Mobile construction robot

Abstract

This application relates to the field of construction machinery technology, specifically to a mobile construction robot. The mobile construction robot includes a walking component, a chassis, a lifting device, a power supply unit, a control module, a robotic arm, an assembly bracket, and a tool body. The chassis is mounted on the walking component and can move with it; the lifting device is mounted on the chassis and can move up and down on the chassis. The power supply unit is mounted on the chassis, and the ratio of the power supply unit's output energy to the width of the chassis is greater than or equal to 0.066 kW / cm. The power supply unit is configured to power the mobile construction robot. The control module is configured to control the overall operation of the mobile construction robot. The robotic arm can move under the control of the control module. The assembly bracket is mounted on the robotic arm and moves with it. The tool body is connected to the assembly bracket. This mobile construction robot improves the endurance of a construction robot within a limited space.

Description

[Technical Field]

[0002] This application relates to the field of construction machinery technology, specifically to a mobile construction robot. [Background Technology]

[0004] In recent years, construction robots have become increasingly accepted and widely used, especially autonomous construction robots, which have been widely applied in various construction fields, saving a significant amount of manual labor. However, the structural design and spatial layout of existing construction robots are often unreasonable, particularly the power supply unit. To extend the robot's battery life, the power supply unit typically has a large capacity, resulting in a heavy weight. If the installation location and height of the power supply unit are not properly planned, it can cause considerable difficulties for construction workers when installing and disassembling it.

[0005] Therefore, it is indeed necessary to provide a mobile construction robot to overcome the shortcomings of previous technologies. [Utility Model Content]

[0007] In view of the shortcomings of the existing technology, one of the objectives of this application is to provide a mobile construction robot with a longer battery life.

[0008] The technical solution adopted by this application to solve the existing technical problems is: a mobile construction robot, comprising:

[0009] The chassis assembly is configured to move the mobile construction robot.

[0010] A lifting device is mounted on the chassis assembly;

[0011] A robotic arm includes a fixed end and a free end, the fixed end being mounted to the upper surface of the lifting device, and the free end being movable relative to the fixed end in three-dimensional space;

[0012] The working mechanism is fixed to the free end of the robotic arm to perform the task;

[0013] A power supply device is configured to supply power to the mobile construction robot; characterized in that,

[0014] The chassis assembly includes a left traveling mechanism, a right traveling mechanism, a mounting platform connected between the left and right traveling mechanisms, and a traveling motor that drives the left and right traveling mechanisms. The power supply and the lifting device are fixed to the mounting platform.

[0015] In some embodiments, the installation platform includes a support plate extending in a walking direction and side plates located on both sides of the support plate, the support plate and the two side plates defining an accommodating space, the power supply device and the lifting device being fixed to the upper surface of the support plate, and the power supply device and the lifting device being at least partially located within the accommodating space.

[0016] In some embodiments, the left and right walking mechanisms are each matched with a walking motor, and the two walking motors are fixed to one end of the support plate of the mounting platform.

[0017] In some embodiments, the left and right walking mechanisms of the mobile construction robot are supported on the working plane, and the ratio of the projected area of ​​the power supply device on the working plane to the area of ​​the support plate of the installation platform is greater than or equal to 0.2.

[0018] In some embodiments, the power supply device has a capacity of 8 kWh or more and 11.7 kWh or less.

[0019] In some embodiments, the walking motor, the lifting device, and the power supply device are arranged sequentially at intervals along the upper surface of the support plate.

[0020] In some embodiments, the mobile construction robot further includes a housing, which is fixedly mounted on the installation platform.

[0021] In some embodiments, anti-collision beams are provided at both ends of the mounting platform, and at least one of the anti-collision beams is provided on the outer periphery of the power supply device along the installation direction of the power supply device.

[0022] This application also provides a mobile construction robot, including:

[0023] The chassis assembly is configured to move the mobile construction robot.

[0024] A lifting device is mounted on the chassis assembly;

[0025] A robotic arm includes a fixed end and a free end, the fixed end being mounted to the upper surface of the lifting device, and the free end being movable relative to the fixed end in three-dimensional space;

[0026] The working mechanism is fixed to the free end of the robotic arm to perform the task;

[0027] A power supply device is configured to power the mobile construction robot.

[0028] The chassis assembly includes a left travel mechanism, a right travel mechanism, a mounting platform connected between the left and right travel mechanisms, and travel motors that drive the left and right travel mechanisms. The power supply and the lifting device are fixed to the mounting platform.

[0029] The installation platform has a power receiving cavity for accommodating the power supply device. The power supply device can be detachably inserted into the power receiving cavity along a first straight direction. The left and right walking mechanisms of the mobile construction robot are supported on a working plane. The first straight direction in which the power supply device is inserted into the power receiving cavity forms an angle greater than or equal to 0 degrees and less than 90 degrees with the working plane.

[0030] In some embodiments, the first linear direction in which the power supply device is inserted into the power supply housing is parallel to the direction of travel of the mobile construction robot.

[0031] In some embodiments, a power supply guide is provided within the power supply housing cavity, and the power supply device can be detachably mounted on the mounting platform via the power supply guide.

[0032] In some embodiments, the installation platform has a front and a rear, the power supply is located at the front of the installation platform, and the walking motors that drive the left and right walking mechanisms, the lifting device and the power supply are arranged sequentially along the travel direction of the mobile construction robot.

[0033] In some embodiments, the installation platform has a front and a rear, the power supply is located at the rear of the installation platform, and the power supply, the lifting device, and the walking motors that drive the left and right walking mechanisms are arranged sequentially along the travel direction of the mobile construction robot.

[0034] This application also provides a mobile construction robot, including:

[0035] The chassis assembly is configured to at least support the movement of the mobile construction robot;

[0036] A lifting device is mounted on the chassis assembly;

[0037] A robotic arm includes a fixed end and a free end, the fixed end being mounted to the upper surface of the lifting device, and the free end being movable relative to the fixed end in three-dimensional space;

[0038] The working mechanism is fixed to the free end of the robotic arm to perform the task;

[0039] A power supply device is configured to supply power to the mobile construction robot; characterized in that,

[0040] The chassis assembly includes a left traveling mechanism, a right traveling mechanism, a mounting platform connected between the left traveling mechanism and the right traveling mechanism, and a traveling motor that drives the left traveling mechanism and the right traveling mechanism. The power supply device and the lifting device are fixed to the support plate of the mounting platform.

[0041] The support plate is lower than the upper plane formed by the left traveling mechanism and the right traveling mechanism.

[0042] In some embodiments, the left and right traveling mechanisms are tracked structures.

[0043] In some embodiments, the left traveling mechanism includes at least two traveling wheels, and the right traveling mechanism includes at least two traveling wheels.

[0044] In some embodiments, the installation platform includes a support plate extending in a walking direction and side plates located on both sides of the support plate, the support plate and the two side plates defining an accommodating space, the power supply device and the lifting device being fixed to the upper surface of the support plate, and the power supply device and the lifting device being at least partially located within the accommodating space.

[0045] In some embodiments, the distance between the center of gravity of the power supply device and the upper surface of the support plate is less than the height of the left traveling mechanism and / or the right traveling mechanism.

[0046] In some embodiments, the left and right walking mechanisms of the mobile construction robot are supported on a working plane, and the distance between the upper surface of the support plate and the working plane is less than the distance between the axis of the walking motor and the working plane.

[0047] It also provides a mobile construction robot, including:

[0048] The chassis assembly is configured to move the mobile construction robot.

[0049] A lifting device is mounted on the chassis assembly;

[0050] A robotic arm has a base end and a movable end, the base end being mounted to the upper surface of the lifting device, and the movable end being able to move relative to the base end in three-dimensional space;

[0051] The working mechanism is fixed to the movable end of the robotic arm to perform the working function;

[0052] A power supply device is configured to supply power to the mobile construction robot; characterized in that,

[0053] The chassis assembly includes a left-side traveling mechanism, a right-side traveling mechanism, a mounting platform connected between the left-side and right-side traveling mechanisms, and traveling motors that drive the left-side and right-side traveling mechanisms. The power supply unit and the lifting device are mounted on the mounting platform.

[0054] The installation platform defines a receiving space, and the power supply device includes a battery box formed within the receiving space, the battery box accommodating multiple battery packs arranged side-by-side in the battery box; wherein the battery packs can be detached from the battery box and configured to power cordless power tools.

[0055] In some embodiments, the left and right walking mechanisms are each matched with a walking motor, and the two walking motors are fixed on a mounting platform near one end of the walking mechanism.

[0056] In some embodiments, the width of the battery box is more than half the distance between the left and right traveling mechanisms.

[0057] In some embodiments, the battery pack has an electrical output terminal, and the battery compartment has an electrical input terminal that interfaces with the battery pack.

[0058] In some embodiments, the battery pack includes a battery pack housing and a cell unit, wherein the cell unit is disposed within the battery pack housing and the cell unit is a lithium battery cell.

[0059] In some embodiments, the working mechanism and the walking motors that drive the left and right walking mechanisms are both configured to be powered by multiple battery packs.

[0060] Compared with the prior art, this application has the following beneficial effects:

[0061] In this application, the power supply device of the mobile construction robot is located at the end of the vehicle, which makes it easier to pick up and put down the power supply device. Moreover, the low height of the power supply device makes the vehicle more stable during operation. [Image Description]

[0063] The specific embodiments of this application will be described in further detail below with reference to the accompanying drawings:

[0064] Figure 1 This is a three-dimensional structural diagram of the construction robot in this application;

[0065] Figure 2 This is a structural schematic diagram of the tool body and assembly bracket of the construction robot in this application;

[0066] Figure 3 This is an exploded structural diagram of the tool body and assembly bracket of the construction robot in this application;

[0067] Figure 4 This is a structural schematic diagram of the tool body and the gripping component in this application;

[0068] Figure 5 It is in this application Figure 4 Enlarged view of section B;

[0069] Figure 6 This is a partial cross-sectional view of the gripping component in this application;

[0070] Figure 7 This is an exploded structural diagram of the connection between the first connecting part of the construction robot and the tool body in this application;

[0071] Figure 8 This is an exploded structural diagram of the first connecting component of the construction robot in this application;

[0072] Figure 9 This is a structural schematic diagram of the vibration-damping base of the construction robot in this application;

[0073] Figure 10 This is a structural schematic diagram of the vibration damping base of the construction robot in this application from another angle;

[0074] Figure 11 This is a structural diagram of the connecting part of the tool body of the construction robot in this application;

[0075] Figure 12 This is a schematic diagram of the structure of the first guide component and the robotic arm of the construction robot in this application;

[0076] Figure 13 This is a structural schematic diagram of the first mounting plate, the first electrical connector, and the second electrical connector of the construction robot in this application.

[0077] Figure 14 This is a structural diagram of the construction robot in this application, showing the installation of a power supply device and a lifting device on its chassis.

[0078] Figure 15 This is a top view of the construction robot in this application, showing the installation of a power supply and lifting device on its chassis.

[0079] Figure 16 This is a schematic diagram of the structure of the construction robot in this application, on which a power supply device and a crash beam are installed.

[0080] Figure 17 This is a structural diagram of the power guide and power limiting components installed inside the chassis of the construction robot in this application;

[0081] Figure 18This is a schematic diagram of the first type of battery pack in the power supply device of the construction robot in this application;

[0082] Figure 19 This is a schematic diagram of the second type of battery pack in the power supply device of the construction robot in this application;

[0083] Figure 20 This is a schematic diagram of the structure of the second type of battery pack in the power supply device of the construction robot in another embodiment of this application;

[0084] Figure 21 This is a structural schematic diagram of the partition of the construction robot in this application;

[0085] Figure 22 This application Figure 21 Enlarged view of section A;

[0086] Figure 23 This is a schematic diagram of the internal structure of the housing of the construction robot in this application;

[0087] Figure 24 This is a structural diagram showing the division of the internal areas of the construction robot's housing in this application;

[0088] Figure 25 This is a structural diagram of the storage compartment and pipe support of the construction robot in this application;

[0089] Figure 26 This is a structural schematic diagram of the storage compartment and pipe support of the construction robot in this application from another angle;

[0090] Figure 27 This is a structural schematic diagram of the pipe support and the lifting end of the lifting device of the construction robot in this application;

[0091] Figure 28 This is a schematic diagram of the structure of the construction robot in this application with a brush installed on its storage compartment;

[0092] Figure 29 This is a schematic diagram of the structure for removing the brush from the storage compartment of the construction robot in this application;

[0093] Figure 30 This is a structural diagram of the storage compartment and the first compartment of the construction robot in this application;

[0094] Figure 31 This is a structural schematic diagram of the housing fixing component and guide component of the construction robot in this application;

[0095] Figure 32 This is a structural schematic diagram of the detection device and tool body of the construction robot in this application;

[0096] Figure 33This is a schematic diagram showing the positional relationship between the binocular camera and the execution end of the tool body of the construction robot in this application;

[0097] Figure 34 This is an exploded structural diagram of the detection device of the construction robot in this application;

[0098] Figure 35 This is a schematic diagram of the rear structure of the detection device of the construction robot in this application;

[0099] Figure 36 This is a schematic diagram of the control handle of the construction robot in this application;

[0100] Figure 37 This is a logic block diagram of the construction robot in this application. [Detailed Implementation]

[0102] The terminology used in this application is for the purpose of describing specific embodiments only and is not intended to limit the application. For example, terms such as "upper," "lower," "front," and "rear" that 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 application and simplifying the description, and are not intended to 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 a limitation of the application.

[0103] Please see Figures 1 to 37 The diagram shows a construction robot according to one embodiment of the present application, including a walking component 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 5091.

[0104] like Figure 1 and Figure 14 As shown, 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. The traveling motor 705 is operated under the control of the control module 5091.

[0105] In some embodiments, the walking component 700 may also be a combination of a front walking wheel 701, a rear walking wheel 702 and a walking motor 705. The walking motor 705 drives the front walking wheel 701 or the rear walking wheel 702 to achieve track walking and realize the walking of the entire robot.

