A construction robot

Abstract

The present specification relates to a construction robot, comprising a chassis, a lifting device, an energy storage power supply, a mechanical arm, a tool body and a bumper; wherein the mechanical arm is installed on the lifting end of the lifting device and can adjust the height and angle in three-dimensional space; the tool body is arranged on the mechanical arm; the bumper is arranged on the front side and / or rear side of the chassis, and the mechanical arm does not protrude in the front-rear direction beyond the bumper when the construction robot is in the folded transportation state of the mechanical arm. When the mechanical arm of the construction robot is in the folded state, the mechanical arm does not protrude in the front-rear direction beyond the bumper; thereby achieving protection of the mechanical arm, especially during the walking process of the construction robot, avoiding collision of the mechanical arm due to protruding outwardly beyond other parts of the equipment; achieving effective protection of the mechanical arm.

Description

[Technical Field]

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

[0002] In current construction work, especially when installing electrical, ventilation, lighting, or soundproofing equipment inside buildings, drilling into the walls is often necessary. Traditionally, this involves users standing on ladders or scaffolding and using power tools to drill. Furthermore, after completing one work point, it's necessary to move to the next, requiring the relocation of ladders or scaffolding and readjusting angles and heights, which is inefficient. Additionally, power tools are generally heavy, and prolonged use can lead to worker fatigue and the risk of falls from heights.

[0003] To reduce safety hazards and improve work efficiency, existing technologies have developed devices equipped with drilling tools that can move on their own. To increase the effective working range of the drilling tools, they are usually mounted on robotic arms. However, existing technologies have found that robotic arms often collide with walls or other debris in the environment during the movement of the equipment, which significantly increases the probability of damage to the robotic arms. [Utility Model Content]

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a construction robot that reduces the collision between the robotic arm and the walls in the environment during the movement of the equipment.

[0005] The technical solution adopted by this utility model to solve the problem of the prior art is:

[0006] A construction robot, comprising:

[0007] The chassis extends in the front-to-back direction;

[0008] A lifting device, which is mounted on the chassis, is used to perform lifting operations;

[0009] Energy storage power supply, configured to supply power to the chassis and / or lifting device;

[0010] A robotic arm includes a free end and a fixed end disposed on the upper side of a lifting device. The robotic arm is mounted on the lifting end of the lifting device via its fixed end. The free end is capable of adjusting its height and angle in three-dimensional space.

[0011] The main body of the tool is mounted on the free end of the robotic arm;

[0012] A bumper is disposed on the front and / or rear side of the chassis, and the robotic arm does not protrude from the bumper in the front-to-back direction when the construction robot is in the transport state with the robotic arm folded.

[0013] A further improvement is as follows: the robotic arm includes a base and an arm that are connected to each other, and the tool body is disposed at the end of the arm that is away from the base; the arm is rotatably disposed on the base about a first axis, which is not perpendicular to the ground.

[0014] A further improvement is proposed: the first axis is parallel to the front-rear direction of the vehicle.

[0015] A further improvement is as follows: the arm includes a first joint, a second joint, and a first arm segment connected in sequence. The first joint rotates relative to the base around a first axis. The first arm segment is disposed on the second joint and rotates with the second joint relative to the first joint around a second axis perpendicular to the first axis. When the second axis is parallel to the ground, the maximum rotation angle of the first arm segment is greater than 200° and less than or equal to 270°.

[0016] A further improvement is as follows: when the second axis is parallel to the ground, the maximum rotation angle of the first arm segment is greater than 230° and less than or equal to 270°.

[0017] A further improvement is that the height difference between the first axis and the upper side of the lifting device is greater than or equal to 100mm and less than or equal to 200mm.

[0018] A further improvement is as follows: the front or rear side of the chassis is equipped with an energy storage compartment for accommodating the energy storage power source, and the bumper on the corresponding side of the construction robot and the projection of the energy storage power source onto the construction robot in the front-rear direction do not coincide.

[0019] A further improvement is that the lifting device is eccentrically positioned on the chassis in the front-to-back direction.

[0020] A further improvement is as follows: a support member is provided between the lifting device and the robotic arm. The support member is configured to have a support surface for mounting the robotic arm. The support surface is located on the upper side of the lifting device, away from the geometric center of the construction robot.

[0021] A further improvement is as follows: the maximum distance between the support surface and one of the edges of the construction robot in the front-back direction is A, the size of the construction robot in the front-back direction is B, and the value of A / B is greater than or equal to 0.18 and less than or equal to 0.25.

[0022] A further improvement is that the construction robot also includes a dust collection device and a hose connecting the dust collection device and the tool body.

