Construction robot and electric tool
By designing multi-stage lifting and connecting components, the problems of insufficient accuracy and safety hazards of construction tools operating on the top of buildings are solved, and the height expansion and stability improvement of construction robots are realized.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- JIANGSU DONGCHENG TOOLS TECH CO LTD
- Filing Date
- 2025-03-31
- Publication Date
- 2026-05-12
AI Technical Summary
Existing construction tools require workers to climb to the top of buildings, resulting in insufficient accuracy and safety hazards. Furthermore, the lifting device of a single electric lifting cylinder cannot meet the lifting requirements of most construction projects.
A multi-stage lifting assembly is adopted, including a first-stage and a second-stage lifting assembly, which are rigidly connected by connecting components to achieve multi-stage lifting of the robotic arm, thereby enhancing the working height and stability of the construction robot.
This has increased the operating height and applicability of construction robots, enhanced their stability, and reduced safety hazards.
Smart Images
Figure CN224223897U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of electromechanical technology, and in particular to a construction robot and power tool. Background Technology
[0002] In construction projects, work often needs to be done on the rooftops. Existing construction tools require workers to climb to heights or use makeshift tools for high-altitude operations, resulting in insufficient precision to meet construction requirements and increasing the risk of safety accidents.
[0003] Therefore, in order to facilitate rooftop operations or other high-altitude operations during construction, construction robots are usually equipped with lifting devices to raise the robotic arm to the required working height.
[0004] However, lifting devices using a single lifting cylinder have the problem of insufficient lifting height. In many construction scenarios, the required construction height is greater than the maximum lifting height of the lifting device, which makes it impossible for the construction robot to meet the height requirements of the construction. Utility Model Content
[0005] In view of this, this application provides a construction robot and power tool, which can increase the working height and range of the construction robot by setting up a multi-stage lifting component, thereby increasing the applicability of the construction robot.
[0006] In a first aspect, embodiments of this application provide a construction robot, the 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] A lifting device is installed on the chassis and is capable of lifting and lowering on the chassis. The lifting device includes: a first-stage lifting component, a second-stage lifting component, and a connecting component. The top end of the liftable part of the first-stage lifting component is rigidly connected to the bottom of the second-stage lifting component through the connecting component. The first-stage lifting component can drive the movement of the second-stage lifting component.
[0010] A robotic arm is mounted on the lifting device, which is capable of lifting the robotic arm up and down and allows the robotic arm to move at all angles around the lifting device.
[0011] The tool body is capable of moving forward and backward under the drive of the robotic arm, and the tool body is used to perform work tasks.
[0012] In some embodiments, the first-stage lifting assembly and the second-stage lifting assembly may be configured as lifting electric cylinders, wherein the number of lifting electric cylinders in the first-stage lifting assembly is greater than the number of lifting electric cylinders in the second-stage lifting assembly.
[0013] In some embodiments, the first-stage lifting assembly includes a first lifting electric cylinder and a second lifting electric cylinder, and the second-stage lifting assembly includes a third lifting electric cylinder.
[0014] In some embodiments, the first lifting cylinder, the second lifting cylinder, and the third lifting cylinder are each powered by a corresponding drive motor.
[0015] In some embodiments, the connecting assembly may be configured as a sunken tray having a U-shaped groove, and the bottom of the third lifting electric cylinder is rigidly connected to the bottom of the U-shaped groove.
[0016] The upper end of the U-shaped groove is provided with a first connecting part and a second connecting part on both sides respectively. The first connecting part is rigidly connected to the top of the lifting part of the first lifting electric cylinder, and the second connecting part is rigidly connected to the top of the lifting part of the second lifting electric cylinder.
[0017] In some embodiments, when the first lifting cylinder and the second lifting cylinder are in an unlifted state, the base of the third lifting cylinder is almost at the same horizontal plane as the bases of the first lifting cylinder and the second lifting cylinder.
[0018] In some embodiments, the projections of the first lifting electric cylinder, the third lifting electric cylinder, and the second lifting electric cylinder on the horizontal plane are arranged sequentially along the same straight line.
