Mobile heavy-duty robot intelligent construction workstation
By using a mobile heavy-duty robot intelligent construction workstation, which utilizes vision cameras and robots to automatically grab and place heavy prefabricated components, the problems of high labor intensity, low efficiency, and high safety risks in the installation of heavy prefabricated components on construction sites have been solved, achieving a safer and more efficient installation process.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHANGHAI CHAIFU ROBOT CO LTD
- Filing Date
- 2025-07-03
- Publication Date
- 2026-05-29
AI Technical Summary
The installation of heavy prefabricated components at existing construction sites presents challenges such as high labor intensity, low efficiency, and high safety risks, especially in tunnel operations and when pipelines are extremely long or heavy.
The mobile heavy-duty robot intelligent construction workstation is adopted, which combines tracked vehicles, robots, vision cameras and grippers. The vision camera scans the key positioning parts of the heavy precast components, and the robot automatically grabs and places them in the pre-defined positions, realizing fully automatic picking and placing of heavy precast components.
It has improved the level of automation in the construction industry, reduced the demand for manual laborers, increased safety, and improved installation accuracy and overall efficiency.
Smart Images
Figure CN224300468U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of construction and robotics technology, and more specifically, to a mobile heavy-duty robot intelligent construction workstation. Background Technology
[0002] In the current construction industry, when installing various heavy prefabricated components on construction sites, most of the time, manual labor and ordinary construction machinery are used to install the heavy prefabricated components on site through hoists and forklifts.
[0003] When dealing with heavy, large, and irregularly shaped precast concrete components, the physical and technical requirements for workers are high, which can lead to low installation efficiency. In addition, as working hours increase, the safety risks for workers also increase, especially in tunnel operations and in cases of excessively long and heavy pipelines, where various risks are amplified and efficiency is further reduced.
[0004] The preceding description is intended to provide general background information and does not necessarily constitute prior art. Utility Model Content
[0005] The purpose of this utility model is to provide a mobile heavy-duty robot intelligent construction workstation, which solves the technical problems of high labor intensity, low efficiency, and personnel safety in the construction industry when installing heavy prefabricated components on construction sites; it improves the level of automation in the construction industry, reduces the overall demand for manual laborers; it significantly reduces the labor intensity of the entire industry, provides greater protection for life safety, and at the same time improves installation accuracy and overall efficiency.
[0006] This utility model provides a mobile heavy-duty robot intelligent construction workstation, including a tracked trolley, a generator set, a rear cab, a robot, a gripper, a vision camera, an electrical control cabinet, a front cab, and a dual hydraulic station. The generator set and the rear cab are arranged side-by-side on one side of the tracked trolley, and the electrical control cabinet and the front cab are arranged side-by-side on the other side of the tracked trolley. The dual hydraulic station is located on the tracked trolley, behind the front cab. The robot is positioned in the middle of the tracked trolley, and the gripper is connected to the end of the robot's robotic arm. The vision camera is mounted on the gripper. Controllers are installed in both the front and rear cabs, and these controllers are connected to the generator set, the robot, the gripper, the vision camera, the electrical control cabinet, and the dual hydraulic station, respectively. The dual hydraulic station is connected to the tracked trolley.
[0007] Using the above technical solution, the generator set powers the electrical control cabinet, robot, dual hydraulic station, and gripper fixture. A controller in the front or rear cab controls the tracked trolley to move long distances, thus moving the entire equipment to the designated project location, where it stops. After disembarking from the front or rear cab, workers can manually and wirelessly control the robot and gripper fixture to pick up and place heavy prefabricated components. When heavy prefabricated components arrive by truck, the controller automatically scans the key positioning parts of the components using a vision camera after the truck reaches the designated location, and then controls the robot and gripper fixture to automatically pick them up. After automatic picking, the robot automatically places the components in the pre-defined location based on the previously scanned dimensions, achieving fully automated picking and placing of heavy prefabricated components. Furthermore, for heavy prefabricated components on the truck that are outside the visual range, the entire equipment can move back and forth. The heavy prefabricated components are visually positioned on the truck, picked up, and then the entire equipment moves forward or backward to the designated placement location, calculating the distance traveled before placing them in the pre-defined position.
[0008] Furthermore, the tracked trolley includes track wheels and a load-bearing frame. The track wheels are installed at the four corners of the bottom of the load-bearing frame. A hydraulic motor is provided on the track wheel, and the hydraulic motor is connected to the dual hydraulic station.