[0106] like Figure 14As shown, 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 603 is located at the intersection of the diagonals.

[0107] like Figure 1 , Figure 15 , Figure 25 and Figure 26 As shown, the lifting device 400 is fixed on the chassis 600. The lifting device 400 is a servo electric cylinder. The lifting device 400 includes a lifting cylinder body and a lifting motor that drives the lifting cylinder body to lift. The lifting cylinder body is composed of multiple cylinder body parts with different inner diameters that are sleeved and connected. The upper end of the uppermost cylinder body part is the lifting end of the entire lifting cylinder body.

[0108] The lifting device 400 can also be a lifting platform with other structures.

[0109] like Figure 1 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, capable of moving at all angles around the lifting device 400, thereby enabling the robotic arm 300 to be adjusted at all angles to perform work at different positions. Specifically, the robotic arm 300 includes a fixed end and a free end. The fixed end is used to connect to the lifting end of the lifting cylinder and can be detachably connected by bolts. The free end is used to connect directly or indirectly to the tool body 200, so that the free end can drive the tool body 200 to freely adjust its height and angle in three-dimensional space, so that the tool body is aligned with the work point.

[0110] like Figure 1 In some embodiments, the assembly bracket 100 is fixedly connected to the front end of the robotic arm 300 and can move along with the robotic arm 300. For example... Figure 1 and Figure 2 As shown, the tool body 200 is mounted on the assembly bracket 100 and can perform related operations by following the movement of the assembly bracket 100. The assembly bracket 100 serves to connect the tool body 200 and the robotic arm 300.

[0111] like Figure 14 , Figure 15 , Figure 23 and Figure 25As shown, the power supply unit 900 is mounted on the chassis 600. The power supply unit 900 is used to provide a power source for the operation of the construction robot. The power supply unit 900 can also exchange signals with the control module 5091.

[0112] like Figure 37 As shown, the control module 5091 is used to control the operation of the construction robot. In some embodiments, the control module 5091 is also described as a controller.

[0113] In some embodiments, during operation, the tool body 200 can move back and forth on the mounting bracket 100 along the working direction. This arrangement helps to alleviate the reverse force of the working point on the tool body 200 during operation and improves the service life of the tool body 200.

[0114] like Figure 2 As shown, in some embodiments, the assembly bracket 100 includes a first guide 101 and a first connecting component 102 and a second connecting component 103 respectively connected to the first guide 101. The tool body 200 is connected to the assembly bracket 100 through the first connecting component 102 and the second connecting component 103. At least one of the first connecting component 102 and the second connecting component 103 is movable on the first guide 101.

[0115] In some embodiments, only one of the first connecting component 102 and the second connecting component 103 can move on the first guide 101. When one of the first connecting component 102 and the second connecting component 103 can move on the first guide 101, the other can slide and connect with the tool body 200 to ensure that the tool body 200 can move back and forth as a whole during operation, so as to alleviate the reverse force of the work point on the tool body 200.

[0116] In some embodiments, both the first connecting component 102 and the second connecting component 103 are movable on the first guide 101.

[0117] like Figure 3 As shown, in some embodiments, the first connecting component 102 includes a first connecting portion 10212 and a second connecting portion 10214, and the second connecting component 103 includes a third connecting portion. The first connecting portion 10212, the second connecting portion 10214, and the third connecting portion are not collinearly arranged. The tool body 200 is disposed on the three non-collinear first connecting portions 10212, the second connecting portion 10214, and the third connecting portion. As described above, the tool body 200 is mounted on the mounting bracket 100 through the three non-collinear connection points of the first connecting portion 10212, the second connecting portion 10214, and the third connecting portion. Utilizing the stability principle of triangles, the mounting bracket 100 can provide stable mounting support for the tool body 200 in the circumferential direction.

[0118] like Figure 3 As shown, in some embodiments, the first connecting assembly 102 includes a first mounting plate 1021, a first connecting portion 10212, and a second connecting portion 10214 disposed on the first mounting plate 1021. The first mounting plate 1021 also has a first guide portion 10211 capable of guiding and engaging with the first guide member 101. When the first guide portion 10211 engages with the first guide member 101, the tool body 200 can move along the first guide member 101 following the first mounting plate 1021. The tool body 200 is slidably connected to the first guide member 101 along the working direction via the first guide portion 10211 on the first mounting plate 1021, which can alleviate the vibration generated by the tool body 200 during operation and extend the service life of the tool body 200.

[0119] In some embodiments, the first guide member 101 is a guide rod, and at least two guide rods are provided. The first guide portion 10211 is a bushing, and the number of bushings matches the number of guide rods. One guide rod is fitted onto one bushing, and each bushing is movable on its corresponding guide rod.

[0120] In some embodiments, three guide rods are provided, arranged parallel to each other. Three bushings are also provided. One guide rod is fitted onto one bushing, and each bushing can move on its corresponding guide rod. The tool body 200 is connected to the first mounting plate 1021. Three non-collinear bushings are arranged on the first mounting plate 1021. The three bushings on the first mounting plate 1021 are respectively connected to the three guide rods, enabling stable sliding of the first mounting plate 1021 on the three guide rods. This allows the tool body 200 to move along with the first mounting plate 1021 on the three guide rods while providing stable support, reducing swaying of the tool body 200 in non-operating directions, and ensuring the accuracy of the tool body 200 at the working point. If the tool body 200 is a drilling tool, the cooperation of the three guide rods and bushings contributes to the accuracy of drilling.

[0121] like Figure 3 As shown, in some embodiments, the assembly bracket 100 includes a first mounting plate 1021, on which a first connecting portion 10212 and a second connecting portion 10214 are provided. A first shock-absorbing structure 204 capable of buffering the force between the tool body 200 and the first connecting portion 10212 is provided. A second shock-absorbing structure 206 capable of buffering the force between the tool body 200 and the second connecting portion 10214 is provided.

[0122] like Figure 3As shown, in some embodiments, the first connecting portion 10212 includes a first connecting hole 10213, and the tool body 200 is provided with a second connecting hole 209 that can be connected and engaged with the first connecting hole 10213. The first connecting hole 10213 and the second connecting hole 209 are connected by a tool fixing member 205. In this application, the tool body 200 is connected to the first connecting portion 10212 by the tool fixing member 205. In some embodiments, the tool fixing member 205 can be a bolt and nut structure.

[0123] like Figure 3 As shown, further, in order to achieve a vibration damping effect on the tool body 200 and the first mounting plate 1021, in this application, the tool body 200 is provided with a vibration damping groove 210 communicating with the second connecting hole 209, and a first vibration damping structure 204 is disposed in the vibration damping groove 210, extending at least partially into the second connecting hole 209. In the working state, the first vibration damping structure 204 can contact the tool fixing member 205. In some embodiments, the first vibration damping structure 204 is a vibration damping pad. In some embodiments, the shape of the vibration damping pad matches the shape of the vibration damping groove 210. In some embodiments, the vibration damping pad has a semi-circular structure.

[0124] In some embodiments, to further achieve a stable connection between the first connecting portion 10212 and the tool body 200, two first connecting portions 10212 are provided on both sides of the first mounting plate 1021. Each first connecting portion 10212 has a first connecting hole 10213, which is located on both sides of the second connecting hole 209. During connection, the tool fixing member 205 passes through one of the two first connecting holes 10213, then through the second connecting hole 209, and then exits through the other first connecting hole 10213. By connecting the two first connecting portions 10212 to the tool body 200 in a clamping manner, a stable connection between the first mounting plate 1021 and the tool body 200 is achieved, reducing the shaking of the tool body 200 in the non-operating direction.

[0125] In some embodiments, in order to achieve better shock absorption, shock-absorbing grooves 210 are provided on the tool body 200 at both ends of the second connecting hole 209. A first shock-absorbing structure 204 (shock-absorbing pad) is provided in each of the two shock-absorbing grooves 210. In the working state, the tool fixing member 205 can contact the two first shock-absorbing structures 204 to achieve the purpose of shock absorption of the tool body 200.

[0126] like Figure 13As shown, in some embodiments, a first electrical connector 202 is further provided on the first connecting portion 10212, and a first electrical connector terminal 2021 for supplying power to the tool body 200 is provided on the first electrical connector 202. This application also includes a second electrical connector 203 that is installed and mates with the first electrical connector 202, and a second electrical connector terminal is provided on the second electrical connector 203 for electrical connection to the power supply device 900. When the first electrical connector 202 and the second electrical connector 203 are installed and mate, the first electrical connector terminal 2021 and the second electrical connector terminal are electrically connected.

[0127] Specifically, the first electrical connector 202 is provided with a sliding groove 2024, and the second electrical connector 203 is provided with a slider 2031. The first electrical connector 202 and the second electrical connector 203 are installed through the sliding cooperation of the sliding groove 2024 and the slider 2031.

[0128] In some embodiments, the first electrical connector 202 includes two detachably connected housings 2022, each housing 2022 having an opening 2023 for connection with a tool holder 205. During installation, the two housings 2022 are clamped onto the first connecting portion 10212, and the tool holder 205 passes through the opening 2023, the first connecting hole 10213, and the second connecting hole 209 on the two housings 2022 respectively, thus fixing the two housings 2022 together.

[0129] In some embodiments, each connecting housing 2022 is provided with a slide groove 2024, and the second electrical connector 203 is provided with two sliders 2031. When the first electrical connector 202 and the second electrical connector 203 are installed and engaged, one slider 2031 slides in one slide groove 2024.

[0130] like Figure 3 As shown, in some embodiments, the second damping structure 206 includes a damping base 207 connected to the second connecting portion 10214, and a damping spring 208 acting between the damping base 207 and the tool body 200. The damping base 207 is fixed on the first mounting plate 1021. In the working state, the reverse force of the tool body 200 acts on the damping spring 208, and the damping spring 208 then transmits the force to the second connecting portion 10214, thereby achieving the purpose of damping the tool body 200 through the second connecting portion 10214.

[0131] Combination Figure 3 , Figures 8 to 11To ensure a stable connection between the shock-absorbing spring 208 and the shock-absorbing base 207 and the tool body 200, in some embodiments, the shock-absorbing base 207 is provided with a base protrusion 2072 that can be inserted into the shock-absorbing spring 208, and the tool body 200 is provided with a shock-absorbing groove 212. During installation, one end of the shock-absorbing spring 208 is sleeved around the outer periphery of the base protrusion 2072, and the other end of the shock-absorbing spring 208 is inserted into the interior of the shock-absorbing groove 212. This arrangement effectively prevents the shock-absorbing spring 208 from detaching from the shock-absorbing base 207 or the tool body 200 when it is compressed by the tool body 200. In some embodiments, two shock-absorbing springs 208 are provided.

[0132] Combination Figures 9 to 11 In some embodiments, the shock-absorbing base 207 is further provided with a second guide member 2071, and the tool body 200 is provided with a second guide portion 211 that guides and cooperates with the second guide member 2071. In the working state, the second guide member 2071 can reciprocate within the second guide portion 211, and the shock-absorbing spring 208 can extend and retract in the moving direction of the second guide member 2071. In some embodiments, the second guide member 2071 is a rod-shaped structure, and the second guide portion 211 is a recessed structure formed on the tool body 200. In the working state, the rod-shaped structure reciprocates within the recessed structure.

[0133] In some embodiments, the extension direction of the second guide 2071 is parallel to the reciprocating motion direction of the tool body 200.

[0134] like Figures 9 to 11 As shown, in some embodiments, two damping springs 208 are disposed on both sides of the second guide member 2071. The two damping springs 208 are isolated from each other, which can avoid interference between the damping springs 208, especially during compression.

[0135] like Figure 8 and Figure 9 As shown, in order to achieve the installation of the damping base 207 on the first mounting plate 1021, in this application, a first mating part 2073 is provided on one side of the damping base 207, and the second connecting part 10214 includes a first limiting part 10215. The first limiting part 10215 can be installed and mated with the first mating part 2073 to restrict the movement of the damping base 207. Specifically, the first mating part 2073 is a recessed structure formed by the inward indentation of the surface of the damping base 207, and the first limiting part 10215 is a protruding structure formed by the outward protrusion of the surface of the first mounting plate 1021. When the protruding structure is inserted into the recessed structure, the first mating part 2073 and the first limiting part 10215 are installed and mated.

[0136] like Figure 8 and Figure 10As shown, to further achieve stable installation of the damping base 207 on the first mounting plate 1021, in this application, a second mating part 2075 is provided on the damping base 207 on the side opposite to the first mating part 2073. The second connecting part 10214 also includes a second limiting part 10216. The second mating part 2075 can engage with the second limiting part 10216 to limit the movement of the damping base 207. In this application, the stable installation of the damping base 207 on the second connecting part 10214 is achieved through the clamping engagement of the first limiting part 10215 and the second limiting part 10216.

[0137] like Figure 8 and Figure 10 As shown, in some embodiments, the second mating part 2075 is also a recessed structure formed by the inward indentation of the surface of the shock-absorbing base 207, and the second limiting part 10216 is a pressure block that can be detachably mated with the first mounting plate 1021. When the pressure block is installed on the first mounting plate 1021, part of the structure of the pressure block extends into the second mating part 2075 to limit the movement of the shock-absorbing base 207.

[0138] In some embodiments, the pressure block is detachably fixed to the first mounting plate 1021 by screws 10220.

[0139] like Figure 8 and Figure 9 As shown, in some embodiments, the first mating part 2073 is provided with a first mating protrusion 2074, and the first limiting part 10215 is provided with a first limiting notch 10218 that mates with the first mating protrusion 2074. During installation, the first mating protrusion 2074 can be inserted into the first limiting notch 10218. This arrangement can limit the horizontal movement of the shock-absorbing base 207 at the upper part of the shock-absorbing base 207.

[0140] like Figure 8 and Figure 10 As shown, in some embodiments, the first limiting part 10215 and the second limiting part 10216 are arranged one above the other to clamp the shock-absorbing base 207. When the first limiting part 10215 and the second limiting part 10216 are arranged one above the other, the corresponding first mating part 2073 and the second mating part 2075 are also arranged one above the other.