[0019] In some embodiments, when the lifting device performs an upward operation, if the target working height is greater than the lifting limit height of the first-stage lifting component, the first-stage lifting component is first controlled to rise to the limit height, and then the second-stage lifting component is controlled to rise to the target working height.
[0020] If the target working height is less than or equal to the lifting limit height of the first-stage lifting component, then the second-stage lifting component is directly controlled to rise to the target working height.
[0021] In some embodiments, when the lifting device performs a lowering operation, it first controls the second-stage lifting assembly to lower to the lowest height, and then controls the first-stage lifting assembly to lower to the target working height.
[0022] In some embodiments, when the lifting device is performing lifting operations, the first-stage lifting assembly and the second-stage lifting assembly can be controlled to rise or fall synchronously to the target working height.
[0023] Secondly, embodiments of this application provide a construction robot, the construction robot comprising:
[0024] Chassis, used to support the lifting device;
[0025] A lifting device is installed on the chassis and is capable of lifting and lowering on the chassis. The lifting device includes: a first-stage lifting component, a second-stage lifting component, and a connecting component. The top end of the liftable part of the first-stage lifting component is rigidly connected to the bottom of the second-stage lifting component through the connecting component. The first-stage lifting component can drive the movement of the second-stage lifting component.
[0026] A robotic arm is mounted on the lifting device, which is capable of lifting the robotic arm up and down and allows the robotic arm to move at all angles around the lifting device.
[0027] Thirdly, embodiments of this application provide a power tool, the power tool comprising:
[0028] A lifting device, comprising a lifting mechanism and a limiting mechanism, wherein the lifting mechanism comprises a first-stage lifting component, a second-stage lifting component, and a connecting component, wherein the top end of the liftable portion of the first-stage lifting component is rigidly connected to the bottom end of the second-stage lifting component via the connecting component, and the first-stage lifting component can drive the movement of the second-stage lifting component; the limiting mechanism is disposed on the outer periphery of the lifting mechanism and can limit the non-lifting movement of the lifting mechanism.
[0029] A robotic arm is mounted on the lifting device, which is capable of lifting the robotic arm up and down and allows the robotic arm to move at all angles around the lifting device.
[0030] The tool body is capable of moving forward and backward under the drive of the robotic arm, and the tool body is used to perform work tasks.
[0031] This application provides a construction robot and a power tool. The construction robot includes: a walking assembly configured to support the robot's movement; a chassis disposed on the walking assembly and capable of moving with it; a lifting device disposed on the chassis and capable of lifting and lowering on the chassis, the lifting device including: a first-stage lifting assembly, a second-stage lifting assembly, and a connecting assembly, wherein the top of the liftable portion of the first-stage lifting assembly is rigidly connected to the bottom of the second-stage lifting assembly via the connecting assembly, and the first-stage lifting assembly can drive the movement of the second-stage lifting assembly; a robotic arm disposed on the lifting device, the lifting device capable of driving the robotic arm to lift and lower, and the robotic arm capable of moving at all angles around the lifting device; and a tool body capable of moving forward and backward under the drive of the robotic arm, the tool body being used to perform work tasks. This application, by setting up multi-stage lifting assemblies, can increase the working height and range of the construction robot, expanding its applicability; and by using the connecting assembly to rigidly connect the top of the first-stage lifting assembly to the bottom of the second-stage lifting assembly, the stability of the construction robot is ensured while increasing its working height. Attached Figure Description
[0032] Figure 1 This is a schematic diagram of the structure of a construction robot according to an embodiment of this application;
[0033] Figure 2 This is a structural schematic diagram of an assembly bracket, tool body, and robotic arm of a construction robot according to an embodiment of this application.
[0034] Figure 3 This is a schematic diagram of the initial state of the lifting device of a construction robot according to an embodiment of this application;
[0035] Figure 4 This is a cross-sectional view of the initial state of the lifting device of a construction robot according to an embodiment of this application.
[0036] Figure 5 This is a schematic diagram of the lifting device of a construction robot in a raised state according to an embodiment of this application.