[0009] Using the above technical solution, the load-bearing frame is driven by four track wheels to move forward, backward, left, and right, thereby driving the entire equipment to move forward, backward, left, and right; the dual hydraulic stations can control the four hydraulic motors of the tracked trolley to achieve four-wheel drive linkage.
[0010] Furthermore, the generator set, the rear cab, the electrical control cabinet, the front cab, and the dual hydraulic station are all mounted on the load-bearing frame.
[0011] Furthermore, the robot includes a base rotating seat, a wrist, a forearm, an upper arm, a connecting rod, a rocker arm, a first rotating shaft, a second rotating shaft, a third rotating shaft, a servo motor, a sun gear, a reducer, and an RV reducer; the front end of the wrist is connected to the gripper, the rear end of the wrist is connected to the forearm, the other end of the forearm is connected to the connecting rod, and the other end of the connecting rod is connected to the rocker arm; the front end of the rocker arm is connected to the second rotating shaft and the third rotating shaft via gears, and the second rotating shaft and the third rotating shaft are coaxially arranged; The other ends of the second and third rotating shafts are each connected to an RV reducer via gears. The RV reducer is connected to a reducer via gears, and the reducer is connected to a sun gear via gears. Three servo motors are connected to the sun gear via gears. The middle part of the forearm is connected to the upper arm via a first rotating shaft. The other end of the upper arm is located on the second and third rotating shafts. The base rotating part is located below the rocker arm, and the lower end of the base rotating part is connected to the top of the tracked trolley.
[0012] Using the above technical solution, the three servo motor gears on both sides of the second and third rotating shafts drive the intermediate sun gear, the intermediate sun gear drives the reducer gear shaft, the reducer gear shaft drives the RV reducer, and the RV reducer drives the rocker arm through the second and third rotating shafts; thus realizing a 3-stage reduction structure to achieve a reduction capability of more than 1200 speed ratio.
[0013] Furthermore, the robot also includes a main balance block, which is disposed at the rear end of the rocker arm; the main balance block is provided with an adjustable balance block, and the adjustable balance block is provided with mounting screws for connecting another adjustable balance block.
[0014] Furthermore, the gripper fixture includes a hydraulic center frame, hydraulic cylinders, anti-fall rods, locking valves, fixture mounting flanges, and a fixture frame; the upper end of the fixture frame is connected to the fixture mounting flange, which is connected to the wrist; a hydraulic center frame is connected to each of the four corners of the fixture frame, and the locking valve is installed on the hydraulic center frame; anti-fall rods are connected to both sides of the lower end of the fixture frame, and the other end of each anti-fall rod is connected to a hydraulic cylinder, which is located inside the fixture frame; a vision camera is connected to the middle of the lower end of the fixture frame.
[0015] Using the above technical solution, the gripper is guided by the vision camera and moved by the robot to the vision positioning point. The four sets of hydraulic center frames open and close to clamp the heavy precast component. At the same time, the hydraulic cylinder pushes the anti-fall rod to lock the heavy precast component in the center position of the hydraulic center frame and prevent it from moving. After all the electrical signals are in place, the robot can lift the heavy precast component and move it in space.
[0016] This utility model provides a mobile heavy-duty robot intelligent construction workstation. Spatial coordinates obtained by a vision camera are sent to the robot. After coordinate transformation, the robot reaches the spatial coordinate point along a pre-designed path and places the heavy prefabricated component at the corresponding threaded sleeve, thus meeting on-site installation requirements. Through the combined use of the robot and the vision camera, the placement and connection of heavy prefabricated components and ultra-long pipelines on construction sites can be completed, enabling the installation of heavy prefabricated components and ultra-long pipelines within tunnels, making the entire on-site installation safer, more efficient, and more economical. This utility model solves the technical problems of high labor intensity, low efficiency, and personnel safety issues in the construction industry when installing heavy prefabricated components on-site. It improves the level of automation in the construction industry, reducing the overall demand for manual labor. The addition of robots and vision cameras significantly reduces the overall labor intensity of the industry, provides greater protection for life safety, improves installation accuracy, and greatly enhances overall efficiency. Attached Figure Description
[0017] Figure 1 A schematic diagram of the structure of the intelligent construction workstation for mobile heavy-duty robots provided in this embodiment of the utility model.