[0023] A further improvement is that the construction robot also includes an energy storage power source and a flexible conduit for housing the wires connecting the energy storage power source and the robotic arm.

[0024] A further improvement is that the upper wall of the lifting device is equipped with a pipe clamp that allows the hose to extend in a roughly horizontal direction in a certain area.

[0025] This utility model also discloses a construction robot, including:

[0026] The chassis extends in the front-to-back direction;

[0027] A lifting device, which is mounted on the chassis, is used to perform lifting operations;

[0028] A robotic arm includes a free end and a fixed end disposed on the upper side of a lifting device. The robotic arm is mounted on the lifting end of the lifting device via its fixed end. The free end is capable of adjusting its height and angle in three-dimensional space.

[0029] The tool body is disposed at the free end of the robotic arm;

[0030] The construction robot also includes a bumper configured on the front and / or rear side of the chassis. When the construction robot is in a transport state with the robotic arm folded, the robotic arm does not protrude from the bumper in the front-to-back direction.

[0031] This utility model also discloses another construction robot, characterized in that it includes:

[0032] The chassis extends in the front-to-back direction;

[0033] A lifting device, which is mounted on the chassis, is used to perform lifting operations;

[0034] A robotic arm includes a base disposed on the upper side of a lifting device and an arm connected to the base, the arm including a first joint that rotates relative to the base about a first axis;

[0035] The main body of the tool is mounted on the robotic arm;

[0036] A bumper, disposed on the front and / or rear side of the chassis;

[0037] The first joint is at least 15 mm and less than or equal to 50 mm from the outer edge of one of the bumpers in the front-rear direction.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] In some embodiments of this specification, bumpers are provided on the front and / or rear sides of the construction robot, and when the robot's robotic arm is in a folded state, the robotic arm does not protrude beyond the bumpers in the forward and backward directions; thereby protecting the robotic arm, especially during the robot's movement, preventing it from being collided with other parts of the equipment due to protrusion. This achieves effective protection for the robotic arm.

[0040] In some embodiments of this specification, the robotic arm is positioned in front of (or behind) the construction robot, allowing it to extend forward and downward (or backward and downward) over a greater range, thereby increasing its effective working area and, consequently, the effective operating range of the tool body at its free end. Furthermore, the robotic arm, when folded, does not protrude beyond the bumper in the forward and backward direction. This not only expands the effective working range of the construction robot but also provides excellent protection for the robotic arm. [Image Description]

[0041] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings:

[0042] Figure 1 This is a three-dimensional schematic diagram of the construction robot in this manual;

[0043] Figure 2 This is a schematic diagram of the folded state of the construction robot in this instruction manual;

[0044] Figure 3 This is a schematic diagram of the upward drilling state of the construction robot in this manual;

[0045] Figure 4 This is a schematic diagram of the two states of the robotic arm in the construction robot described in this manual;

[0046] Figure 5 yes Figure 2 A front view of the state shown;

[0047] Figure 6 yes Figure 2 Rear view of the state shown;

[0048] Figure 7 This is a structural diagram of the concealed cover part of the construction robot in this manual;

[0049] Figure 8 This is a structural diagram of the cover part of the construction robot in this manual;

[0050] Figure 9 This is an exploded view of the cover part of the construction robot in this manual.

[0051] Meaning of the reference numerals in the diagram:

[0052] 100. Construction robots;

[0053] 10. Chassis; 11. Running gear; 111. Tracks;

[0054] 20. Cabinet; 21. First cover part; 22. Second cover part; 23. Third cover part; 24. First cover; 25. Second cover; 26. Frame; 27. Connector; 201. Power output interface; 202. Emergency stop button; 203. LED strip; 204. Display screen structure;

[0055] 30. Lifting device; 31. Pipe clamp;

[0056] 40. Robotic arm; 41. Base; 42. First joint; 43. Second joint; 44. First arm segment;

[0057] 50. Tool body;

[0058] 60. Bumper; 61. Front bumper; 62. Rear bumper;

[0059] 7. Hose. [Detailed Implementation]

[0060] To make the technical solution and beneficial effects of this application more apparent and understandable, a detailed description is provided below by listing specific embodiments. Unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application pertains.

[0061] 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.

[0062] In current construction work, especially when installing electrical, ventilation, lighting, or soundproofing equipment inside buildings, drilling into the walls is often required. Traditionally, this involves users standing on ladders or scaffolding and using power tools to drill. Furthermore, after completing one work point, it's necessary to move to the next, requiring the relocation of ladders or scaffolding and readjustment of angles and heights, resulting in low efficiency. Power tools are generally heavy, and prolonged use can lead to worker fatigue and the risk of falls from heights. Therefore, a construction robot capable of replacing manual drilling at heights in buildings is particularly important.