[0037] Figure 6 This is a cross-sectional view of the lifting device of a construction robot in an elevated state according to an embodiment of this application;
[0038] Figure 7 This is a schematic diagram of the lifting device of a construction robot in its highest state according to an embodiment of this application.
[0039] Figure 8 This is a cross-sectional view of the lifting device of a construction robot in its highest state, according to an embodiment of this application.
[0040] The attached diagram is labeled as follows:
[0041] Assembly bracket 100, tool body 200, robotic arm 300, lifting device 400, box 500, chassis 600, walking component 700, lifting motor 401, first-stage lifting component 406, second-stage lifting component 407, connecting component 408, U-shaped groove 4081, first connecting part 4082, second connecting part 4083, front walking wheel 701, rear walking wheel 702, track 703, auxiliary wheel 704. Detailed Implementation
[0042] To make the technical solution and beneficial effects of this application more apparent and understandable, a detailed description is provided below by listing specific embodiments. The accompanying drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features; 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.
[0043] This disclosure is not exhaustive, but merely illustrative of some embodiments, and is not intended to limit the scope of protection of this disclosure. Unless otherwise specified, each step in a particular embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a particular embodiment can also be implemented as an independent embodiment, and the order of the steps in a particular embodiment can be arbitrarily interchanged. Furthermore, the optional implementation methods in a particular embodiment can be arbitrarily combined; moreover, the embodiments can be arbitrarily combined, for example, some or all steps of different embodiments can be arbitrarily combined, and a particular embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.
[0044] In each of the disclosed embodiments, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of the embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.
[0045] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the scope of this disclosure.
[0046] In this disclosure, unless otherwise stated, elements expressed in the singular form, such as "a," "an," "the," "the," "the," "the," "the," "the," "this," etc., can mean "one and only one," or "one or more," "at least one," etc. For example, when using articles such as "a," "an," "the," etc. in translation, the noun following the article can be understood as either a singular or a plural expression.
[0047] In the embodiments disclosed herein, "multiple" refers to two or more.
[0048] In some embodiments, the terms “at least one of”, “one or more”, “a plurality of”, “multiple”, etc., may be used interchangeably.
[0049] The prefixes "first," "second," etc., used in the embodiments of this disclosure are merely for distinguishing different descriptive objects and do not impose restrictions on the position, order, priority, value, or content of the descriptive objects. The description of the descriptive objects should be found in the claims or the context of the embodiments, and the use of prefixes should not constitute unnecessary restrictions. For example, if the descriptive object is a "field," the ordinal numbers preceding "field" in "first field" and "second field" do not restrict the position or order of the "fields." "First" and "second" do not restrict whether the "fields" they modify are in the same message, nor do they restrict the order of "first field" and "second field." Similarly, if the descriptive object is a "level," the ordinal numbers preceding "level" in "first level" and "second level" do not restrict the priority between "levels." Furthermore, the value of the descriptive object is not limited by ordinal numbers and can be one or more. For example, in "first device," the value of "device" can be one or more. Furthermore, the objects modified by different prefixes can be the same or different. For example, if the object being described is "device", then "first device" and "second device" can be the same device or different devices, and their types can be the same or different. Similarly, if the object being described is "information", then "first information" and "second information" can be the same information or different information, and their content can be the same or different.
[0050] In some embodiments, terms such as “…”, “determine…”, “in the case of…”, “when…”, “when…”, “if…”, etc. can be used interchangeably.
[0051] In some embodiments, the terms “greater than,” “greater than or equal to,” “not less than,” “more than,” “more than or equal to,” “not less than,” “higher than,” “higher than or equal to,” “not lower than,” and “above” can be used interchangeably, as can the terms “less than,” “less than or equal to,” “not greater than,” “less than,” “less than or equal to,” “not more than,” “lower than,” “lower than or equal to,” “not higher than,” and “below”.
[0052] Furthermore, each element, each row, or each column in the embodiments of this disclosure can be implemented as an independent embodiment, and any combination of any element, any row, or any column can also be implemented as an independent embodiment.