[0018] Figure 2 for Figure 1 A front view diagram of a mobile heavy-duty robot intelligent construction workstation.
[0019] Figure 3 for Figure 1 A side view of a mobile heavy-duty robot intelligent construction workstation.
[0020] Figure 4 for Figure 1 A top-down view of a mobile heavy-duty robot intelligent construction workstation.
[0021] Figure 5 for Figure 1 A side view of the robot in the intelligent construction workstation of the China Mobile heavy-duty robot.
[0022] Figure 6 for Figure 1 A cross-sectional schematic diagram of the robot in the intelligent construction workstation for heavy-duty mobile robots.
[0023] Figure 7 for Figure 6Enlarged view of part A in the image.
[0024] Figure 8 for Figure 1 A top-down view of the robot in the intelligent construction workstation for heavy-duty mobile robots.
[0025] Figure 9 for Figure 1 A schematic diagram of the gripper fixture of the intelligent construction workstation for the mobile heavy-duty robot.
[0026] Figure 10 for Figure 1 A plan view of the gripper fixture of the intelligent construction workstation of the China Mobile heavy-duty robot.
[0027] The reference numerals and components involved in the accompanying drawings are shown below:
[0028] 1. Tracked trolley; 11. Tracked wheels; 12. Load-bearing frame.
[0029] 13. Hydraulic motor; 2. Generator set; 3. Rear cab.
[0030] 4. Robot 41. Base rotating part 42. Wrist part
[0031] 43. Forearm 44. Upper arm 45. Connecting rod
[0032] 46. Rocker arm section; 47. First pivot; 48. Second pivot
[0033] 49. Third rotating shaft; 491. Servo motor; 492. Sun gear
[0034] 493. Reducer; 494. RV reducer; 495. Main balance block
[0035] 496. Adjustable balance weight; 497. Mounting screws; 5. Grip clamp.
[0036] 51. Hydraulic center frame; 52. Hydraulic cylinder; 53. Anti-fall tie rod.
[0037] 54. Locking valve 55. Fixture mounting flange 56. Fixture frame
[0038] 6. Vision camera 7. Electrical control cabinet 8. Front cab
[0039] 9. Dual hydraulic stations Detailed Implementation
[0040] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit its scope.
[0041] The terms "first," "second," "third," "fourth," etc., used in the specification and claims of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.
[0042] Example 1
[0043] Figure 1 This is a structural schematic diagram of a mobile heavy-duty robot intelligent construction workstation provided in an embodiment of the present utility model. Figure 2 for Figure 1 A front view diagram of a mobile heavy-duty robot intelligent construction workstation. Figure 3 for Figure 1 A side view of a mobile heavy-duty robot intelligent construction workstation. Figure 4 for Figure 1 A top-down view of the intelligent construction workstation for China Mobile's heavy-duty robot. Please refer to the diagram. Figure 1 , Figure 2 , Figure 3 , Figure 4 The mobile heavy-duty robot intelligent construction workstation provided in this embodiment includes a tracked trolley 1, a generator set 2, a rear cab 3, a robot 4, a gripper 5, a vision camera 6, an electrical control cabinet 7, a front cab 8, and a dual hydraulic station 9. The generator set 2 and the rear cab 3 are arranged side-by-side on one side of the tracked trolley 1, and the electrical control cabinet 7 and the front cab 8 are arranged side-by-side on the other side of the tracked trolley 1. A [unclear - possibly a device or structure] is located on top of the tracked trolley 1, behind the front cab 8. The system includes a dual hydraulic station 9; a robot 4 is positioned in the middle of the tracked vehicle 1, with a gripper 5 connected to the end of the robot 4's robotic arm, and a vision camera 6 mounted on the gripper 5; controllers are installed in both the front cab 8 and the rear cab 3, and these controllers are connected to the generator set 2, the robot 4, the gripper 5, the vision camera 6, the electrical control cabinet 7, and the dual hydraulic station 9, respectively. The dual hydraulic station 9 is connected to the tracked vehicle 1.