[0063] See Figure 1 As shown in the figure, this specification discloses a construction robot 100, including a chassis 10, a lifting device 30, an energy storage power supply, a robotic arm 40, and a tool body 50.

[0064] In some optional embodiments, the chassis 10 is configured to include a running gear, as shown in the attached diagram. Figure 1 In this embodiment, the walking assembly is configured as a tracked walking mechanism. Specifically, the walking assembly includes walking wheels and a walking motor (not shown) that drives the walking wheels. The walking wheels include a front walking wheel, a rear walking wheel, a track 111 wound around the front and rear walking wheels, and an auxiliary wheel located between the front and rear walking wheels and capable of supporting the track 111. The walking motor drives one or both of the front and rear walking wheels. The walking motor is controlled by a control module at other locations on the chassis 10 or the construction robot 100.

[0065] Reference Appendix Figure 1 The chassis 10 extends in the front-to-back direction, and the tracked walking mechanism also extends roughly in the front-to-back direction. When the construction robot 100 needs to move, the walking wheels configured on the left and right tracks 111 can move the construction robot 100 forward and backward by running at the same speed; the walking wheels configured on the left and right tracks 111 can turn by running at a different speed.

[0066] Reference Appendix Figure 1 The lifting device 30 is mounted on the chassis 10 and is used to perform lifting operations. Since drilling is often required at heights, even in the ceiling, during construction, the construction robot 100 needs to be equipped with the lifting device 30 to enable it to adapt to a wider range of height requirements. The lifting device 30 can be powered by a rotary motor, a hydraulic pump, or other components. The specific structure of the lifting device 30 is not limited and can be adapted to specific needs.

[0067] Reference Appendix Figure 1 Appendix Figure 2 The robotic arm 40 includes a free end and a fixed end disposed on the upper side of the lifting device 30. The fixed end is located at the lifting end of the lifting device 30 (i.e., the upper end of the lifting device 30). The robotic arm 40 can adjust its height and angle in three-dimensional space so that the free end of the robotic arm 40 can adjust various angles within a certain height range based on the height of the lifting device 30.

[0068] Reference Appendix Figure 1 Appendix Figure 2 The tool body 50 is disposed at the free end of the robotic arm 40 and moves with the height and angle adjustment of the robotic arm 40 until the working end of the tool body 50 faces the position to be worked. It is worth noting that the tool body 50 can be replaced according to the user's specific construction needs; for example, the tool body 50 can be configured as a construction tool such as an electric drill, electric hammer, electric pick, or screwdriver. In some embodiments of this specification, the tool body 50 is exemplary configured as an electric hammer structure with higher drilling efficiency.

[0069] In some embodiments of this specification, the construction robot 100 is also equipped with an energy storage power source configured to supply power to the walking components and / or lifting device 30 of the chassis 10.

[0070] In another embodiment of this specification, the energy storage power supply configured in the construction robot 100 is configured to supply power to at least one of the chassis 10, the lifting device 30, the energy storage power supply, the robotic arm 40, and the tool body 50, so as to meet the power needs of the construction robot 100.

[0071] Reference Appendix Figure 1 Appendix Figure 2 In some embodiments of this specification, the construction robot 100 is also equipped with a bumper 60 that provides protection. The bumper 60 is located on the front and rear sides of the chassis 10, namely a front bumper 61 and a rear bumper 62. When the construction robot 100 moves, the risk of collision in the front-to-back direction is significantly higher than that in the left-to-right direction; therefore, bumpers 60 are provided on the front and rear sides of the chassis 10.

[0072] Reference Appendix Figure 2 In another embodiment of this specification, the construction robot 100 is provided with a front bumper 61 on the front side and no rear bumper 62 on the rear side. This is mainly because the construction robot 100 moves forward more often, which means that the protection requirement on the front side is greater. Therefore, only the front bumper 60 is provided.

[0073] Reference Appendix Figure 2In another embodiment of this specification, the construction robot 100 does not have a front bumper 61, but has a rear bumper 62. This is mainly because some construction robots 100 have radar or cameras at the front for identifying obstacles, making collisions less likely under the obstacle avoidance planning of the control system. The rear bumper 60 is mainly for protecting it from impacts by other moving objects.