[0053] Example 1:
[0054] In one possible implementation, such as Figure 1 and Figure 2 As shown, the construction robot includes:
[0055] The system includes 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 (not shown in the attached drawings), and a control module.
[0056] In one possible implementation, the traveling assembly 700 includes traveling wheels and a traveling motor (not shown in the figures) 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 drives one or both of the front traveling wheel 701 and the rear traveling wheel 702.
[0057] 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, with the walking motor driving the front walking wheel 701 or the rear walking wheel 702.
[0058] In one possible implementation, the chassis 600 extends along a straight line, with front wheels 701 connected to both sides of the front of the chassis 600 and rear wheels 702 connected to both sides of the rear of the chassis 600. A drive motor is located inside the chassis 600, and the drive motor drives either the front wheels 701 or the rear wheels 702 to move the chassis 600.
[0059] In some embodiments, the chassis 600 has a rectangular structure with its geometric center located at the intersection of the diagonals.
[0060] In one possible implementation, a housing 500 is also provided above the chassis 600. The housing 500 consists of a frame and a cover covering the frame, and the interior of the housing 500 forms an accommodating space.
[0061] In one possible implementation, the housing 500 has space inside to accommodate 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 housing 500 and protrudes from the top of the housing 500. The part protruding above the robotic arm 300 includes a lifting end, which is capable of lifting and connecting to the robotic arm 300.
[0062] In some embodiments, the lifting device 400 may be configured as a servo electric cylinder or as other lifting platforms.
[0063] In one possible implementation, 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.
[0064] In some embodiments, the robotic arm 300 can be configured as a six-axis robotic arm capable of moving at all angles around the lifting device 400. This allows the robotic arm 300 to be adjusted at all angles to perform tasks at different locations.
[0065] In one possible implementation, the assembly bracket 100 is fixedly connected to the front end of the robotic arm 300 and is able to move along with the robotic arm 300.
[0066] In one possible implementation, the tool body 200 is mounted on the assembly bracket 100 and is able to perform related operations as the assembly bracket 100 moves.
[0067] In one possible implementation, a power supply unit is mounted on the chassis 600, which provides a power source for the operation of the construction robot.
[0068] In one possible implementation, the control module is used to control the operation of the construction robot.
[0069] In some embodiments, the control module is further described as a controller.
[0070] In one specific implementation, such as Figures 2-8 As shown, the lifting device 400 includes: a first-stage lifting assembly 406, a second-stage lifting assembly 407, and a connecting assembly 408; the top of the liftable part of the first-stage lifting assembly 406 is rigidly connected to the bottom of the second-stage lifting assembly 407 through the connecting assembly 408, and the first-stage lifting assembly 406 can drive the movement of the second-stage lifting assembly 407.
[0071] The first-stage lifting assembly 406 includes a first lifting electric cylinder and a second lifting electric cylinder, and the second-stage lifting assembly 407 includes a third lifting electric cylinder.
[0072] In some embodiments, the first-stage lifting assembly 406 and the second-stage lifting assembly 407 can be configured as lifting electric cylinders, wherein the number of lifting electric cylinders in the first-stage lifting assembly 406 is greater than the number of lifting electric cylinders in the second-stage lifting assembly 407.
[0073] In some embodiments, the lifting cylinder may be a servo electric cylinder.
[0074] In some embodiments, the first lifting cylinder, the second lifting cylinder, and the third lifting cylinder can be powered by their respective lifting motors 401, or they can be powered by the same lifting motor 401.
[0075] In one possible implementation, the connecting component 408 can be configured as a sunken tray having a U-shaped groove 4081, the bottom of the third lifting electric cylinder being rigidly connected to the bottom of the U-shaped groove 4081, and a first connecting part 4082 and a second connecting part 4083 respectively provided on both sides of the upper end of the U-shaped groove 4081.
[0076] The first connecting part 4082 is rigidly connected to the top end of the liftable part of the first lifting electric cylinder, and the second connecting part 4083 is rigidly connected to the top end of the liftable part of the second lifting electric cylinder.