[0141] In some embodiments, the first limiting part 10215 and the second limiting part 10216 are arranged on the left and right respectively to clamp the shock-absorbing base 207. When the first limiting part 10215 and the second limiting part 10216 are arranged on the left and right respectively, the corresponding first mating part 2073 and the second mating part 2075 are also arranged on the left and right respectively.

[0142] like Figure 11As shown, in some embodiments, a protective shell 213 is also provided around the outer periphery of the second shock-absorbing structure 206 to protect the second shock-absorbing structure 206. The protective shell 213 can also prevent the shock-absorbing spring 208 from falling off under force.

[0143] like Figure 3 As shown, in some embodiments, the tool body 200 can move relative to the third connecting part in the working state. As previously described, the tool body 200 is connected to the assembly body via the first connecting component 102 and the second connecting component 103. To enable relative movement of the tool body 200 in the working state, the first mounting plate 1021 in the first connecting component 102 can move relative to the first guide member 101, allowing the tool body 200 on the first mounting plate 1021 to move along with the first guide member 101. To enable the tool body 200 to move relative to the third connecting part, as described below, the second connecting component 103 includes an annular structure composed of two bow-shaped members. The third connecting part is the inner ring 1033 of the annular structure. The front end of the tool body 200 is fitted onto the inner ring 1033, with a gap between the front end of the tool body 200 and the inner ring 1033. This gap facilitates movement of the front end of the tool body 200 within the inner ring 1033.

[0144] Furthermore, the inner ring 1033 includes an inner plane 10331 located inside the inner ring 1033, and an outer plane 216 surrounding the outer periphery of the tool body 200. The inner plane 10331 can be slidably connected to the outer plane 216. The sliding engagement between the inner plane 10331 and the outer plane 216 reduces the resistance from the inner plane 10331 of the inner ring 1033 experienced by the front end of the tool body 200 during reciprocating motion.

[0145] In some embodiments, the two bow-shaped members are detachably connected by bolts. The two bow-shaped members are not identical, and one of the bow-shaped members is locked to the first guide member 101 by bolts, thereby achieving a fixed connection of the second connecting assembly 103 to the first guide member 101. Further, the two bow-shaped members are a first bow-shaped member 1031 and a second bow-shaped member 1032, respectively.

[0146] like Figure 2 and Figure 37 As shown, in some embodiments, this application also includes a controller (control module 5091) and a pressure sensor 104 connected to the controller via a signal.

[0147] In operation, when the tool body 200 moves forward and backward, it can transmit the pressure it experiences to the pressure sensor 104. The controller (control module 5091) can control the thrust when the tool body 200 moves forward and the pull when it moves backward based on the pressure detected by the pressure sensor 104.

[0148] like Figure 2 As shown, specifically, the mounting bracket 100 includes a first connecting component 102, which is connected between the tool body 200 and the pressure sensor 104. In operation, the first connecting component 102 can transmit the force of the tool body 200 to the pressure sensor 104.

[0149] When the robotic arm 300 pushes the tool body 200 on the assembly bracket 100 to work at the work point, the reaction force of the work point on the tool body 200 is transmitted to the pressure sensor 104 through the first connecting component 102. The pressure sensor 104 transmits the detected pressure to the controller, which then compares the pressure detected by the pressure sensor 104 with the safe pressure range stored in its own database. If the pressure exceeds the controller's own limited safe pressure range, the controller stops the robotic arm 300 from advancing. In this case, it can be determined that the actuator 201 of the tool body 200 has come into contact with a hard object, and continued advancement may damage the actuator 201.

[0150] In some embodiments, the maximum thrust that the tool body 200 can withstand when moving forward is less than or equal to 900N. Therefore, the safe pressure value of the tool body 200 when moving forward is stored in the controller's own database. When the pressure value detected by the pressure sensor 104 exceeds 900N when the tool body 200 moves forward, the controller controls the robotic arm 300 to stop moving forward.

[0151] If the pressure detected by the pressure sensor 104 is within the safe pressure range defined by the controller, the robotic arm 300 will push the tool body 200 to continue performing the operation.

[0152] When the tool body 200 completes its task, the robotic arm 300 pulls the tool body 200 back on the assembly bracket 100. At this time, the force experienced by the tool body 200 during its retraction is transmitted to the pressure sensor 104 via the first connecting component 102. The pressure sensor 104 continuously monitors the pressure experienced by the tool body 200 during retraction and transmits the monitored pressure to the controller in real time. If the monitored pressure exceeds the safe pressure range stored in the controller's database, the controller stops the robotic arm 300 from retracting. In this situation, it can be determined that the actuator 201 of the tool body 200 is stuck; continued retraction may damage the actuator 201.

[0153] In some embodiments, the maximum tensile force that the tool body 200 can withstand when it retracts is less than or equal to 600N. Therefore, the safe pressure value of the tool body 200 when it retracts stored in the controller's own database is less than or equal to 600N. When the pressure value detected by the pressure sensor 104 exceeds 600N when the tool body 200 retracts, the controller controls the robotic arm 300 to stop retracting.

[0154] If the pressure detected by the pressure sensor 104 is within the safe pressure range defined by the controller, the robotic arm 300 will pull the tool body 200 back until the back is completed.

[0155] In some embodiments, this application also includes a buffer structure, which, in the working state, is used to buffer the force between the tool body 200 and the pressure sensor 104.

[0156] like Figure 8 As shown, specifically, the assembly bracket 100 includes a first connecting assembly 102, which includes a first mounting plate 1021 and a second mounting plate 1022 connected to each other. The tool body 200 is connected to the first mounting plate 1021, and the pressure sensor 104 is connected to the second mounting plate 1022. The buffer structure includes a first buffer 1023 and a second buffer 1025. The first buffer 1023 is located between the first mounting plate 1021 and the second mounting plate 1022, and the second buffer 1025 is located on the side of the first mounting plate 1021 away from the second mounting plate 1022. The first mounting plate 1021 is located between the first buffer 1023 and the second buffer 1025.

[0157] When a task (such as drilling) needs to be performed, the robotic arm 300 will push the tool body 200 on the mounting bracket 100 forward. The execution end 201 of the tool body 200 (e.g., the drill bit) will be subjected to the reverse force of the work point (e.g., the wall), causing the tool body 200 to be subjected to a backward force. In this case, the first mounting plate 1021 can apply the force of the tool body 200 to the first buffer 1023. The first buffer 1023 has a buffering effect on the force of the tool body 200 when it performs forward operation.

[0158] When the execution end 201 of the tool body 200 finishes its work and the tool body 200 retracts, the execution end 201 will be subject to the resistance of the work point (the friction of the side wall of the borehole). Especially when the execution end 201 is stuck, due to the pulling action of the tool body 200 retracting, the first mounting plate 1021 can apply the force of the tool body 200 to the second buffer 1025. The second buffer 1025 plays a buffering role when the tool body 200 retracts, so as to prevent damage to the tool body 200 or the assembly bracket 100 due to hard pulling when the robotic arm 300 pulls the tool body 200 on the assembly bracket 100 retracts.

[0159] like Figure 8 As shown, in some embodiments, this application further includes a mounting fastener 1024 capable of connecting the first mounting plate 1021 and the second mounting plate 1022. When the mounting fastener 1024 connects the first mounting plate 1021 and the second mounting plate 1022, a first buffer 1023 is clamped between the first mounting plate 1021 and the second mounting plate 1022, and a second buffer 1025 is located between one end of the mounting fastener 1024 and the outer wall of the first mounting plate 1021.

[0160] Specifically, the second mounting plate 1022 is provided with a buffer mounting portion 10223 for mounting the first buffer 1023. The first buffer 1023 has a hollow internal structure, allowing it to be fitted onto the buffer mounting portion 10223. When installing the first buffer 1023 between the first mounting plate 1021 and the second mounting plate 1022, the first buffer 1023 is first installed onto the buffer mounting portion 10223 of the second mounting plate 1022 through its hollow structure, and then the first mounting plate 1021 and the second mounting plate 1022 are fixed in place by the mounting fastener 1024.

[0161] like Figure 8 As shown, in order to support the installation of the first buffer 1023 without affecting its buffering effect, the length of the buffer mounting portion 10223 is smaller than the thickness of the first buffer 1023 in the moving direction of the tool body 200. This arrangement is so that when the tool body 200 applies its force to the first buffer 1023 through the first mounting plate 1021, the first mounting plate 1021 will apply all the force it receives to the first buffer 1023 without touching the buffer mounting portion 10223.

[0162] Specifically, a limiting portion 10241 is provided at one end of the mounting fastener 1024 and on the outer side of the first mounting plate 1021, and a second buffer member 1025 is located between the limiting portion 10241 and the first mounting plate 1021. The other end of the mounting fastener 1024 is connected to the second mounting plate 1022. Through the connecting support of the second mounting plate 1022, a clamping configuration is formed between the limiting portion 10241 on the mounting fastener 1024 and the first mounting plate 1021, clamping the second buffer member 1025 between the limiting portion 10241 and the first mounting plate 1021. In some embodiments, the second buffer member 1025 has a hollow structure, and the second buffer member 1025 is sleeved on the mounting fastener 1024 through its hollow structure. This arrangement helps to prevent the second buffer member 1025 from detaching from the limiting portion 10241 and the first mounting plate 1021.

[0163] Specifically, the first mounting plate 1021 is provided with a third connecting hole 10217, and the second mounting plate 1022 is provided with a fourth connecting hole 10222. The mounting fastener 1024 is fixedly connected to the third connecting hole 10217 and the fourth connecting hole 10222. The mounting fastener 1024 connects and fixes the first mounting plate 1021 and the second mounting plate 1022 by connecting the third connecting hole 10217 and the fourth connecting hole 10222.

[0164] Furthermore, one end of the mounting fastener 1024 is provided with a limiting part 10241, and the other end is provided with a slot, which is detachably equipped with a clamp 10242. During installation, the end of the mounting fastener 1024 with the slot is inserted and passes through the third connecting hole 10217 and the fourth connecting hole 10222 before protruding. Then, the clamp 10242 is engaged in the slot and can abut against the second mounting plate 1022. The end of the mounting fastener 1024 with the limiting part 10241 abuts against the first mounting plate 1021. In this way, the first mounting plate 1021 and the second mounting plate 1022 are fixed by the mounting fastener 1024, and the first buffer 1023 is clamped between the first mounting plate 1021 and the second mounting plate 1022.

[0165] like Figure 8 As shown, in some embodiments, three mounting fasteners 1024 and one first buffer 1023 are provided, with the three mounting fasteners 1024 surrounding the first buffer 1023. Since the first buffer 1023 is clamped between the first mounting plate 1021 and the second mounting plate 1022, and the three mounting fasteners 1024 connect the first mounting plate 1021 and the second mounting plate 1022, the arrangement of the three mounting fasteners 1024 surrounding the first buffer 1023 improves the balance and stability of force transmission between the first buffer 1023, the first mounting plate 1021, and the second mounting plate 1022.

[0166] like Figure 12 As shown, in some embodiments, a third mounting plate 105 is bolted onto the robotic arm 300. Specifically, the front end of the robotic arm 300 is provided with a threaded hole, and the third mounting plate 105 is provided with a through hole. Bolts are passed through the through hole and connected to the threaded hole to realize the connection of the third mounting plate 105 onto the robotic arm 300.

[0167] like Figure 12 As shown, in some embodiments, the first guide member 101 is mounted and fixed on the third mounting plate 105. Specifically, the third mounting plate 105 is provided with a sleeve 1051. The first guide member 101 includes a first rod portion 1011 and a second rod portion 1012 with different diameters. A stepped surface 1013 is formed between the first rod portion 1011 and the second rod portion 1012, which can abut against the end of the sleeve 1051.

[0168] During installation, the first rod 1011 is inserted from one end of the sleeve 1051 and protrudes from the other end of the sleeve 1051. The outer surface of the first rod 1011 is threaded. It is threadedly connected to the first rod 1011 by a bolt. As the bolt is continuously screwed in, the bolt gradually abuts against one end of the sleeve 1051. The stepped surface 1013 of the first guide member 101 abuts against the other end of the sleeve 1051 until the sleeve 1051 is clamped between the bolt and the stepped surface 1013, so as to realize the installation and fixation of the first guide member 101 on the third mounting plate 105.

[0169] like Figure 3 As shown, in some embodiments, the second mounting plate 1022 is slidably connected to the first guide member 101. Specifically, the second mounting plate 1022 is provided with a sleeve hole 10221 that can be sleeved on the first guide member 101. In the working state, the tool body 200 transmits the force sequentially to the second mounting plate 1022 through the first mounting plate 1021 and the first buffer member 1023. Under the action of the force, the second mounting plate 1022 will move slightly. As mentioned above, the second mounting plate 1022 is connected to the first guide member 101 through the sleeve hole 10221, which can both guide the second mounting plate 1022 and provide stable support for the second mounting plate 1022.

[0170] In some embodiments, the tool body 200 may be a drilling tool, a grinding tool, or an impact tool, etc.

[0171] Combination Figure 3 and Figure 4 In some embodiments, the tool body 200 can be used as a handheld power tool after it is removed from the mounting bracket 100 and the gripping component 215 is installed on the tool body 200.

[0172] Combination Figure 3 and Figure 4 In some embodiments, the handheld power tool includes a tool body 200 and a gripping component 215. After the gripping component 215 is removed, the tool body 200 can be directly connected to the construction robot.

[0173] like Figure 4 As shown, in some embodiments, the gripping component 215 includes a first mounting position 2151 and a second mounting position 2152. The first mounting position 2151 includes a mounting hole 21511 disposed on the gripping component 215. When the tool body 200 is connected to the gripping component 215, the tool fixing member 205 only needs to pass through the mounting hole 21511 and the second connecting hole 209 to complete the installation connection between the first mounting position 2151 and the first connecting part 10212.