[0074] In some embodiments of this specification, as previously described, the robotic arm 40 has an extended state that occupies more space and a folded state that occupies less space. The folded state is the default state of the robotic arm 40 for the construction robot 100, and this state is used for transportation by the construction robot 100. To avoid collisions with the outside environment during transportation, in the folded state of the robotic arm 40 used for transportation, the robotic arm 40 does not protrude from the bumper 60 in the front-to-back direction.

[0075] In some embodiments of this specification, reference is made to the appendix. Figure 1 Appendix Figure 2 The robotic arm 40 includes a base 41 and an arm connected to each other. The tool body 50 is disposed at the end of the arm away from the base 41. The tool body 50 is configured as an electric hammer. When working, the electric hammer needs to be driven by the arm to move forward along the drilling direction. During construction, most of the work is drilling directly upwards. In this embodiment, the arm is rotatably disposed on the base 41 about a first axis L1, which is not perpendicular to the ground. This is to avoid the robotic arm 40 being in a singularity state during upward drilling.

[0076] It should be further explained that: a singularity is a specific shape in the workspace of a 6-axis robotic arm. At this point, the robotic arm will lose one or more degrees of freedom in one direction. The end effector may not be able to move in some directions, and in order to achieve a small end effector movement, the speed of some joints may approach infinity. Near the singularity, the robotic arm is prone to violent shaking, which may also trigger the sensor to misjudge a collision. Therefore, in the above embodiment, by configuring the first axis L1 to be non-perpendicular to the ground, the possibility of the robotic arm 40 being in a singularity state in most working scenarios is avoided.

[0077] In some embodiments of this specification, the first axis L1 is parallel to the front-rear direction of the vehicle. That is, the base 41 faces the front or rear of the vehicle, so that the robotic arm 40 can cover a larger area of ​​planar space. During construction operations such as drilling, after the construction robot 100 moves to a working position, it can carry out construction operations in a larger area of ​​space without moving the construction robot 100.

[0078] In some embodiments of this specification, the arm includes a first joint 42, a second joint 43, and a first arm segment 44 connected in sequence. The first joint 42 rotates relative to the base 41 about a first axis L1. As previously mentioned, in some more specific embodiments, the first axis L1 faces forward of the vehicle, and the position of the first joint 42 in the fore-and-aft direction remains unchanged during rotation about the first axis L1. (See attached diagram.) Figure 2 and attached Figure 3 In the figure, the robotic arm 40 of the construction robot 100 is in a folded state and an upward punching state, respectively. In both states, the lifting device 30 is in a low position without being raised. When the robotic arm does not extend outward in the part away from the base 41, the first joint 42 is the structure closest to the front outer side of the construction robot 100. That is, as long as the first joint 42 does not protrude outward from the bumper 60, the robotic arm 40 in the folded state will not protrude from the bumper 60.

[0079] Reference Appendix Figure 1 In some optional embodiments, the second joint 43 of the arm is connected to the first joint 42. The second joint 43 rotates relative to the first joint 42 about a second axis L2 perpendicular to the first axis L1. The first arm segment 44 is disposed on the second joint 43 and moves synchronously with the second joint 43. When the second axis L2 is parallel to the ground, the maximum rotation angle of the first arm segment 44 is greater than 180° and less than or equal to 270°. (See attached diagram.) Figure 4 The dashed and solid lines show two positional states of a local structure of the robotic arm 40 (see appendix). Figure 4 (Partial details of the robotic arm 40 and the structure of the tool body 50 are omitted). These correspond to the two extreme positions of the first arm segment 44, and the included angle between these two extreme positions is the maximum rotation angle α.

[0080] Please refer to the appendix again. Figure 4 The dashed lines in the diagram correspond to the maximum extension angle of the robotic arm 40 towards the front and lower side of the construction robot 100. The solid lines correspond to the maximum extension angle of the robotic arm 40 towards the rear and lower side of the construction robot 100. Any angle between these two positions represents the working angle of the robotic arm 40. In other words, the larger the maximum rotation angle, the larger the working range of the tool body 50 at the free end of the robotic arm 40.

[0081] Reference Appendix Figure 4The position of the dotted line in the diagram corresponds to the maximum extension angle of the robotic arm 40 towards the front and lower side of the construction robot 100, especially the maximum extension angle of the first arm segment 44 towards the front and lower side of the construction robot 100. It can be seen that, with the shape and size of the first joint 42 remaining unchanged, the closer the base 41 is to the front, the greater its downward deflection angle, and the larger its working space on the lower front side of the construction robot 100. However, the closer it is to the front, the higher the risk of collision during movement. To comprehensively consider its working range, it is configured to not exceed the horizontal coverage area of ​​the bumper 60.