[0077] It should be noted that when the first and second lifting cylinders are not in the raised state, the base of the third lifting cylinder is almost on the same horizontal plane as the bases of the first and second lifting cylinders; and the projections of the first, third, and second lifting cylinders on the horizontal plane are arranged sequentially along the same straight line; the arrangement of the lifting cylinders in this embodiment can effectively reduce the initial volume of the lifting device 400 and improve the stability of the lifting device 400, thereby reducing safety hazards when using the construction robot.
[0078] In another possible implementation, the sunken tray can also be configured in other shapes, such as an annular fastening ring; the annular fastening ring can be fixedly set at any height on the outer periphery of the third lifting electric cylinder, and the two sides of the annular fastening ring are provided with a first connecting part 4082 and a second connecting part 4083 extending upward.
[0079] The first connecting part 4082 is rigidly connected to the top end of the liftable part of the first lifting electric cylinder, and the second connecting part 4083 is rigidly connected to the top end of the liftable part of the second lifting electric cylinder.
[0080] It should be noted that, depending on the height of the sunken tray and the different positions of the annular fastening ring on the third lifting cylinder, the bottom of the third lifting cylinder can be at different heights when the lifting device 400 is in its initial state; and the projections of the first lifting cylinder, the third lifting cylinder, and the second lifting cylinder on the horizontal plane are arranged sequentially along the same straight line.
[0081] In some embodiments, the connecting component 408 may also be configured as other support structures, such as a support plate, through which the top of the liftable part of the first lifting cylinder and the second lifting cylinder are rigidly connected to the bottom of the third lifting cylinder.
[0082] In one specific implementation, the construction robot can select different lifting strategies to control the lifting device 400 to perform construction operations based on the working height. Figure 3 and Figure 4 A schematic diagram of the lifting device in its initial state is shown. Figure 5 and Figure 6 This diagram shows the state when the first-stage lifting assembly 406 has risen to its maximum height and the second-stage lifting assembly has not risen. Figure 7 and Figure 8 A schematic diagram showing the state of the lifting device 400 when it has risen to its maximum height is shown.
[0083] In one possible implementation, the lifting sequence of the lifting device can be controlled according to actual construction requirements to achieve the target working height.
[0084] For example, when the lifting device 400 is performing an upward operation, if the target working height is greater than the lifting limit height of the first-stage lifting component 406, the first-stage lifting component 406 can be controlled to rise to the limit height first, and then the second-stage lifting component 407 can be controlled to rise to the target working height.
[0085] For example, when the lifting device 400 is performing an upward operation, if the target working height is greater than the lifting limit height of the first-stage lifting component 406, the second-stage lifting component 407 can be controlled to rise to the limit height first, and then the first-stage lifting component 406 can be controlled to rise to the target working height.
[0086] For example, when the lifting device 400 is performing an upward operation, if the target working height is less than or equal to the lifting limit height of the first-stage lifting component 406 or the second-stage lifting component 407, the first-stage lifting component 406 or the second-stage lifting component 407 is directly controlled to rise to the target working height.
[0087] For example, when the lifting device 400 is performing a lowering operation, the second-stage lifting component 407 can be controlled to lower to the lowest height first, and then the first-stage lifting component 406 can be controlled to lower to the target working height.
[0088] For example, when the lifting device 400 is performing a lowering operation, the first-stage lifting component 406 can be controlled to lower to the lowest height first, and then the second-stage lifting component 407 can be controlled to lower to the target working height.
[0089] For example, when the lifting device 400 performs lifting operations, it can control the first-stage lifting component 406 and the second-stage lifting component 407 to rise or fall synchronously to the target working height.
[0090] It should be noted that this application does not limit the lifting sequence of the lifting components. They can rise or fall simultaneously, or they can rise or fall sequentially. The number of stages of the lifting components does not represent the lifting sequence.
[0091] Example 2:
[0092] In one possible implementation, the construction robot (not shown in the accompanying drawings) includes:
[0093] Chassis 600, lifting device 400, robotic arm 300, power supply device and control module.
[0094] In one possible implementation, the chassis 600 extends along a straight line.