[0044] It should be noted that generator set 2 supplies power to the electrical control cabinet 7, robot 4, dual hydraulic station 9, and gripper 5. The controller in the front cab 8 or rear cab 3 controls the tracked trolley 1 to move long distances, thereby moving the entire equipment to the designated location and stopping the equipment there. After workers get out of the front cab 8 or rear cab 3, they can manually and wirelessly control robot 4 and gripper 5 to pick up and place heavy precast components. When the heavy precast components are delivered by truck, the controller will adjust the load according to the truck's position. The vision camera 6 automatically scans the key positioning parts of the heavy precast component and controls the robot 4 and the gripper 5 to automatically grasp it. After the robot 4 automatically grasps it, it automatically places it in the pre-defined position according to the placement position size obtained from the previous vision scan, thereby realizing fully automatic picking and placing of heavy precast components. In addition, for heavy precast components on trucks that are outside the field of vision, the entire equipment can move back and forth, visually locate the heavy precast component on the truck, and after grasping it, the entire equipment moves forward or backward to the placement position, and can then be placed in the pre-defined position after calculating the distance traveled.
[0045] This utility model's mobile heavy-duty robot intelligent construction workstation sends the spatial coordinates obtained by the vision camera 6 to the robot 4. After coordinate transformation, the robot 4 reaches the spatial coordinate point according to the designed path and places the heavy prefabricated component at the corresponding threaded sleeve, thereby meeting the on-site installation requirements. Through the coordinated use of the robot 4 and the vision camera 6, the placement and connection of heavy prefabricated components and ultra-long pipelines on the construction site can be completed, so as to realize the installation of heavy prefabricated components and ultra-long pipelines in tunnels, making the entire on-site installation safer, more efficient, and more economical.
[0046] This invention solves the technical problems of high labor intensity, low efficiency, and personnel safety in the construction industry when installing heavy prefabricated components on construction sites; it improves the level of automation in the construction industry and reduces the overall demand for manual laborers; through the addition of robot 4 and vision camera 6, the labor intensity of the entire industry is greatly reduced, life safety is better guaranteed, and the installation accuracy is improved, resulting in a significant increase in overall efficiency.
[0047] Further reference Figure 1 , Figure 2 The tracked trolley 1 of this utility model includes track wheels 11 and a load-bearing frame 12. The track wheels 11 are installed at the four corners of the bottom of the load-bearing frame 12. The track wheels 11 are equipped with hydraulic motors 13, and the hydraulic motors 13 are connected to the dual hydraulic stations 9.
[0048] It should be noted that the four track wheels 11 drive the load-bearing frame 12 to move forward, backward, left, and right, thereby driving the entire equipment to move forward, backward, left, and right; the dual hydraulic station 9 can control the four hydraulic motors 13 of the tracked trolley 1 to achieve four-wheel drive linkage.
[0049] Furthermore, the generator set 2, the rear cab 3, the electrical control cabinet 7, the front cab 8, and the dual hydraulic station 9 of this utility model are all installed on the load-bearing frame 12.
[0050] Figure 5 for Figure 1 A side view diagram of the robot in the intelligent construction workstation for heavy-duty mobile robots. Figure 6 for Figure 1 A cross-sectional schematic diagram of the robot in the intelligent construction workstation for heavy-duty mobile robots. Figure 7 for Figure 6 Please refer to the enlarged view of part A in the image. Figure 5 , Figure 6 , Figure 7 The robot 4 of this utility model includes a base rotating part 41, a wrist part 42, a forearm part 43, a large arm part 44, a connecting rod 45, a rocker arm part 46, a first rotating shaft 47, a second rotating shaft 48, a third rotating shaft 49, a servo motor 491, a sun gear 492, a reducer 493, and an RV reducer 494; the front end of the wrist part 42 is connected to the gripper 5, the rear end of the wrist part 42 is connected to the forearm part 43, the other end of the forearm part 43 is connected to the connecting rod 45, and the other end of the connecting rod 45 is connected to the rocker arm part 46; the front end of the rocker arm part 46 is connected to the second rotating shaft 48 and the third rotating shaft 49 through gears, and the second rotating shaft 48 and the third rotating shaft 49... The axes are coaxially arranged; the other ends of the second rotating shaft 48 and the third rotating shaft 49 are each connected to an RV reducer 494 via gears. The RV reducer 494 is connected to a reducer 493 via gears. The reducer 493 is connected to a sun gear 492 via gears. The sun gear 492 is connected to three servo motors 491 via gears. The middle part of the forearm 43 is connected to the upper arm 44 via a first rotating shaft 47. The other end of the upper arm 44 is disposed on the second rotating shaft 48 and the third rotating shaft 49. The base rotating part 41 is disposed below the rocker arm 46. The lower end of the base rotating part 41 is connected to the upper part of the tracked trolley 1.