[0174] Combination Figure 3 , Figure 4 and Figure 5 As shown, in some embodiments, the second mounting position 2152 includes a base receiving cavity 21521, which can accommodate the shock-absorbing base 207. The base receiving cavity 21521 has a mounting position opening 21522, and a third limiting part 21525 and a fourth limiting part 21526 are provided at the mounting position opening. When the tool body 200 is connected to the gripping member 215, the second mounting position 2152 is installed and engaged with the second connecting part 10214. The third limiting part 21525 can be inserted into the first mating part 2073 of the shock-absorbing base 207, and the fourth limiting part 21526 can be inserted into the second mating part 2075 of the shock-absorbing base 207. This arrangement can effectively prevent the shock-absorbing base 207 from separating from the gripping member 215.

[0175] like Figure 6 As shown, in some embodiments, the gripping component 215 is further provided with a power mounting position 217 for mounting a battery pack to power the tool body 200. Furthermore, the second type battery pack 902 of this application can be mounted on the power mounting position 217 of the gripping component 215 to power the tool body 200.

[0176] Combination Figure 5 , Figure 9 and Figure 10 In some embodiments, the third limiting portion 21525 is provided with a third limiting notch 21523, which can be inserted and engaged with the first mating protrusion 2074. The fourth limiting portion 21526 is provided with a fourth limiting notch 21524, which can be inserted and engaged with the second mating protrusion 2076, further ensuring the firmness of the connection between the shock-absorbing base 207 and the gripping component 215.

[0177] like Figure 36 As shown, this application also includes a remote control device 5031, which allows construction personnel to control the operation of the construction robot. The remote control device 5031 is also equipped with a display screen 50311. The display screen 50311 can virtually display the position of the actuator 201 of the tool body 200 on the display screen 50311, serving as a reference point 50312. The remote control device 5031 is signal-connected to the control module 5091, through which control commands can be transmitted to the control module 5091. The control module 5091 then controls the operation of the walking component 700, the lifting device 400, the robotic arm 300, and the tool body 200 according to the control commands.

[0178] like Figure 32 As shown, this application also includes a detection device 800, which is mounted on the assembly bracket 100. The detection device 800 is signal-connected to the control module 5091. The detection device 800 can transmit the signal of the detected work point to the control module 5091, which then converts the signal of the work point into a marker point 50313 on the display screen 50311. As the robotic arm 300 moves, the detection device 800 on the assembly bracket 100 also moves synchronously, and simultaneously projects the signal of the detected work point onto the display screen 50311 of the control handle in real time, displaying it as a movable marker point 50313. When the marker point 50313 gradually approaches and coincides with the reference point 50312, construction work (such as drilling) can be carried out.

[0179] In some embodiments, the detection device 800 is further configured to identify obstacles and transmit the identified obstacle information to the control module 5091. The control module 5091 then controls the movement of the robotic arm 300 during operation based on the obstacle information to prevent contact with the obstacles. Specifically, the control module 5091 can control the advancing distance of the robotic arm 300 based on the obstacle information to keep the detection device 800 on the assembly bracket 100 from contacting the obstacles, thereby preventing damage to the detection device 800.

[0180] like Figure 33 and Figure 36 As shown, in some embodiments, the detection device 800 includes a vision sensor 801, which is a binocular camera with two vision lenses 8011. The perpendicular bisector 8014 of the line connecting the two vision lenses 8011 intersects the axis of the actuating end 201 of the tool body 200. This arrangement facilitates the positioning of the actuating end 201 of the tool body 200 in the display screen 50311 of the remote control device 5031, so as to serve as a reference point 50312.

[0181] like Figure 33 As shown, in some embodiments, the vision sensor 801 is located outside the actuating end 201 of the tool body 200, and the vertical distance L1 between the vision sensor 801 and the axis of the actuating end 201 is greater than or equal to 5 cm. Specifically, to ensure the accessibility of the tool body 200, both the vision sensor 801 and the tool body 200 are arranged on the mounting bracket 100, and the vision sensor 801 is located outside the tool body 200. In some embodiments, the vertical distance L1 between the vision sensor 801 and the actuating end 201 of the tool body 200 is 5 cm, 6 cm, and 7 cm. This arrangement ensures that the vision sensor 801 maintains a suitable vertical distance from the tool body 200, preventing the field of view from being obstructed by other structures in front (such as the dust collection hood 218).

[0182] In this application, the vision lens 8011 of the vision sensor 801 transmits images in real time. Construction personnel can remotely control the robotic arm 300 according to the image on the display screen 50311 on the remote control device 5031, so that the execution end 201 of the tool body 200 can reach the working range of the work point. Then, the depth camera can detect the distance between the entire vision sensor 801 and the work point and upload the distance information to the control module 5091. After processing the distance information, the control module 5091 controls the posture of the robotic arm 300, thereby adjusting the posture of the execution end 201 of the tool body 200 so that the execution end 201 of the tool body 200 is perpendicular to the plane where the work point is located.

[0183] In some embodiments, the end face of the vision sensor 801 is perpendicular to the execution end 201 of the tool body 200. With this arrangement, the perpendicularity between the execution end 201 of the tool body 200 and the plane where the work point is located can be obtained when measuring the parallelism between the vision sensor 801 and the plane where the work point is located.

[0184] like Figure 32 and Figure 34 As shown, in some embodiments, the vision sensor 801 also includes a depth camera capable of detecting the distance between the work point and the vision sensor 801. The depth camera includes two depth lenses 8012.

[0185] Specifically, when the two depth lenses 8012 can detect the distance between themselves and the plane where the work point is located, the greater the difference in the distance values ​​measured by the two depth lenses 8012, the worse the parallelism between the end face of the vision sensor 801 and the plane where the work point is located, that is, the worse the perpendicularity between the execution end 201 of the tool body 200 and the plane where the work point is located.

[0186] The smaller the difference in distance values ​​measured by the two depth lenses 8012, the better the parallelism between the end face of the vision sensor 801 and the plane where the work point is located, that is, the better the perpendicularity between the execution end 201 of the tool body 200 and the plane where the work point is located.

[0187] When the distance values ​​measured by the two depth lenses 8012 are equal, it can be assumed that the execution end 201 of the tool body 200 is perpendicular to the plane where the work point is located.

[0188] In some embodiments, the depth camera can also be used to identify completed holes.

[0189] like Figure 34 As shown, in some embodiments, a sensor bracket 802 is also included for connecting the vision sensor 801 to the mounting bracket 100. In operation, the vision sensor 801 can move relative to the sensor bracket 802. A sensor buffer 8028 is provided between the vision sensor 801 and the sensor bracket 802 to absorb the impact force of the vision sensor 801. Providing the sensor buffer 8028 between the vision sensor 801 and the sensor bracket 802 can effectively mitigate the impact force on the vision sensor 801 during operation, extend the service life of the vision sensor 801, and, moreover, allow the vision sensor 801 to vibrate during operation, shaking off dust that falls on the surface of the lenses of the binocular camera and depth camera, reducing the possibility of unclear images due to dust obstruction.

[0190] like Figure 34 As shown, specifically, the sensor bracket 802 includes a sensor mounting base 8021, which has a sensor receiving cavity 8022 for mounting a vision sensor 801. In the direction of movement of the vision sensor 801, a first sensor limiting member 8023 is provided at one end of the sensor receiving cavity 8022, and a second sensor limiting member 8025 is provided at the other end. The vision sensor 801 is located between the first sensor limiting member 8023 and the second sensor limiting member 8025. This arrangement allows the vision sensor 801 to move within a distance limited by the first sensor limiting member 8023 and the second sensor limiting member 8025.

[0191] like Figure 34 As shown, in some embodiments, the first sensor limiting member 8023 is located on the back of the vision sensor 801, and the sensor buffer member 8028 is connected between the vision sensor 801 and the first sensor limiting member 8023.

[0192] like Figure 34As shown, in some embodiments, the sensor mounting base 8021 is provided with a slot 8024 for inserting a second sensor limiting member 8025. During installation, a portion of the second sensor limiting member 8025 is located within the slot 8024, and a portion extends into the sensor receiving cavity 8022 and can abut against the front edge of the lens of the vision sensor 801. Furthermore, two slots 8024 are provided, and correspondingly, two second sensor limiting members 8025 are provided.

[0193] like Figure 34 As shown, in some embodiments, to facilitate the mounting and dismounting of the vision sensor 801 on the sensor mounting base 8021, at least one of the first sensor limiting member 8023 and the second sensor limiting member 8025 is detachably connected to the sensor mounting base 8021. In some embodiments, both the first sensor limiting member 8023 and the second sensor limiting member 8025 can be detachably connected to the sensor mounting base 8021. Specifically, both the first sensor limiting member 8023 and the second sensor limiting member 8025 are connected to the sensor mounting base 8021 by bolts. In some embodiments, the first sensor limiting member 8023 and the sensor mounting base 8021 are an integral structure, and the second sensor limiting member 8025 is fixed to the sensor mounting base 8021 by bolts.

[0194] like Figure 34 and Figure 35 As shown, in some embodiments, a sensor harness 8013 is connected between the vision sensor 801 and the control module 5091. In order to reduce excessive shaking of the sensor harness 8013 during operation and to prevent the sensor harness 8013 from obstructing the lens on the vision sensor 801, the sensor bracket 802 in this application also includes a harness pressure plate 8027. The harness pressure plate 8027 is provided with a harness slot 80271 for placing the sensor harness 8013. After the vision sensor is installed, the sensor harness 8013 will be constrained within the harness slot 80271 to reduce the shaking of the sensor harness 8013.

[0195] Combination Figure 34 and Figure 35In some embodiments, the sensor bracket 802 further includes a pressure plate mounting member 8026, which has a pressure plate guide groove 80261. A wire harness pressure plate 8027 is connected to the pressure plate guide groove 80261 and can move within the pressure plate guide groove 80261 in a direction close to or far from the vision sensor 801. Specifically, the pressure plate guide groove 80261 is an elongated groove, extending from near to far relative to the vision sensor 801. In this application, bolts pass through the pressure plate guide groove 80261 and connect to the wire harness pressure plate 8027, and the wire harness pressure plate 8027 is fixed on the pressure plate mounting member 8026 by tightening the bolts. When it is necessary to adjust the distance between the wire harness pressure plate 8027 and the vision sensor 801, the bolts are first loosened, and then the wire harness pressure plate 8027 is moved within the pressure plate guide groove 80261. After determining the position, the bolts are tightened again to fix the wire harness pressure plate 8027.

[0196] In some embodiments, the detection device 800 may also be 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.

[0197] See also Figure 1 and Figure 15 In some embodiments, this application also provides a construction robot, including: a chassis assembly including a left walking mechanism 710, a right walking mechanism 720, and a mounting platform located between the left walking mechanism 710 and the right walking mechanism 720, the left walking mechanism 710 and the right walking mechanism 720 being driven by at least one walking motor 705; a lifting device 400 mounted on the mounting platform; a robotic arm 300 including a fixed end 310 and a free end 320, the fixed end 310 being mounted to the upper surface of the lifting device 400, and the free end 320 being movable relative to the fixed end 310 in three-dimensional space; a working tool fixed to the free end 320 of the robotic arm 300 to perform working functions; and a power supply device 900 configured to power the construction robot; wherein the mounting platform has a accommodating space 6014, the accommodating space 6014 including a power accommodating area 6015, a lifting device accommodating area 6016, and a walking motor accommodating area 6017, the lifting device accommodating area 6016 being located between the power accommodating area 6015 and the walking motor accommodating area 6017. The power supply area 6015 accommodates the power supply unit 900, the lifting device area 6016 accommodates the lifting device 400, and the travel motor area 6017 accommodates the travel motor 705. By installing the power supply unit 900, the lifting device 400, and the travel motor 705 in their respective areas on the chassis assembly, the center of gravity of the entire construction robot is relatively stable, while each functional area is independent and does not interfere with each other, making disassembly and assembly convenient and making full use of the chassis space.

[0198] In some embodiments, the power supply device 900 has a mass of 80 kg to 120 kg. In some embodiments, the power supply device 900 has a mass of 80 kg, 93 kg, 100 kg, or 120 kg.

[0199] In some embodiments, the mass of the power supply device 900 may also be 30 kg, 50 kg, 60 kg or 70 kg.

[0200] It should be noted that the tool body 200 in this application can also be described as a work tool, work component, or work mechanism.

[0201] like Figure 17 In some embodiments, the installation platform includes a support plate 6010, a left side plate 6011 located on one side of the support plate 6010, and a right side plate 6012 located on the other side of the support plate 6010. The support plate 6010, the left side plate 6011, and the right side plate 6012 enclose a receiving space 6014. A power supply device 900, a lifting device 400, and a travel motor 705 are located within the receiving space 6014.

[0202] Combination Figure 15 and Figure 17 In some embodiments, the upper ends of the left side plate 6011 and the right side plate 6012 together form an upper support plane 6013, and the upper ends of the left walking mechanism 710 and the right walking mechanism 720 together form a walking upper plane 740. The height of the upper support plane 6013 is higher than the height of the walking upper plane 740.

[0203] Combination Figure 1 and Figure 17 In some embodiments, the construction robot also includes a housing 500 with at least a receiving function, the housing 500 being connected to the upper end of the left side plate 6011 and the upper end of the right side plate 6012.

[0204] In some embodiments, the housing 500 includes a top, a bottom opposite the top, a first side, a second side, a third side, and a fourth side located between the top and the bottom.

[0205] In some embodiments, the power supply device 900, the lifting device 400, and the walking motor 705 are located on the same support surface.

[0206] like Figure 15In some embodiments, the support plate 6010 extends along the walking direction of the construction robot, and on a projection plane perpendicular to the support plate 6010, the ratio of the area of ​​the power supply accommodating region 6015 to the area of ​​the support plate 6010 is greater than 0.2. In some embodiments, the ratio of the area of ​​the power supply accommodating region 6015 to the area of ​​the support plate 6010 is greater than 0.2 and less than or equal to 0.5. In some embodiments, the ratio of the area of ​​the power supply accommodating region 6015 to the area of ​​the support plate 6010 is 0.2, 0.3, or 0.5.