[0095] In some embodiments, the chassis 600 has a rectangular structure with its geometric center located at the intersection of the diagonals.
[0096] In one possible implementation, a housing 500 is also provided above the chassis 600. The housing 500 consists of a frame and a cover covering the frame, and the interior of the housing 500 forms an accommodating space.
[0097] In one possible implementation, the housing 500 has space inside to accommodate 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 housing 500 and protrudes from the top of the housing 500. The part protruding above the robotic arm 300 includes a lifting end, which is capable of lifting and connecting to the robotic arm 300.
[0098] In some embodiments, the lifting device 400 may be configured as a servo electric cylinder or as other lifting platforms.
[0099] In one possible implementation, 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.
[0100] In some embodiments, the robotic arm 300 can be configured as a six-axis robotic arm capable of moving at all angles around the lifting device 400. This allows the robotic arm 300 to be adjusted at all angles to perform tasks at different locations.
[0101] In one possible implementation, the front end of the robotic arm 300 includes a tool body 200, which can perform related operations as the robotic arm 300 moves, and the tool body 200 is integrally formed with the robotic arm 300.
[0102] In one possible implementation, a power supply unit is mounted on the chassis 600, which provides a power source for the operation of the construction robot.
[0103] In one possible implementation, the control module is used to control the operation of the construction robot.
[0104] In some embodiments, the control module is further described as a controller.
[0105] It should be noted that when the construction robot is performing construction work, the construction robot is placed at the target construction position, and then the lifting device 400 and the robotic arm 300 are controlled to work together to perform drilling, assembly and fastening operations.
[0106] In one specific implementation, such as Figures 3-8 As shown, the lifting device 400 includes: a first-stage lifting assembly 406, a second-stage lifting assembly 407, and a connecting assembly 408; the top of the liftable part of the first-stage lifting assembly 406 is rigidly connected to the bottom of the second-stage lifting assembly 407 through the connecting assembly 408, and the first-stage lifting assembly 406 can drive the movement of the second-stage lifting assembly 407.
[0107] The first-stage lifting assembly 406 includes a first lifting electric cylinder and a second lifting electric cylinder, and the second-stage lifting assembly 407 includes a third lifting electric cylinder.
[0108] In some embodiments, the first-stage lifting assembly 406 and the second-stage lifting assembly 407 can be configured as lifting electric cylinders, wherein the number of lifting electric cylinders in the first-stage lifting assembly 406 is greater than the number of lifting electric cylinders in the second-stage lifting assembly 407.
[0109] In some embodiments, the lifting cylinder may be a servo electric cylinder.
[0110] In some embodiments, the first lifting cylinder, the second lifting cylinder, and the third lifting cylinder can be powered by their respective lifting motors 401, or they can be powered by the same lifting motor 401.
[0111] In one possible implementation, the connecting component 408 can be configured as a sunken tray having a U-shaped groove 4081, the bottom of the third lifting electric cylinder being rigidly connected to the bottom of the U-shaped groove 4081, and a first connecting part 4082 and a second connecting part 4083 respectively provided on both sides of the upper end of the U-shaped groove 4081.
[0112] The first connecting part 4082 is rigidly connected to the top end of the liftable part of the first lifting electric cylinder, and the second connecting part 4083 is rigidly connected to the top end of the liftable part of the second lifting electric cylinder.
[0113] It should be noted that when the first and second lifting cylinders are not in the raised state, the base of the third lifting cylinder is almost on the same horizontal plane as the bases of the first and second lifting cylinders; and the projections of the first, third, and second lifting cylinders on the horizontal plane are arranged sequentially along the same straight line; the arrangement of the lifting cylinders in this embodiment can effectively reduce the initial volume of the lifting device 400 and improve the stability of the lifting device 400, thereby reducing safety hazards when using the construction robot.
[0114] Example 3:
[0115] In one possible implementation, the power tool (not shown in the accompanying drawings) includes:
[0116] Lifting device 400, robotic arm 300, assembly bracket 100, tool body 200, power supply device and control module.