[0051] It should be noted that the three servo motors 491 on both sides of the second shaft 48 and the third shaft 49 drive the intermediate sun gear 492, the intermediate sun gear 492 drives the gear shaft of the reducer 493, the gear shaft of the reducer 493 drives the RV reducer 494, and the RV reducer 494 drives the rocker arm 46 through the second shaft 48 and the third shaft 49; thus realizing a 3-stage reduction structure to achieve a reduction capability with a speed ratio greater than 1200.
[0052] Figure 8 for Figure 1 A top-view diagram of the robot in the China Mobile heavy-duty robot intelligent construction workstation. Please refer to... Figure 8 The robot 4 of this utility model also includes a main balance block 495, which is disposed at the rear end of the rocker arm 46; the main balance block 495 is provided with an adjustable balance block 496, and the adjustable balance block 496 is provided with a mounting screw 497 for connecting another adjustable balance block 496.
[0053] It should be noted that the main balance block plus the adjustable balance block 496 plus the mounting screw 497 can match the balancing effect of different weights.
[0054] Figure 9 for Figure 1 A schematic diagram of the gripper fixture of the intelligent construction workstation for a mobile heavy-duty robot. Figure 10 for Figure 1 A plan view of the gripper fixture of the intelligent construction workstation of the China Mobile heavy-duty robot. Please refer to... Figure 9 , Figure 10 The gripper 5 of this utility model includes a hydraulic center frame 51, a hydraulic cylinder 52, an anti-fall lever 53, a locking valve 54, a gripper mounting flange 55, and a gripper frame 56. The upper end of the gripper frame 56 is connected to the gripper mounting flange 55, which is connected to the wrist part 42. A hydraulic center frame 51 is connected to each of the four corners of the gripper frame 56, and the locking valve 54 is installed on the hydraulic center frame 51. Anti-fall levers 53 are connected to both sides of the lower end of the gripper frame 56, and the other end of each anti-fall lever 53 is connected to a hydraulic cylinder 52, which is located inside the gripper frame 56. A vision camera 6 is connected to the middle of the lower end of the gripper frame 56.
[0055] It should be noted that the four sets of hydraulic center frames 51 are used to clamp the heavy precast components, the two sets of hydraulic cylinders 52 are used to prevent the heavy precast components from falling in the event of power failure and oil failure, and are used in conjunction with the two sets of anti-fall tie rods 53 to ensure that the heavy precast components do not fall in the event of power failure and oil failure. The hydraulic center frames 51 are equipped with locking valves 54 to further ensure the safety and reliability of the heavy precast components.
[0056] Under the visual guidance of the vision camera 6, the gripper 5 of this utility model is moved by the robot 4 to the visual positioning point. The four sets of hydraulic center frames 51 open and close to clamp the heavy precast component. At the same time, the hydraulic cylinder 52 pushes the anti-fall rod 53 to lock the heavy precast component in the center position of the hydraulic center frame 51 and prevent it from moving. After all the electrical signals are in place, the robot 4 can lift the heavy precast component for spatial movement.
[0057] As can be seen from the above description, the advantages of this utility model are:
[0058] 1. The mobile heavy-duty robot intelligent construction workstation of this utility model sends the spatial coordinates obtained by the vision camera to the robot. After coordinate transformation, the robot reaches the spatial coordinate point according to the designed path and places the heavy prefabricated component at the corresponding threaded sleeve to meet the on-site installation requirements. Through the combined use of the robot and the vision camera, the placement and docking of heavy prefabricated components and ultra-long pipes on the construction site can be completed, so as to realize the installation of heavy prefabricated components and ultra-long pipes in tunnels, making the entire on-site installation safer, more efficient and more economical.
[0059] 2. The mobile heavy-duty robot intelligent construction workstation of this utility model solves the technical problems of high labor intensity, low efficiency, and personnel safety in the construction industry when installing heavy prefabricated components on construction sites; it improves the level of automation in the construction industry and reduces the overall demand for manual laborers; through the addition of robots and vision cameras, the labor intensity of the entire industry is greatly reduced, life safety is better guaranteed, and the installation accuracy is improved, resulting in a significant increase in overall efficiency.
