a sliding sleeve 1234 is provided on the outer periphery of the intermediate connecting portion 123. The sliding sleeve 1234 includes a sleeve portion 1234a that can be fitted onto the outer periphery of the tubular structure and cover the opening 1231, and a protrusion 1234b that extends from the inner wall of the sleeve portion 1234a toward the switching member 1232 and passes through the opening 1231. The protrusion 1234b is linked with the switching member 1232. Alternatively, the protrusion 1234b can be integrally formed with the sleeve portion 1234a, or the protrusion 1234b can be first assembled to the opening 1231 and then fixedly connected to the sleeve portion 1234a. With this configuration, the operator can operate the sliding sleeve 1234 from the outside of the intermediate connecting part 123, or the sliding sleeve 1234 can be driven by other mechanical components, thereby pushing the switching member 1232 to move axially or rotate circumferentially under the action of the protrusion 1234b, so that the chuck can be released, thereby removing or clamping or adjusting the angle of the aforementioned working head 201.

[0102] It should be understood that the above embodiments are exemplary and are not intended to encompass all possible implementations included in the claims. Various modifications and changes can be made to the above embodiments without departing from the scope of this disclosure. Similarly, the various technical features of the above embodiments can be arbitrarily combined to form other embodiments of this utility model that may not be explicitly described. Therefore, the above embodiments only illustrate several implementations of this utility model and do not limit the scope of protection of this utility model patent.

Claims

1. A construction robot, characterized in that, include: A walking component, configured to support the walking of the construction robot; The chassis is mounted on the walking assembly and is capable of moving with the walking assembly; The housing is located on the chassis and has an internal cavity structure. A lifting device is installed on the chassis and is capable of moving up and down on the chassis; A robotic arm is mounted on the lifting device, which is capable of lifting the robotic arm up and down and can move at all angles around the lifting device. The tool body is mounted on the robotic arm and can move with the robotic arm to the working position. The tool body is equipped with a working head for external operation. The cavity inside the box can be divided into at least three functional storage areas, and each functional storage area is provided with a cover that can be opened or closed. Operating the cover can connect or isolate the functional storage area from the external environment.

2. The construction robot according to claim 1, characterized in that: The enclosure includes a frame connected to the chassis, the frame having openings that correspond one-to-one with the functional storage areas, and the openings can be opened or closed by operating the cover.

3. The construction robot according to claim 2, characterized in that: One side of the cover is hinged to the frame, and the other side is a free side. Operating the cover allows it to be rotated around the axis at the hinge.

4. The construction robot according to claim 3, characterized in that: The cover is hinged to the frame via an embedded hinge, the hinge comprising two hinges that can rotate relative to each other, one hinge being connected to an opening in the frame and the other hinge being connected to a side wall of the cover.

5. The construction robot according to claim 3, characterized in that: The construction robot also includes a piston strut, one end of which is connected to the housing and the other end is supported by the cover.

6. The construction robot according to claim 3, characterized in that: The construction robot also includes a sealing gasket disposed between the housing and the cover. When the cover is operated to close, the inner wall of the cover presses against the sealing gasket to fill the gap between the cover and the frame.

7. The construction robot according to claim 1, characterized in that: The box has four functional storage areas inside, namely a first area, a second area, a first tool area, and a second tool area that are arranged opposite to each other. The first area is used to store control components, the second area is used to store vacuum cleaners, the first tool area is used to store tools, and the second tool area is used to store tool accessories.

8. The construction robot according to claim 7, characterized in that: The construction robot also includes a partition in a cavity inside the housing, the partition being movably inserted between the first tool area and the second tool area.

9. The construction robot according to claim 1, characterized in that: The construction robot also includes an energy storage device for outputting working electrical energy, which is detachably installed at the bottom of the housing.

10. The construction robot according to claim 9, characterized in that: The walking assembly is a tracked chain structure, which includes two parallel tracks, and the energy storage device is disposed between the two tracks.

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