[0117] In some embodiments, the lifting device 400 may be configured as a servo electric cylinder or as other lifting platforms.
[0118] In one possible implementation, 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.
[0119] In some embodiments, the robotic arm 300 can be configured as a six-axis robotic arm capable of moving at all angles around the lifting device 400. This allows the robotic arm 300 to be adjusted at all angles to perform tasks at different locations.
[0120] In one possible implementation, the assembly bracket 100 is fixedly connected to the front end of the robotic arm 300 and is able to move along with the robotic arm 300.
[0121] In one possible implementation, the tool body 200 is mounted on the assembly bracket 100 and is able to perform related operations as the assembly bracket 100 moves.
[0122] In one possible implementation, a power supply is provided in the lifting device 400, which is used to provide a power source for the operation of the power tool.
[0123] In one possible implementation, the control module is used to control the operation of the construction robot.
[0124] In some embodiments, the control module is further described as a controller.
[0125] In another possible implementation, the tool body 200 can be directly mounted on the robotic arm 300, with the tool body 200 and the robotic arm 300 being integrally formed.
[0126] In one specific implementation, such as Figures 3-8 As shown, the lifting device 400 includes: a first-stage lifting assembly 406, a second-stage lifting assembly 407, and a connecting assembly 408; the top of the liftable part of the first-stage lifting assembly 406 is rigidly connected to the bottom of the second-stage lifting assembly 407 through the connecting assembly 408, and the first-stage lifting assembly 406 can drive the movement of the second-stage lifting assembly 407.
[0127] The first-stage lifting assembly 406 includes a first lifting electric cylinder and a second lifting electric cylinder, and the second-stage lifting assembly 407 includes a third lifting electric cylinder.
[0128] In some embodiments, the first-stage lifting assembly 406 and the second-stage lifting assembly 407 can be configured as lifting electric cylinders, wherein the number of lifting electric cylinders in the first-stage lifting assembly 406 is greater than the number of lifting electric cylinders in the second-stage lifting assembly 407.
[0129] In some embodiments, the lifting cylinder may be a servo electric cylinder.
[0130] In some embodiments, the first lifting cylinder, the second lifting cylinder, and the third lifting cylinder can be powered by their respective lifting motors 401, or they can be powered by the same lifting motor 401.
[0131] In one possible implementation, the connecting component 408 can be configured as a sunken tray having a U-shaped groove 4081, the bottom of the third lifting electric cylinder being rigidly connected to the bottom of the U-shaped groove 4081, and a first connecting part 4082 and a second connecting part 4083 respectively provided on both sides of the upper end of the U-shaped groove 4081.
[0132] The first connecting part 4082 is rigidly connected to the top end of the liftable part of the first lifting electric cylinder, and the second connecting part 4083 is rigidly connected to the top end of the liftable part of the second lifting electric cylinder.
[0133] It should be noted that when the first and second lifting cylinders are not in the raised state, the base of the third lifting cylinder is almost on the same horizontal plane as the bases of the first and second lifting cylinders; and the projections of the first, third, and second lifting cylinders on the horizontal plane are arranged sequentially along the same straight line; the arrangement of the lifting cylinders in this embodiment can effectively reduce the initial volume of the lifting device 400 and improve the stability of the lifting device 400, thereby reducing safety hazards when using the construction robot.
[0134] This application provides a construction robot. By setting up multi-stage lifting components, the working height and range of the construction robot can be increased, thus expanding the applicability of the construction robot. Furthermore, by connecting component 408, the top of the first-stage lifting component 406 is rigidly connected to the bottom of the second-stage lifting component 407, which improves the working height of the construction robot while ensuring its stability.
[0135] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
[0136] In the description of this specification, references to "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0137] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.
Claims
1. A construction robot, characterized in that, The construction robot includes: 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; A lifting device is installed on the chassis and is capable of lifting and lowering on the chassis. The lifting device includes: a first-stage lifting component, a second-stage lifting component, and a connecting component. The top end of the liftable part of the first-stage lifting component is rigidly connected to the bottom of the second-stage lifting component through the connecting component. The first-stage lifting component can drive the movement of the second-stage lifting component. A robotic arm is mounted on the lifting device, which is capable of lifting the robotic arm up and down and allows the robotic arm to move at all angles around the lifting device. The tool body is capable of moving forward and backward under the drive of the robotic arm, and the tool body is used to perform work tasks.