[0207] like Figure 1 and Figure 15 This application also provides a construction robot, including: a chassis assembly including a left walking mechanism 710, a right walking mechanism 720, and a mounting platform located between the left walking mechanism 710 and the right walking mechanism 720, the left walking mechanism 710 and the right walking mechanism 720 being driven by at least one walking motor 705; a lifting device 400 mounted on the mounting platform; a robotic arm 300 including a fixed end 310 and a free end 320, the fixed end 310 being mounted to the upper surface of the lifting device 400, and the free end 320 being capable of moving relative to the fixed end 310 in three-dimensional space; and a work tool. A power supply unit 900 is fixed to the free end 320 of the robotic arm to perform operational functions. The mounting platform has a accommodating space 6014, which includes a power supply accommodating area 6015, a lifting device accommodating area 6016, and a travel motor accommodating area 6017. The lifting device accommodating area 6016 is located between the power supply accommodating area 6015 and the travel motor accommodating area 6017. The mounting platform has a first symmetrical center line 12 along its length, and the center of gravity of the lifting device accommodating area 6016 is adjacent to the first center line 12. The power supply accommodating area 6015 accommodates the power supply unit 900, the lifting device accommodating area 6016 accommodates the lifting device 400, and the travel motor accommodating area 6017 accommodates the travel motor 705. By mounting the power supply unit 900, the lifting device 400, and the travel motor 705 on their respective areas on the chassis assembly, and by positioning the lifting device 400 close to the first center line 12, the center of gravity of the entire machine is more centered, resulting in higher overall stability.

[0208] In some embodiments, the ratio of the mass of the lifting device 400 to the mass of the power supply device 900 is greater than or equal to 1.5 and less than or equal to 3. In some embodiments, the ratio of the mass of the lifting device 400 to the mass of the power supply device 900 is 1.5, 2, or 3. The lifting device 400 has a relatively large mass and is positioned close to the first center line 12, making the center of gravity of the entire machine more centered and improving the stability of the entire machine.

[0209] In some embodiments, the lifting device 400 has a first height in a non-operating state and a second height in an operating state, and the change in the center of gravity of the lifting device 400 during lifting is less than or equal to the difference between the first height and the second height. The lifting device 400's vertical movement causes a change in its center of gravity in the vertical direction, while its center of gravity remains essentially unchanged in the horizontal direction. This ensures that during lifting, the center of gravity of the lifting device 400 is centered on the first midline 12 of the mounting platform, making the entire machine relatively stable.

[0210] Combination Figure 1 and Figure 16 This application also provides a construction robot, including: a chassis assembly including a left walking mechanism 710, a right walking mechanism 720, and a mounting platform located between the left walking mechanism 710 and the right walking mechanism 720, the left walking mechanism 710 and the right walking mechanism 720 being driven by at least one walking motor 705; a lifting device 400 mounted on the mounting platform; a robotic arm 300 including a fixed end 310 and a free end 320, the fixed end 310 being mounted to the upper surface of the lifting device 400, and the free end 320 being movable relative to the fixed end 310 in three-dimensional space; a working tool fixed to the free end 320 of the robotic arm 300 to perform working functions; and a power supply device 900 configured to power the construction robot; wherein the mounting platform has a receiving space 6014, the receiving space 6014 including a power supply receiving area 6015, the opening of the power supply receiving area 6015 being located at the front or rear of the construction robot. This arrangement is to facilitate the removal and placement of the power supply device 900 within the power supply receiving area 6015 for disassembly, repair, or replacement.

[0211] Combination Figure 1 and Figure 15This application also provides a construction robot, including: a chassis assembly including a left walking mechanism 710, a right walking mechanism 720, and a mounting platform located between the left walking mechanism 710 and the right walking mechanism 720, the left walking mechanism 710 and the right walking mechanism 720 being driven by at least one walking motor 705; a lifting device 400 mounted on the mounting platform; a robotic arm 300 including a fixed end 310 and a free end 320, the fixed end 310 being mounted on the upper surface of the lifting device 400, and the free end 320 being movable relative to the fixed end 310 in three-dimensional space; a working tool fixed to the free end 320 of the robotic arm 300 to perform working functions; and a power supply device 900 configured to power the construction robot; wherein the ratio of the distance between the center of gravity of the construction robot and the left walking mechanism 710 to the distance between the center of gravity G604 of the construction robot and the right walking mechanism 720 is greater than or equal to 0.9 and less than or equal to 1.1. In some embodiments, the ratio of the distance between the center of gravity G604 of the construction robot and the left traveling mechanism 710 to the distance between the center of gravity G604 of the construction robot and the right traveling mechanism 720 is 0.9, 1.0, or 1.1. This arrangement ensures that the distance between the center of gravity G604 of the construction robot and the left traveling mechanism 710 is roughly equivalent to the distance between the center of gravity G604 of the construction robot and the right traveling mechanism 720, resulting in a more centered center of gravity and greater overall stability.

[0212] Combination Figure 15 and Figure 17 In some embodiments, the installation platform includes a support plate 6010, a left side plate 6011 located on one side of the support plate 6010, and a right side plate 6012 located on the other side of the support plate 6010. A power supply device 900 and a lifting device 400 are installed on the upper surface of the support plate 6010, and the power supply device 900 and the lifting device 400 are located between the left side plate 6011 and the right side plate 6012.

[0213] Combination Figure 1 and Figure 15This application also provides a construction robot, including: a chassis device including a left walking mechanism 710, a right walking mechanism 720, and a mounting platform located between the left walking mechanism 710 and the right walking mechanism 720, the left walking mechanism 710 and the right walking mechanism 720 being driven by at least one walking motor 705; a lifting device 400 mounted on the mounting platform; a robotic arm 300 including a fixed end 310 and a free end 320, the fixed end 310 being mounted to the upper surface of the lifting device 400, and the free end 320 being movable relative to the fixed end 310 in three-dimensional space; a working component fixed to the free end 320 of the robotic arm 300 to perform working functions; and a power supply device 900 configured to power the construction robot; wherein the projection of the construction robot's G-center of gravity G604 onto the working plane lies on the line 11 connecting the projections of the power supply device 900's center of gravity and the lifting device 400's center of gravity onto the working plane. This arrangement is also to bring the centers of gravity of the power supply device 900 and the lifting device 400 closer to the construction robot's center of gravity, improving the overall stability of the machine.

[0214] like Figure 15 In some embodiments, the mounting platform has a first dividing line 12 that symmetrically divides it in the extension direction, with the power supply 900 and the lifting device 400 located on both sides of the first dividing line 12, such that the two ends of the mounting platform are kept in a relatively balanced position by the power supply 900 and the lifting device 400.

[0215] Combination Figure 14 and Figure 16 In some embodiments, the installation platform includes a support plate 6010 extending along the walking direction of the construction robot, and a power supply device 900 and a lifting device 400 are mounted on the upper surface of the support plate 6010.

[0216] Combination Figure 1 and Figure 15This application also provides a construction robot, comprising: an installation platform; a walking assembly 700, including a left walking mechanism 710 disposed on one side of the installation platform and a right walking mechanism 720 disposed on the other side of the installation platform, the left walking mechanism 710 and the right walking mechanism 720 being driven by at least one walking motor 705, the center of gravity of the left walking mechanism 710 and the right walking mechanism 720 being G1, and the center of gravity of the walking motor 705 being G2; a lifting device 400, installed on the installation platform, the lifting device 400 including a lifting cylinder and a lifting motor 401 driving the lifting cylinder to lift, the center of gravity of the lifting cylinder being G3, and the center of gravity of the lifting motor 401 being G4; a robotic arm 300, installed on the upper end of the lifting device 400; and a working tool, fixed to the robotic arm 300. The free end 320 of the robot performs the operation function; the power supply unit 900 is configured to power the construction robot. The power supply unit 900 is located between the left walking mechanism 710 and the right walking mechanism 720, and the center of gravity of the power supply unit 900 is G5. Among them, in the direction perpendicular to the travel direction of the construction robot, the center of gravity G1 formed by the left walking mechanism 710 and the right walking mechanism 720, the center of gravity G2 of the walking motor 705, the center of gravity G3 of the lifting cylinder, the center of gravity G4 of the lifting motor 401, and the center of gravity G5 of the power supply unit 900 are roughly distributed along the same straight line. The central distribution of each center of gravity makes the bottom of the whole machine more stable. During operation, when the robotic arm 300 and the lifting device 400 make different posture adjustments, the bottom of the whole machine can also provide relatively stable support, so that the operation can be carried out safely and efficiently.

[0217] It should be noted that the centers of gravity in this application are roughly distributed along the same straight line, which can be understood as the distance of each center of gravity from the aforementioned straight line in the horizontal direction being within 50mm.

[0218] like Figure 15 In some embodiments, the center of gravity G1 formed by the left walking mechanism 710 and the right walking mechanism 720, the center of gravity G2 of the walking motor 705, the center of gravity G3 of the lifting cylinder, the center of gravity G4 of the lifting motor 401, and the center of gravity G5 of the power supply device 900 are distributed approximately along the same straight line, which divides the construction robot equally along the walking direction.

[0219] Combination Figure 15 , Figure 16 and Figure 17In some embodiments, the upper ends of the left walking mechanism 710 and the right walking mechanism 720 together form the upper walking plane 740, and the lower ends of the left walking mechanism 710 and the right walking mechanism 720 together form the lower walking plane 730. The height H2 of the center of gravity G1 formed by the left walking mechanism 710 and the right walking mechanism 720, the height of the center of gravity G2 of the walking motor 705, the height of the center of gravity G3 of the lifting cylinder, and the height of the center of gravity G5 of the power supply device 900 are located between the upper walking plane 740 and the lower walking plane 730, making the chassis of the whole machine more stable and providing more stable support for the operation of the robotic arm 300 and the lifting device 400 on the upper part of the whole machine.

[0220] like Figure 15 In some embodiments, the center of gravity of the left traveling mechanism 710 is G11, and the center of gravity of the right traveling mechanism 720 is G12; the center of gravity G3 of the lifting cylinder and the center of gravity G4 of the lifting motor 401 are located in the area formed by the line 11 connecting the center of gravity G11 of the left traveling mechanism 710, the center of gravity G2 of the traveling motor 705, the center of gravity G12 of the right traveling mechanism 720, and the center of gravity G5 of the power supply device 900.

[0221] Combination Figure 14 and Figure 15 In some embodiments, the center of gravity G604 of the construction robot is also located within the area formed by the line 11 connecting the center of gravity G11 of the left walking mechanism 710, the center of gravity G2 of the walking motor 705, the center of gravity G12 of the right walking mechanism 720, and the center of gravity G5 of the power supply device 900.

[0222] like Figure 15 In some embodiments, the installation platform includes a support plate 6010, a left side plate 6011 located on one side of the support plate 6010, and a right side plate 6012 located on the other side of the support plate 6010. A power supply device 900, a lifting device 400, and a travel motor 705 are installed on the upper surface of the support plate 6010, and the power supply device 900, the lifting device 400, and the travel motor 705 are located between the left side plate 6011 and the right side plate 6012.

[0223] Combination Figure 1 and Figure 15In some embodiments, this application also provides a mobile construction robot, including: a chassis assembly configured as a mobile construction robot; a lifting device 400 mounted on the chassis assembly; a robotic arm 300 including a fixed end 310 and a free end 320, the fixed end 310 being mounted to the upper surface of the lifting device 400, and the free end 320 being movable relative to the fixed end 310 in three-dimensional space; a working mechanism fixed to the free end 320 of the robotic arm 300 to perform work; and a power supply device 900 configured to power the mobile construction robot; the chassis assembly includes a left walking mechanism 710, a right walking mechanism 720, a mounting platform connected between the left walking mechanism 710 and the right walking mechanism 720, and a walking motor 705 driving the left walking mechanism 710 and the right walking mechanism 720; the power supply device 900 and the lifting device 400 are fixed to the mounting platform.

[0224] In some embodiments, two walking motors 705 are fixed to one end of the support plate 6010 of the mounting platform, and a power supply device 900 is provided at the other end of the support plate 6010 of the mounting platform. The power supply device is placed at one end of the support plate 6010 to facilitate the removal and placement of the power supply device 900.

[0225] like Figure 15 As shown, in some embodiments, the left walking mechanism 710 and right walking mechanism 720 of the mobile construction robot are supported on the working plane, and the ratio of the projected area of ​​the power supply device 900 on the working plane to the area of ​​the support plate 6010 of the mounting platform is greater than or equal to 0.2. In some embodiments, the ratio of the projected area of ​​the power supply device 900 on the working plane to the area of ​​the support plate 6010 of the mounting platform is greater than or equal to 0.2 and less than or equal to 0.6. In some embodiments, the ratio of the projected area of ​​the power supply device 900 on the working plane to the area of ​​the support plate 6010 of the mounting platform is 0.2, 0.3, 0.5, or 0.6.

[0226] It should be understood that the power supply device 900 in this application is functionally equivalent to the power supply device 900.

[0227] In some embodiments, the power supply device 900 has a capacity of 8 kWh or more and 11.7 kWh or less.

[0228] like Figure 15 In some embodiments, the walking motor 705, the lifting device 400 and the power supply device 900 are arranged sequentially at intervals along the upper surface of the support plate 6010.