[0060] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.
Claims
1. A mobile heavy-duty robot intelligent construction workstation, characterized in that, It includes a tracked trolley (1), a generator set (2), a rear cab (3), a robot (4), a gripper (5), a vision camera (6), an electrical control cabinet (7), a front cab (8), and a dual hydraulic station (9); The generator set (2) and the rear cab (3) are arranged side by side on one side of the tracked vehicle (1), the electrical control cabinet (7) and the front cab (8) are arranged side by side on the other side of the tracked vehicle (1), and the dual hydraulic station (9) is arranged on the tracked vehicle (1) behind the front cab (8). The robot (4) is arranged in the middle of the tracked vehicle (1). The end of the robotic arm of the robot (4) is connected to the gripper (5), and the vision camera (6) is installed on the gripper (5). A controller is installed in both the front cab (8) and the rear cab (3). The controller is connected to the generator set (2), the robot (4), the gripper (5), the vision camera (6), the electrical control cabinet (7), and the dual hydraulic station (9). The dual hydraulic station (9) is connected to the tracked trolley (1).
2. The mobile heavy-duty robot intelligent construction workstation according to claim 1, characterized in that, The tracked trolley (1) includes track wheels (11) and a load-bearing frame (12). The track wheels (11) are installed at the four corners of the bottom of the load-bearing frame (12). The track wheels (11) are equipped with hydraulic motors (13), and the hydraulic motors (13) are connected to the dual hydraulic stations (9).
3. The mobile heavy-duty robot intelligent construction workstation according to claim 2, characterized in that, The generator set (2), the rear cab (3), the electrical control cabinet (7), the front cab (8), and the dual hydraulic station (9) are all installed on the load-bearing frame (12).
4. The mobile heavy-duty robot intelligent construction workstation according to claim 1, characterized in that, The robot (4) includes a base rotating part (41), a wrist part (42), a forearm part (43), a large arm part (44), a connecting rod (45), a rocker arm part (46), a first rotating shaft (47), a second rotating shaft (48), a third rotating shaft (49), a servo motor (491), a sun gear (492), a reducer (493), and an RV reducer (494); The front end of the wrist (42) is connected to the gripper (5), the rear end of the wrist (42) is connected to the forearm (43), the other end of the forearm (43) is connected to the connecting rod (45), and the other end of the connecting rod (45) is connected to the rocker arm (46). The front end of the rocker arm (46) is connected to the second rotating shaft (48) and the third rotating shaft (49) by gears, and the second rotating shaft (48) and the third rotating shaft (49) are arranged on the same axis. The other ends of the second shaft (48) and the third shaft (49) are each connected to an RV reducer (494) via gears. The RV reducer (494) is connected to a reducer (493) via gears. The reducer (493) is connected to a sun gear (492) via gears. The sun gear (492) is connected to three servo motors (491) via gears. The middle part of the forearm (43) is connected to the upper arm (44) via the first pivot (47), and the other end of the upper arm (44) is set on the second pivot (48) and the third pivot (49); the base pivot (41) is provided below the rocker arm (46), and the lower end of the base pivot (41) is connected to the top of the tracked trolley (1).
5. The mobile heavy-duty robot intelligent construction workstation according to claim 4, characterized in that, The robot (4) also includes a main balance block (495), which is located at the rear end of the rocker arm (46); the main balance block (495) is provided with an adjustable balance block (496), and the adjustable balance block (496) is provided with a mounting screw (497) for connecting another adjustable balance block (496).
6. The mobile heavy-duty robot intelligent construction workstation according to claim 4, characterized in that, The gripper clamp (5) includes a hydraulic center frame (51), a hydraulic cylinder (52), a fall arrestor (53), a locking valve (54), a clamp mounting flange (55), and a clamp frame (56); The upper end of the clamp frame (56) is connected to the clamp mounting flange (55), which is connected to the wrist part (42); The clamp frame (56) is connected to a hydraulic center frame (51) at each of its four corners, and the locking valve (54) is installed on the hydraulic center frame (51). The anti-fall rods (53) are connected to both sides of the lower end of the clamp frame (56), and the other ends of the two anti-fall rods (53) are connected to the hydraulic cylinders (52), which are located inside the clamp frame (56). The vision camera (6) is connected to the middle of the lower end of the clamp frame (56).