2. The construction robot according to claim 1, characterized in that, The first-stage lifting assembly and the second-stage lifting assembly can be configured as lifting electric cylinders, and the number of lifting electric cylinders in the first-stage lifting assembly is greater than the number of lifting electric cylinders in the second-stage lifting assembly.
3. The construction robot according to claim 2, characterized in that, The first-stage lifting assembly includes a first lifting electric cylinder and a second lifting electric cylinder, and the second-stage lifting assembly includes a third lifting electric cylinder.
4. The construction robot according to claim 3, characterized in that, The first lifting electric cylinder, the second lifting electric cylinder, and the third lifting electric cylinder are each powered by their respective drive motors.
5. The construction robot according to claim 3, characterized in that, The connecting component can be configured as a sunken tray, the sunken tray having a U-shaped groove, and the bottom of the third lifting electric cylinder being rigidly connected to the bottom of the U-shaped groove. The upper end of the U-shaped groove is provided with a first connecting part and a second connecting part on both sides respectively. The first connecting part is rigidly connected to the top of the lifting part of the first lifting electric cylinder, and the second connecting part is rigidly connected to the top of the lifting part of the second lifting electric cylinder.
6. The construction robot according to claim 5, characterized in that, When the first and second lifting cylinders are not raised, the base of the third lifting cylinder is almost at the same horizontal plane as the bases of the first and second lifting cylinders.
7. The construction robot according to claim 3, characterized in that, The projections of the first lifting electric cylinder, the third lifting electric cylinder, and the second lifting electric cylinder on the horizontal plane are arranged sequentially along the same straight line.
8. The construction robot according to claim 1, characterized in that, When the lifting device performs an upward operation, if the target working height is greater than the lifting limit height of the first-stage lifting component, the first-stage lifting component is first controlled to rise to the limit height, and then the second-stage lifting component is controlled to rise to the target working height. If the target working height is less than or equal to the lifting limit height of the first-stage lifting component, then the second-stage lifting component is directly controlled to rise to the target working height.
9. The construction robot according to claim 1, characterized in that, When the lifting device performs a lowering operation, it first controls the second-stage lifting component to lower to the lowest height, and then controls the first-stage lifting component to lower to the target working height.
10. The construction robot according to claim 1, characterized in that, When the lifting device is performing lifting operations, the first-stage lifting component and the second-stage lifting component can be controlled to rise or fall synchronously to the target working height.
11. A construction robot, characterized in that, include: Chassis, used to support the lifting device; A lifting device is installed on the chassis and is capable of lifting and lowering on the chassis. The lifting device includes: a first-stage lifting component, a second-stage lifting component, and a connecting component. The top end of the liftable part of the first-stage lifting component is rigidly connected to the bottom of the second-stage lifting component through the connecting component. The first-stage lifting component can drive the movement of the second-stage lifting component. A robotic arm is mounted on the lifting device, which is capable of lifting the robotic arm up and down and allows the robotic arm to move at all angles around the lifting device.
12. A power tool, characterized in that, The power tool includes: A lifting device, comprising: a lifting mechanism and a limiting mechanism, wherein the lifting mechanism comprises: a first-stage lifting component, a second-stage lifting component and a connecting component, wherein the top end of the liftable part of the first-stage lifting component is rigidly connected to the bottom of the second-stage lifting component through the connecting component, and the first-stage lifting component can drive the movement of the second-stage lifting component; The limiting mechanism is disposed on the outer periphery of the lifting mechanism and can restrict the non-lifting action of the lifting mechanism; A robotic arm is mounted on the lifting device, which is capable of lifting the robotic arm up and down and allows the robotic arm to move at all angles around the lifting device. The tool body is capable of moving forward and backward under the drive of the robotic arm, and the tool body is used to perform work tasks.