[0229] Combination Figure 1 , Figure 16 and Figure 17As shown, this application also provides a mobile construction robot, including: a chassis assembly configured as a mobile construction robot; a lifting device 400 mounted on the chassis assembly; a robotic arm 300 including a fixed end 310 and a free end 320, the fixed end 310 being mounted to the upper surface of the lifting device 400, and the free end 320 being movable relative to the fixed end 310 in three-dimensional space; a working mechanism fixed to the free end 320 of the robotic arm 300 to perform work; and a power supply device 900 configured to power the mobile construction robot; the chassis assembly includes a left walking mechanism 710, a right walking mechanism 720, and a connecting mechanism between the left walking mechanism 710 and the right walking mechanism 720. The mounting platform between the right walking mechanism 720 and the walking motors 705 driving the left walking mechanism 710 and the right walking mechanism 720, the power supply device 900, and the lifting device 400 are fixed to the mounting platform. The mounting platform has a power supply cavity 609 for accommodating the power supply device 900. The power supply device 900 can be detachably inserted into the power supply cavity 609 along a first linear direction. The left walking mechanism 710 and the right walking mechanism 720 of the mobile construction robot are supported on a working plane. The angle α formed between the first linear direction in which the power supply device 900 is inserted into the power supply cavity 609 and the working plane is greater than or equal to 0 degrees and less than 90 degrees. In some embodiments, the angle α formed between the first linear direction in which the power supply device 900 is inserted into the power supply cavity 609 and the working plane is greater than or equal to 0 degrees, 30 degrees, 45 degrees, 60 degrees, or 90 degrees. In some embodiments, the first linear direction in which the power supply device 900 is inserted into the power supply cavity 609 is parallel to the traveling direction of the mobile construction robot. The aforementioned angle settings allow the power supply unit 900 to be mounted within the power supply housing 609 parallel to its direction of travel, perpendicular to its direction of travel, or tilted. These diverse mounting options for the power supply unit 900 enable the construction robot to meet the needs of various practical scenarios.

[0230] In some embodiments, the installation platform has a front and a rear, with the power supply 900 located at the front of the installation platform. The walking motor 705 that drives the left walking mechanism 710 and the right walking mechanism 720, the lifting device 400, and the power supply 900 are arranged sequentially along the travel direction of the mobile construction robot.

[0231] In some embodiments, the installation platform has a front and a rear, with the power supply 900 located at the rear of the installation platform. The power supply 900, the lifting device 400, and the walking motors 705 that drive the left walking mechanism 710 and the right walking mechanism 720 are arranged sequentially along the travel direction of the mobile construction robot.

[0232] Combination Figure 1 and Figure 17As shown, this application also provides a mobile construction robot, including: a chassis assembly configured to at least support the mobile construction robot's movement; a lifting device 400 mounted on the chassis assembly; a robotic arm 300 including a fixed end 310 and a free end 320, the fixed end 310 being mounted to the upper surface of the lifting device 400, and the free end 320 being movable relative to the fixed end 310 in three-dimensional space; a working mechanism fixed to the free end 320 of the robotic arm 300 to perform work; and a power supply device 900 configured to power the mobile construction robot; the chassis assembly includes a left walking mechanism 710, a right walking mechanism 720, a mounting platform connected between the left walking mechanism 710 and the right walking mechanism 720, and a walking motor 705 driving the left walking mechanism 710 and the right walking mechanism 720; the power supply device 900 and the lifting device 400 are fixed to a support plate 6010 of the mounting platform; wherein, the support plate 6010 is lower than the upper end of the left walking mechanism 710 and the upper end of the right walking mechanism 720, together forming a walking upper plane 740. The support plate 6010 for installing the power supply device 900 and the lifting device 400 is lower than the upper end of the left traveling mechanism 710 and the upper end of the right traveling mechanism 720, together forming the upper traveling plane 740. The center of gravity of the whole machine is set lower, and the whole machine is more stable in operation.

[0233] In some embodiments, the left traveling mechanism 710 and the right traveling mechanism 720 are tracked structures.

[0234] In some embodiments, the left traveling mechanism 710 includes at least two traveling wheels, and the right traveling mechanism 720 includes at least two traveling wheels.

[0235] In some embodiments, the installation platform includes a support plate 6010 extending along the walking direction and side plates 6071 located on both sides of the support plate 6010. The support plate 6010 and the two side plates 6071 define a receiving space 6014. A power supply device 900 and a lifting device 400 are fixed to the upper surface of the support plate 6010, and the power supply device 900 and the lifting device 400 are at least partially located within the receiving space 6014.

[0236] In some embodiments, the distance between the center of gravity of the power supply device 900 and the upper surface of the support plate 6010 is less than the height of the left traveling mechanism 710 and / or the right traveling mechanism 720.

[0237] In some embodiments, the left walking mechanism 710 and the right walking mechanism 720 of the mobile construction robot are supported on a working plane, and the distance H1 between the upper surface of the support plate 6010 and the working plane is less than the distance H3 between the axis of the walking motor and the working plane.

[0238] This application also provides a mobile construction robot, including: a chassis assembly configured as a mobile construction robot; a lifting device 400 mounted on the chassis assembly; a robotic arm 300 including a fixed end 310 and a free end 320, the fixed end 310 being mounted to the upper surface of the lifting device 400, and the free end 320 being movable relative to the fixed end 310 in three-dimensional space; a working mechanism fixed to the free end 320 of the robotic arm 300 to perform work; a power supply device 900 configured to power the mobile construction robot; the chassis assembly includes a left-side walking mechanism 710. A right-walking mechanism 720, a mounting platform connected between the left-walking mechanism 710 and the right-walking mechanism 720, and a walking motor 705 driving the left-walking mechanism 710 and the right-walking mechanism 720 are mounted on the mounting platform. A power supply device 900 and a lifting device 400 are also mounted on the mounting platform. The mounting platform defines a receiving space 6014. The power supply device 900 includes a battery box formed within the receiving space 6014. The battery box contains multiple battery packs arranged side-by-side. The battery packs can be detached from the battery box and configured to power other cordless power tools.

[0239] In some embodiments, two walking motors 705 are fixed to a mounting platform near one end of the walking mechanism.

[0240] In some embodiments, the width of the battery box is more than half the distance between the left traveling mechanism 710 and the right traveling mechanism 720.

[0241] like Figure 18 , Figure 19 and Figure 20 As shown, in some embodiments, the battery pack has an electrical output terminal, and the battery compartment has an electrical input terminal 903 that interfaces with the battery pack. The power supply device 900 includes battery packs of different shapes and sizes, and the different shapes and sizes of battery packs can share the electrical input terminal 903 within the battery compartment.

[0242] In some embodiments, the battery pack includes a battery pack housing and a cell unit, wherein the cell unit is disposed within the battery pack housing and is a lithium battery cell.

[0243] In some embodiments, the working mechanism and the walking motors 705 that drive the left walking mechanism 710 and the right walking mechanism 720 are all configured to be powered by multiple battery packs.

[0244] like Figure 14As shown, in some embodiments, to ensure the overall stability of the construction robot, especially when the lifting device 400 is raised and the robotic arm 300 is extended, and to prevent the entire robot from tipping over, this application provides a lifting device 400 and a power supply device 900 on the chassis 600. One of the lifting device 400 and the power supply device 900 is located at the front of the chassis 600, and the other is located at the rear of the chassis 600. The chassis 600 extends along a horizontal plane, and on the horizontal plane perpendicular to the chassis 600, the center of gravity G604 of the construction robot approximately overlaps with the geometric center 603 of the chassis 600. This arrangement makes the overall center of gravity G604 of the construction robot relatively central and its height relatively low. Especially when the tool body 200 is operating, under the reverse force of the working point, it can reduce the probability of the construction robot tipping over during operation. Moreover, the relatively central center of gravity G604 of the construction robot can improve the flexibility of the construction robot when turning and the stability when climbing slopes.

[0245] like Figure 16 As shown, in some embodiments, the length L of the chassis 600 is greater than or equal to 120cm and less than or equal to 140cm, the width W is greater than or equal to 50cm and less than or equal to 60cm, and the height H is greater than or equal to 26cm and less than or equal to 32cm. Specifically, the length L of the chassis 600 is greater than or equal to 120cm, 130cm, or 140cm, the width W is 50cm, 55cm, or 60cm, and the height H is 26cm, 28cm, or 32cm.

[0246] like Figure 16 As shown, in some embodiments, the height H1 of the chassis 600 from the ground is greater than or equal to 6cm and less than or equal to 12cm. Specifically, the height H1 of the chassis 600 from the ground is 6cm, 8cm or 12cm.

[0247] like Figure 15 As shown, in some embodiments, on the projection surface perpendicular to the chassis 600, the projected area of ​​the power supply device 900 occupies more than 30% but not more than 60% of the projected area of ​​the chassis 600. In some embodiments, the projected area of ​​the power supply device 900 occupies 30%, 35%, or 40% of the projected area of ​​the chassis 600. A large space is left on the chassis 600 to install the power supply device 900, enabling the power supply device 900 to have a large energy storage capacity, providing sufficient endurance for the construction robot.

[0248] like Figure 15As shown, in some embodiments, the projected area of ​​the lifting device 400 accounts for more than 10% but not more than 30% of the projected area of ​​the chassis 600. In some embodiments, the projected area of ​​the lifting device 400 accounts for 10%, 12%, or 15% of the projected area of ​​the chassis 600. Because the lifting device 400 is relatively heavy, placing it on the chassis 600 makes the overall chassis 600 of the construction robot relatively low. Moreover, since the power supply device 900 is also installed on the chassis 600, in order to make room for the installation of the power supply device 900, and given the limited space on the chassis 600, the volume occupied by the lifting device 400 on the chassis 600 should not be too large.

[0249] In some embodiments, the power supply 900 has a capacity of 8 kWh or more and 11.7 kWh or less. Specifically, the power supply 900 has a capacity of 8 kWh, 10 kWh, or 11.7 kWh. Choosing a high-capacity power supply 900 can provide the construction robot with longer operating time.

[0250] In some embodiments, the power supply device 900 is mounted on the chassis 600, and the ratio of the output energy of the power supply device 900 to the width of the chassis 600 is greater than or equal to 0.066 kW / cm. In some embodiments, the ratio of the output energy of the power supply device 900 to the width of the chassis 600 is greater than or equal to 0.08 kW / cm but less than 0.5 kW / cm. This configuration allows the power supply device 900 to provide more electrical energy to the construction robot within a limited space.

[0251] like Figure 18 , Figure 19 and Figure 20 As shown, in some embodiments, the power supply device 900 includes either a first type battery pack 901 or a second type battery pack 902 with different capacities, and at least one of the first type battery pack 901 and the second type battery pack 902 can be detached from the chassis 600 to power a ride-on lawnmower. Of course, at least one of the first type battery pack 901 and the second type battery pack 902, being detachable from the chassis 600, can also power an all-terrain vehicle or a snowplow.

[0252] In some embodiments, the energy density of the first type battery pack 901 is greater than or equal to 86 Wh / kg and less than or equal to 125.6 Wh / kg. In some embodiments, the energy density of the first type battery pack 901 is 86 Wh / kg, 100 Wh / kg, or 125.6 Wh / kg. The energy density of the second type battery pack 902 is greater than or equal to 100 Wh / kg and less than or equal to 250 Wh / kg. In some embodiments, the energy density of the second type battery pack 902 is 100 Wh / kg, 180 Wh / kg, or 250 Wh / kg.

[0253] In some embodiments, the capacity of the first type battery pack 901 is greater than or equal to 8 kWh and less than or equal to 11.7 kWh. In some embodiments, the capacity of the first type battery pack 901 is 8 kWh, 10 kWh, or 11.7 kWh. In some embodiments, the capacity of the second type battery pack 902 is greater than or equal to 0.5 kWh and less than or equal to 5 kWh. In some embodiments, the capacity of the second type battery pack 902 is 0.5 kWh, 3 kWh, or 5 kWh. In some embodiments, since the capacity of the second type battery pack 902 is smaller than that of the first type battery pack 901, the second type battery pack 902 can also be detached to power a handheld power tool.

[0254] Furthermore, the tool body 200 in this application can be detached from the construction robot and, after the gripping component 215 is installed, can be used as a handheld power tool. This handheld power tool can use the first type battery pack 901 or the second type battery pack 902 in this application as a power source.

[0255] like Figure 17 As shown, in some embodiments, a power receiving cavity 609 is provided within the chassis 600, and a power guide 607 is provided within the power receiving cavity 609. When the power device 900 is assembled or disassembled from the chassis 600, the power device 900 can guide and cooperate with the power guide 607 within the power receiving cavity 609. Specifically, the power guide 607 can guide the power device 900 to be inserted into or removed from the chassis 600.

[0256] In some embodiments, the power guide 607 includes a base plate 6072 for supporting the bottom of the power device 900 and a side plate 6071 for limiting the sides of the power device 900.

[0257] In some embodiments, the extension direction of the power guide 607 is consistent with the front-rear direction of the chassis 600. In some embodiments, the power supply device 900 can be mounted into the power supply receiving cavity 609 from the front or rear of the chassis 600. Specifically, the power supply device 900 can be mounted into the power supply receiving cavity 609 from the rear of the chassis 600.

[0258] like Figure 15 As shown, in order to limit the power device 900 on the power guide 607 and prevent the power device 900 from moving excessively into the chassis 600, a power limiting member 608 is provided in the guiding direction of the power guide 607. Specifically, the power limiting member 608 is provided at the end of the power guide 607 and is used to limit the power device 900 that slides into the chassis 600.

[0259] Combination Figure 16 , Figure 23 and Figure 26 As shown, in some embodiments, a power cover 605 is provided at the end of the power guide 607 away from the power limiting member 608. The power cover 605 is fixed to the chassis 600 by bolts and is located at the entrance of the power receiving cavity 609. In some embodiments, a power switch 606 for controlling the power supply is provided on the power cover 605.

[0260] In some embodiments, the power cover 605 is further provided with a charging interface for charging the power supply device 900.

[0261] In some embodiments, the power cover 605 is provided with a display screen that displays information such as the remaining power of the power device 900, the output power, the output voltage, and the output current.

[0262] like Figure 15 As shown, in some embodiments, the walking assembly 700 further includes a walking motor 705 disposed within the chassis 600. The walking motor 705, the lifting device 400, and the power supply device 900 are sequentially arranged on the same plane of the chassis 600. The walking motor 705 is located on the side of the lifting device 400 away from the power supply device 900. This arrangement makes more rational and efficient use of the space in the chassis 600. The power supply device 900 can supply power to the walking motor 705 and the lifting device 400. Specifically, the lifting device 400 is fixedly connected to the chassis 600 using M16 bolts and nuts.

[0263] In some embodiments, the chassis 600 is a cavity structure formed by a support plate and side plates. The upper surface of the bottom wall inside the chassis 600 is a mounting plane, and the walking motor 705, the lifting device 400, and the power supply device 900 are mounted on the mounting plane of the chassis 600. In some embodiments, the side plates include a left side plate located on one side of the support plate and a right side plate located on the other side of the support plate.

[0264] like Figure 14 , Figure 15 , Figure 16As shown, in some embodiments, a first anti-collision beam 601 is provided at the front of the chassis 600 and a second anti-collision beam 602 is provided at the rear. In the assembly direction of the power supply device 900, at least one of the first anti-collision beam 601 and the second anti-collision beam 602 is provided on the outer side of the power supply device 900. The anti-collision beams are provided to protect the construction robot in the event of a collision with an external object during movement. Further, to facilitate the assembly and disassembly of the power supply device 900, in this application, the power supply device 900 is located at the end of the chassis 600. To avoid interfering with the installation and removal of the power supply device 900, the first anti-collision beam 601 or the second anti-collision beam 602 located near the power supply device 900 is configured as an arched structure. The arched anti-collision beam is located at the end of the construction robot and on the outer periphery of the power supply device 900. In one embodiment, the second anti-collision beam 602 is configured as an arched structure.

[0265] like Figure 23 As shown, in some embodiments, a housing 500 is also provided above the chassis 600. Specifically, the housing 500 consists of a frame 501 and a cover 502 covering the frame 501, and the interior of the housing 500 forms an accommodating space.

[0266] like Figure 21 As shown, the frame 501 is provided with four legs 50101, and the frame 501 is mounted on the chassis 600 via its four legs 50101. Furthermore, a plurality of connecting blocks 50102 connected to the legs 50101 are fixedly provided on the chassis 600. Each leg 50101 is provided with at least two connecting blocks 50102, and each connecting block 50102 restricts the same leg 50101 in different directions.

[0267] In some embodiments, a leg 50101 is configured with two connecting blocks 50102 in the same plane, one connecting block 50102 is used to restrict the movement of the leg 50101 in the direction of travel of the construction robot, and the other connecting block 50102 is used to restrict the movement of the support in a direction perpendicular to the direction of travel of the construction robot.

[0268] like Figure 24As shown, in some embodiments, the interior of the housing 500 includes a first area 503, a second area 504, and a third area. The first area 503 is at least configured to house a remote control device 5031 for controlling the operation of the construction robot. The remote control device 5031 is signal-connected to the control module 5091. The second area 504 is at least configured to house a dust collection device for collecting dust generated during the operation of the tool body 200. The second area 504 can also house a filter element 5042 for replacement within the dust collection device. The third area is at least configured to store tools, including power tools, a dust collection hood 218, drill bits (the execution end 201 of the construction robot), a tripod 5061, a line marker, and other hand tools. This arrangement allows each functional area to house its corresponding functional equipment, resulting in a rational, independent, and non-interfering internal space layout within the housing 500, and ensuring that the functional equipment is placed in an orderly and uncluttered manner.

[0269] like Figure 23 As shown, in some embodiments, this application also includes an electrical control area 509 located on the top of the housing 500 for mounting the control module 5091.

[0270] like Figure 1 and Figure 23 As shown, in some embodiments, this application also includes an alarm device 5010, which is signal-connected to the control module 5091. The alarm device 5010 can emit an alarm sound or flash lights to remind construction personnel to disconnect the power to the construction robot when the robot malfunctions. Specifically, the construction robot is equipped with a control switch that controls the on / off state of its circuitry.

[0271] Figure 21 , Figure 22 and Figure 24As shown, in some embodiments, a partition 507 is provided in the third region. The partition 507 is movable within the third region and can divide the third region into a first tool area 505 and a second tool area 506 for storing different tools. Power tools, dust hoods 218, drill bits, the actuator 201 of a construction robot, and other hand tools are located in the first tool area 505. Tripods 5061 and line markers are located in the second tool area 506. Specifically, a partition 507 guide is also included. A partition 507 guide groove is provided on the partition 507, and part of the partition 507 guide is located within the partition 507 guide groove. When the partition 507 moves within the third region, the partition 507 guide groove and the partition 507 guide engage in a guiding fit. By moving its position within the third region, the partition 507 frees up space in the first tool area 505 for the second tool area 506. Of course, by moving the position of the partition 507, space in the second tool area 506 can also be freed up for the first tool area 505 to accommodate larger tools within the third region.

[0272] like Figure 21 As shown, in some embodiments, the partition 507 is provided with mounting holes 5073 for hanging items. Hooks can be installed in the mounting holes 5073 for hanging tools or other items. Of course, tools or other items can be directly hung in the mounting holes 5073.

[0273] like Figure 1 and Figure 23 As shown, in some embodiments, the housing 500 includes a frame 501 and a cover 502 covering the frame 501. The cover 502 includes a first cover corresponding to the first region 503, a second cover corresponding to the second region 504, a third cover corresponding to the first tool area 505, and a fourth cover corresponding to the second tool area 506. Each of the four regions has one cover, and each cover covers its own region. When it is necessary to retrieve or process functional devices in a corresponding region, only the corresponding cover needs to be opened for operation; the covers of other regions remain closed. Functional devices include a remote control device 5031, a vacuum cleaner, power tools, etc.

[0274] like Figure 23 As shown, in some embodiments, the frame 501 within the housing 500 is provided with a first partition 5011, a second partition 5012, and a third partition 5013 sequentially from top to bottom. The first partition 5011 is configured to separate the internal and external environments of the housing 500. The third partition 5013 is configured to separate the space between the housing 500 and the chassis 600.

[0275] Furthermore, the control module 5091 of the electrical control area 509 is located between the first partition 5011 and the second partition 5012. The first area 503, the second area 504, and the third area are located between the second partition 5012 and the third partition 5013. Each area is set up separately according to its own functional attributes, so that the internal layout of the enclosure 500 is neat and does not interfere with each other.

[0276] like Figure 21 and Figure 23 As shown, in some embodiments, the housing 500 of this application has space inside to accommodate a lifting device 400. The bottom of the lifting device 400 is fixedly connected to the chassis 600, and the middle part of the lifting device 400 passes through the housing 500 and protrudes from the top of the housing 500. The protruding part of the lifting device 400 includes a lifting end 402, which can be raised and lowered and connected to the robotic arm 300. Specifically, the lifting device 400 sequentially passes through the third partition 5013, the second partition 5012, and the first partition 5011, and protrudes from the top of the first partition 5011. A partition plate is also provided around the lifting device 400 to separate the lifting device 400 from the internal space of the housing 500.

[0277] In some embodiments, a protective cover is provided between the first partition 5011 and the lifting end 402 of the lifting device 400.

[0278] like Figure 23 As shown, in some embodiments, the alarm device 5010 is disposed on the upper surface of the first partition 5011. When the alarm device 5010 is a warning light, the warning light is disposed on the first partition 5011, which is located at the top of the housing 500. This arrangement helps construction personnel to observe the light emitted by the warning light and facilitates timely handling of emergency situations involving the construction robot.

[0279] In some embodiments, the construction robot of this application may not have a lifting device 400, but instead the robotic arm 300 may be directly mounted on the frame 501.

[0280] like Figure 23 As shown, in some embodiments, this application further includes a dust collection hood 218, which is disposed at the execution end 201 of the tool body 200. The dust collection hood 218 is used to collect dust generated during operation of the execution end 201. Specifically, the dust collection hood 218 has a hollow structure and is sleeved on the execution end 201 (drill bit) of the tool body 200. The dust collection hood 218 is fixed on the first guide member 101 of the mounting bracket 100.

[0281] like Figure 23As shown, the vacuuming device of this application includes a vacuum cleaner body 5041 and a suction pipe 5043 connected between the dust collection hood 218 and the vacuum cleaner body 5041. The vacuum cleaner body 5041 is installed inside the housing 500 of the construction robot. Dust generated by the execution end 201 of the tool body 200 during operation can be sucked into the vacuum cleaner body 5041 through the suction pipe 5043. In some embodiments, the vacuum cleaner body 5041 is signal-connected to and controlled by the control module 5091.

[0282] like Figure 25 , Figure 26 , Figures 28 to 30 As shown, this application also includes a storage device 508 for storing the vacuum cleaner hose 5043, which is at least partially housed within the storage device 508. When not in operation, the vacuum cleaner hose 5043 can also be detached from the dust collection hood 218 and the vacuum cleaner body and stored entirely within the storage device 508.

[0283] In operation, the lifting device 400 and the robotic arm 300 extend to a certain height. Since the vacuum cleaner body 5041 is installed inside the construction robot's housing 500, the suction pipe 5043 is relatively long to allow the dust collection hood 218 to connect to the vacuum cleaner body 5041 and to transport dust from the dust collection hood 218 to the vacuum cleaner body 5041 via the suction pipe 5043. Because the lifting device 400 and the robotic arm 300 are in a retracted state when not in operation, the long suction pipe 5043 needs to be stored in the storage device 508 to prevent it from haphazardly hanging on the housing 500 and affecting subsequent construction work.

[0284] like Figures 25 to 27 As shown, in order to fix the vacuum hose 5043, this application provides a hose support 403 at the lifting end 402 of the lifting device 400. The hose support 403 includes a hose fixing part 4033 for fixing the vacuum hose 5043. In operation, when the lifting end 402 rises, the hose support 403 can pull the vacuum hose 5043 inside the storage device 508 to extend. When the lifting end 402 falls, the hose support 403 can push the external vacuum hose 5043 to move into the storage device 508. Specifically, the tube support 403 includes a first clamping member 4031 and a second clamping member 4032. The first clamping member 4031 includes a first concave structure 40311, and the second clamping member 4032 includes a second concave structure 40321. The tube fixing part 4033 includes a hollow first annular structure formed by the combination of the first concave structure 40311 and the second concave structure 40321. The vacuum tube 5043 can be clamped in the first annular structure formed by the combination of the first concave structure 40311 and the second concave structure 40321.

[0285] like Figure 25 and Figure 26 As shown, in some embodiments, the storage device 508 includes a storage opening 5081, and the chassis 600 extends horizontally. In a horizontal direction perpendicular to the chassis 600, the tube fixing part 4033 is located directly above the storage opening 5081. This arrangement ensures that when the lifting end 402 of the lifting device 400 descends, the suction tube 5043 follows the lifting end 402 downwards. The tube support 403 guides the descent of the suction tube 5043, allowing it to fall directly into the storage device 508 through the storage opening 5081 during descent. This ingenious design eliminates the need for manual guidance of the suction tube 5043 into the storage device 508, making the construction robot more convenient to operate.

[0286] In some embodiments, the narrowest part of the storage opening 5081 is larger than the outer diameter of the suction tube 5043. In some embodiments, the storage device 508 has a square structure, and the storage opening 5081 also has a square structure, with the narrowest part of the storage opening 5081 being larger than the outer diameter of the suction tube 5043. This arrangement allows the suction tube 5043 to fall into the storage device 508 more easily when it descends.

[0287] In some embodiments, the storage device 508 is a hollow cylindrical structure, and the storage opening 5081 is circular, with the inner diameter of the circular storage opening 5081 being larger than the outer diameter of the suction pipe 5043.

[0288] In some embodiments, the ratio of the diameter of the storage opening to the diameter of the suction pipe is greater than 1 and less than 2. The ratio being greater than 1 allows the suction pipe to fall freely into the storage device under its own weight, while the ratio being less than 2 prevents the suction pipes from tangling when placed side-by-side at the storage opening. Specifically, the ratio of the storage opening diameter to the suction pipe diameter is 1, 1.5, or 1.8.

[0289] In some embodiments, this application further includes a control module 5091 that controls the operation of the tool body 200. A control harness is connected between the control module 5091 and the tool body 200, and the control harness is at least partially located within the storage device 508. This arrangement allows the storage device 508 to not only store the vacuum cleaner hose 5043, but also to store the control harness.

[0290] In this application, the control module 5091 is mounted on the housing 500 of the chassis 600, and the tool body 200 is located on the robotic arm 300. Due to the distance, a relatively long control harness is required to transmit control signals between the robotic arm 300 and the control module 5091. In non-operating states, the control harness needs to be stored. This design allows the storage device 508 to accommodate both the vacuum hose 5043 and the control harness, achieving the multi-purpose use of the storage device 508.

[0291] In some embodiments, the tube fixing part 4033 is also configured to fix the control harness and guide the movement of the control harness into the storage device 508.

[0292] like Figures 25 to 27 As shown, in some embodiments, the control wire harness is disposed within the wire harness tube 214, and the tube support 403 is also configured to connect the wire harness tube 214. Specifically, the first clamping member 4031 further includes a third concave structure 40312, the second clamping member 4032 further includes a fourth concave structure 40322, and the tube fixing part 4033 further includes a hollow second annular structure formed by the combination of the third concave structure 40312 and the fourth concave structure 40322. The wire harness tube 214 can be clamped within the second annular structure formed by the combination of the third concave structure 40312 and the fourth concave structure 40322. The tube support 403 guides the movement of the wire harness tube 214 into the receiving device 508 through the second annular structure.

[0293] like Figure 28 and Figure 29 As shown, in some embodiments, the storage device 508 has a first through hole 5088 and a second through hole 5089 on its side wall. The first through hole 5088 matches the shape of the suction pipe 5043, which passes through the first through hole 5088 and connects to the external vacuum cleaner body 5041. The second through hole 5089 matches the shape of the wire harness tube 214, which passes through the second through hole 5089, exits the storage device 508, and extends to the electronic control area 509.

[0294] like Figure 29 and Figure 30 As shown, in some embodiments, the storage device 508 is provided with a guide 5090, which has an arc-shaped structure that matches the shape of the vacuum tube 5043 or the wire harness tube 214. The guide 5090 is used to guide the vacuum tube 5043 and the wire harness tube 214 when they rise or fall, reducing the bending of the tubes during movement.

[0295] In some embodiments, the ratio of the length of the storage device 508 to the length of the housing 500 along the direction of travel of the construction robot is greater than or equal to 3% and less than or equal to 5%. In some embodiments, the ratio of the length of the storage device 508 to the length of the housing 500 is 3%, 4%, or 5%. This arrangement results in a smaller space occupied by the storage device 508 along the length of the housing 500, and also allows the housing 500 to have more space to store or install other components.

[0296] like Figure 28 and Figure 30 As shown, since the storage opening 5081 is an open structure, in some embodiments, the opening of the storage opening 5081 is vertically upward. To reduce the amount of debris falling into the storage device 508, this application provides a stop at the storage opening 5081 of the storage device 508. The stop is made of a deformable material, and the suction pipe 5043 can resist the force of the stop when falling or rising, and can move within the storage opening 5081. Specifically, the stop can be a brush 5084 located at the storage opening 5081. The brush 5084 reduces the amount of debris falling into the storage device 508. The brush 5084 includes bristles and a base for mounting the bristles. The base can be fixed to the opening of the storage device 508 by bolts or adhesive.

[0297] like Figures 28 to 30 As shown, in some embodiments, the storage device 508 consists of a bottom wall and four side walls. The storage opening 5081 is located above the storage device 508. When debris falls into the storage device 508, in order to facilitate the cleaning of the debris inside the storage device 508, this application provides a cleaning opening 5086 and a cleaning cover 5087 that can cover the cleaning opening 5086 at the bottom of the storage device 5088. When it is necessary to clean the debris, open the cleaning cover 5087, remove the debris from the cleaning opening 5086, and then close the cleaning cover 5087 on the cleaning opening 5086.

[0298] In some embodiments, the storage device 508 may also be configured as a structure with an open bottom, which may use a third partition 5013 as its bottom to prevent debris from falling into other areas.

[0299] Please also refer to Figure 23 , Figure 30 and Figure 31In some embodiments, a housing 500 is provided on the chassis 600, and the storage device 508 is fixed inside the housing 500. Specifically, a compartment fixing member 5085 is provided at the storage opening 5081, and the compartment fixing member 5085 includes a first compartment fixing part 50851 and a second compartment fixing part 50852. In some embodiments, the first compartment fixing part 50851 is a snap-fit, and the first partition 5011 is provided with an opening for the compartment fixing member 5085 to be inserted, and the snap-fit ​​engages with the opening of the first partition 5011. The second fixing part is inserted into the storage opening 5081 and is press-fitted against the inner wall of the storage device 508.

[0300] In some embodiments, the storage device 508 is located inside the housing 500, and the storage opening 5081 extends to the outside of the housing 500. In some embodiments, the lifting device includes a lifting mechanism and a limiting mechanism. The lifting mechanism includes a plurality of lifting cylinders and a lifting motor 401 that drives the lifting cylinders to lift. The lifting end 402 is located on the uppermost lifting cylinder. The limiting mechanism is disposed on the outside of the lifting mechanism and is used to fix the lifting mechanism to the frame of the housing 500. Further, the limiting mechanism is a bracket that supports the lifting mechanism and is fixed inside the housing 500.

[0301] In some embodiments, the storage device 508 is fixed on the limiting mechanism and is located close to the lifting device, so that the suction pipe 5043 on the lifting end 402 can fall into the storage device 508, thereby improving the efficiency of storing the suction pipe 5043 and reducing the risk of the suction pipe 5043 falling from the storage opening 5083.

[0302] like Figure 28 and Figure 29 As shown, in some embodiments, a housing 500 is also provided on the chassis 600, and a storage device 508 is disposed on the housing 500. The storage device 508 includes an air inlet 5083 and an air outlet. The air inlet 5083 is used to introduce gas from inside the housing 500 into the storage device 508, and the air outlet is used to expel gas from the storage device 508. This arrangement helps to dissipate heat generated by electrical equipment installed inside the housing 500.

[0303] Furthermore, in the horizontal direction, the air inlet 5083 corresponds to the electronic control area 509. This arrangement helps to dissipate heat from the electronic control area 509 by allowing the heat generated by the control module 5091 in the electronic control area 509 to enter through the air inlet 5083 and then exit through the air outlet.

[0304] In some embodiments, the air outlet and the storage port 5081 in this application have the same structure, that is, the storage port 5081 can be used as an air outlet at the same time.

[0305] like Figure 21 and Figure 23 As shown, to improve heat dissipation, in some embodiments, a cooling fan 5082 is provided on the storage device 508, which drives airflow within the storage device 508. The cooling fan 5082 increases the airflow speed within the storage device 508, thereby improving heat dissipation for the housing 500 and chassis 600, particularly for the control module 5091 and power supply device 900. In some embodiments, the control module 5091 can control the operation of the cooling fan 5082.

[0306] like Figure 23 As shown in this application, although the enclosure 500 has multiple partitions (first partition 5011, second partition 5012, and third partition 5013), each partition has a gap between itself and the frame 501, allowing air to circulate between the chassis 600 and the enclosure 500. This is particularly beneficial under the drive of the cooling fan 5082, helping to dissipate heat generated within the chassis 600 and enclosure 500. Furthermore, a power supply device 900 is installed inside the chassis 600. Air flowing through the power supply device 900 can enter the air inlet 5083 through the gaps in the enclosure 500 and then exit through the air outlet, dissipating heat generated by the power supply device 900.

[0307] like Figure 25 and Figure 26 As shown, in some embodiments, the lifting device 400 includes a lifting motor 401, and the chassis 600 is provided with a power supply device 900. Both the lifting motor 401 and the power supply device 900 are located inside the chassis 600. The chassis 600 extends in a horizontal direction. In a horizontal direction perpendicular to the chassis 600, the storage device 508 is located above at least one of the lifting motor 401 and the power supply device 900.

[0308] In some embodiments, the operation of the lifting motor 401 is controlled by the control module 5091.

[0309] In some embodiments, the air inlet 5083 of the storage device 508 is located above the power supply device 900, which is beneficial for heat dissipation of the power supply device 900. In some embodiments, the air inlet 5083 of the storage device 508 is located above the lifting motor 401, which is beneficial for heat dissipation of the lifting motor 401.

[0310] In some embodiments, along the travel direction of the construction robot, the storage device 508 is located between the lifting motor 401 and the power supply device 900. In some embodiments, the air inlet 5083 of the storage device 508 is located between the lifting motor 401 and the power supply device 900. This arrangement is to simultaneously dissipate heat from both the lifting motor 401 and the power supply device 900.

[0311] This application is not limited to the specific embodiments described above. Those skilled in the art will readily understand that many alternative solutions exist without departing from the principles and scope of this application. The scope of protection of this application is determined by the claims.

Claims

1. A mobile construction robot, comprising: The chassis assembly is configured to move the mobile construction robot. A lifting device is mounted on the chassis assembly; A robotic arm includes a fixed end and a free end, the fixed end being mounted to the upper surface of the lifting device, and the free end being movable relative to the fixed end in three-dimensional space; The working mechanism is fixed to the free end of the robotic arm to perform the task; A power supply device is configured to power the mobile construction robot; characterized in that, The chassis assembly includes a left traveling mechanism, a right traveling mechanism, a mounting platform connected between the left and right traveling mechanisms, and a traveling motor that drives the left and right traveling mechanisms. The power supply and the lifting device are fixed to the mounting platform.

2. The mobile construction robot according to claim 1, characterized in that: The installation platform includes a support plate extending along the walking direction and side plates located on both sides of the support plate. The support plate and the two side plates define an accommodating space. The power supply device and the lifting device are fixed to the upper surface of the support plate, and the power supply device and the lifting device are at least partially located within the accommodating space.

3. The mobile construction robot according to claim 2, characterized in that: The left and right walking mechanisms are each matched with a walking motor, and the two walking motors are fixed to one end of the support plate of the mounting platform.

4. The mobile construction robot according to claim 1, characterized in that: The left and right walking mechanisms of the mobile construction robot are supported on the working plane, and the ratio of the projected area of ​​the power supply device on the working plane to the area of ​​the support plate of the installation platform is greater than or equal to 0.

2.

5. The mobile construction robot according to claim 1, characterized in that: The power supply device has a capacity of 8 kWh or more and 11.7 kWh or less.

6. The mobile construction robot according to claim 2, characterized in that: The walking motor, the lifting device, and the power supply device are arranged sequentially at intervals along the upper surface of the support plate.

7. The mobile construction robot according to claim 1, characterized in that: The mobile construction robot also includes a housing, which is fixedly installed on the installation platform.

8. The mobile construction robot according to claim 1, characterized in that: The installation platform is provided with anti-collision beams at both ends, and at least one of the anti-collision beams is provided on the outer periphery of the power supply device along the installation direction of the power supply device.

9. A mobile construction robot, comprising: The chassis assembly is configured to move the mobile construction robot. A lifting device is mounted on the chassis assembly; A robotic arm includes a fixed end and a free end, the fixed end being mounted to the upper surface of the lifting device, and the free end being movable relative to the fixed end in three-dimensional space; The working mechanism is fixed to the free end of the robotic arm to perform the task; A power supply device is configured to power the mobile construction robot; characterized in that, The chassis assembly includes a left travel mechanism, a right travel mechanism, a mounting platform connected between the left and right travel mechanisms, and travel motors that drive the left and right travel mechanisms. The power supply and the lifting device are fixed to the mounting platform. The installation platform has a power receiving cavity for accommodating the power supply device. The power supply device can be detachably inserted into the power receiving cavity along a first straight direction. The left and right walking mechanisms of the mobile construction robot are supported on a working plane. The first straight direction in which the power supply device is inserted into the power receiving cavity forms an angle greater than or equal to 0 degrees and less than 90 degrees with the working plane.

10. The mobile construction robot according to claim 9, characterized in that: The first straight line direction in which the power supply device is inserted into the power supply cavity is parallel to the direction of travel of the mobile construction robot.

11. The mobile construction robot according to claim 9, characterized in that: The power supply housing cavity is provided with a power supply guide, and the power supply device can be detachably mounted on the installation platform via the power supply guide.

12. The mobile construction robot according to claim 9, characterized in that: The installation platform has a front and a rear. The power supply is located at the front of the installation platform. The walking motors that drive the left and right walking mechanisms, the lifting device, and the power supply are arranged sequentially along the direction of travel of the mobile construction robot.

13. The mobile construction robot according to claim 9, characterized in that: The installation platform has a front and a rear. The power supply is located at the rear of the installation platform. The power supply, the lifting device, and the walking motors that drive the left and right walking mechanisms are arranged sequentially along the direction of travel of the mobile construction robot.

14. A mobile construction robot, comprising: The chassis assembly is configured to at least support the movement of the mobile construction robot; A lifting device is mounted on the chassis assembly; A robotic arm includes a fixed end and a free end, the fixed end being mounted to the upper surface of the lifting device, and the free end being movable relative to the fixed end in three-dimensional space; The working mechanism is fixed to the free end of the robotic arm to perform the task; A power supply device is configured to power the mobile construction robot; characterized in that, The chassis assembly includes a left traveling mechanism, a right traveling mechanism, a mounting platform connected between the left traveling mechanism and the right traveling mechanism, and a traveling motor that drives the left traveling mechanism and the right traveling mechanism. The power supply device and the lifting device are fixed to the support plate of the mounting platform. The support plate is lower than the upper surface of the walking mechanism formed by the upper ends of the left and right walking mechanisms.

15. The mobile construction robot according to claim 14, characterized in that: The left and right walking mechanisms are tracked structures.

16. The mobile construction robot according to claim 14, characterized in that: The left traveling mechanism includes at least two traveling wheels, and the right traveling mechanism includes at least two traveling wheels.

17. The mobile construction robot according to claim 14, characterized in that: The installation platform includes a support plate extending along the walking direction and side plates located on both sides of the support plate. The support plate and the two side plates define an accommodating space. The power supply device and the lifting device are fixed to the upper surface of the support plate, and the power supply device and the lifting device are at least partially located within the accommodating space.

18. The mobile construction robot according to claim 14, characterized in that: The distance between the center of gravity of the power supply device and the upper surface of the support plate is less than the height of the left traveling mechanism and / or the right traveling mechanism.

19. The mobile construction robot according to claim 14, characterized in that: The left and right walking mechanisms of the mobile construction robot are supported on a working plane, and the distance between the upper surface of the support plate and the working plane is less than the distance between the axis of the walking motor and the working plane.

20. A mobile construction robot, comprising: The chassis assembly is configured to move the mobile construction robot. A lifting device is mounted on the chassis assembly; A robotic arm includes a fixed end and a free end, the fixed end being mounted to the upper surface of the lifting device, and the free end being movable relative to the fixed end in three-dimensional space; The working mechanism is fixed to the free end of the robotic arm to perform the task; A power supply device is configured to power the mobile construction robot; characterized in that, The chassis assembly includes a left-side traveling mechanism, a right-side traveling mechanism, a mounting platform connected between the left-side and right-side traveling mechanisms, and traveling motors that drive the left-side and right-side traveling mechanisms. The power supply unit and the lifting device are mounted on the mounting platform. The installation platform defines a receiving space, and the power supply device includes a battery box formed within the receiving space, the battery box accommodating multiple battery packs arranged side-by-side in the battery box; wherein the battery packs can be detached from the battery box and configured to power cordless power tools.

21. The mobile construction robot according to claim 20, characterized in that: The left and right walking mechanisms are each matched with a walking motor, and the two walking motors are fixed on the mounting platform near one end of the walking mechanism.

22. The mobile construction robot according to claim 20, characterized in that: The width of the battery box is more than half the distance between the left and right traveling mechanisms.

23. The mobile construction robot according to claim 21, characterized in that: The battery pack has an electrical output terminal, and the battery box has an electrical input terminal that interfaces with the battery pack.

24. The mobile construction robot according to claim 21, characterized in that: The battery pack includes a battery pack housing and battery cell units, wherein the battery cell units are disposed within the battery pack housing and are lithium battery cells.

25. The mobile construction robot according to claim 24, characterized in that: The working mechanism and the walking motors that drive the left and right walking mechanisms are both configured to be powered by multiple battery packs.

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