[0082] Reference Appendix Figure 4 The position of the solid line in the figure corresponds to the maximum extension angle of the robotic arm 40 towards the rear and lower side of the construction robot 100. It can be seen that when the shape and size of the first joint 42 remain unchanged, the downward deflection angle of the base 41 remains basically unchanged as it gets closer to the rear, because the upper wall of the lifting device 30 limits the maximum angle of the first arm segment 44 at this time.

[0083] Reference Appendix Figure 4 In the figure, the maximum rotation angle of the first arm segment 44, as shown by the dashed and solid lines, is approximately 260°. In another optional embodiment, the base 41 is moved slightly forward, ensuring the first joint 42 does not exceed the coverage area of ​​the bumper 60, until the outer contour of the first joint 42 is flush with the projection of the outer contour of the bumper 60 onto the ground. At this point, the maximum rotation angle of the first arm segment 44 is 270°. In another partially optional embodiment, the base 41 is moved backward, reducing the maximum rotation angle of the first arm segment 44 until it reaches a position where the maximum rotation angle is 230°. In yet another partially optional embodiment, the base 41 is moved further backward, further reducing the maximum rotation angle of the first arm segment 44 until it reaches a position where the maximum rotation angle is 200°.

[0084] Reference Appendix Figure 2 Appendix Figure 4 As mentioned above, attached Figure 4The position of the solid line corresponds to the maximum extension angle of the robotic arm 40 towards the rear and lower side of the construction robot 100. It can be seen that, with the shape and size of the first joint 42 unchanged, the maximum angle limitation of the first arm segment 44 is related to the height difference C between the first axis L1 and the upper wall of the lifting device 30; the greater the height difference, the larger the maximum angle; conversely, the smaller the height difference, the smaller the maximum angle. However, an excessively large height difference would result in an excessively large minimum height for the entire machine. Therefore, the height difference is set between 100mm and 200mm. That is, in one optional embodiment, the height difference is 100mm; in another optional embodiment, the height difference is 150mm; and in yet another optional embodiment, the height difference is 200mm.

[0085] In some optional embodiments, the chassis 10 is provided with an energy storage compartment for accommodating the energy storage power source on the front or rear side. In order to facilitate the disassembly and maintenance of the energy storage power source in the energy storage compartment, the bumper 60 on the corresponding side of the construction robot 100 and the projection of the energy storage power source on the construction robot 100 in the front-rear direction do not coincide.

[0086] In some optional embodiments, refer to the appendix. Figure 6 The rear bumper 62 protrudes upwards from the sides where it connects to the chassis, forming an arch-like structure. This allows the energy storage power source inside the energy storage compartment to be extracted from the chassis 10 in a front-to-back direction without disassembling the bumper 60 structure.

[0087] In some optional embodiments, the energy storage power source includes a battery pack that can be detached from the power compartment and configured to power cordless power tools. The cordless power tools include at least power tools such as electric drills, wrenches, hammer drills, electric picks, reciprocating saws, screwdrivers, electric shears, polishers, chainsaws, and grinders. That is, the battery pack is not a dedicated battery pack for the construction robot 100; users can easily interchange the battery packs of cordless power tools with those of the construction robot 100 to achieve higher efficiency in battery use.

[0088] In some optional embodiments, the lifting device 30 is eccentrically positioned on the chassis 10 in the front-rear direction. (See attached diagram.) Figure 1 Appendix Figure 2 The lifting device 30 is positioned forward relative to the chassis 10, so that the first boom 44 can extend further forward and downward, expanding the working range of the construction robot 100 in front.

[0089] In another optional embodiment, the lifting device 30 is positioned rearward relative to the chassis 10, so that the first arm segment 44 can extend further rearward and downward, expanding the working range of the construction robot 100 at the rear.

[0090] In another optional embodiment, a support member is disposed between the lifting device 30 and the robotic arm 40, as shown in the attached figure. Figure 2 In this embodiment, at least a portion of the support member is in the shape of a right-angled triangular prism, with two right-angled faces connecting the robotic arm 40 and the lifting device 30, respectively. The support member is configured to have a support surface for mounting the robotic arm 40, to which the aforementioned base 41 is fixed. The support surface is located on the upper side of the lifting device 30, away from the geometric center of the construction robot 100. In the illustrated embodiment, the support surface is located on the side of the lifting device 30 closer to the front of the construction robot 100, allowing the first arm segment 44 to extend further forward and downward, expanding the working range of the construction robot 100 in front.

[0091] In another optional embodiment, refer to the appendix. Figure 2 The maximum distance A between the supporting surface and one of the edges of the construction robot 100 in the front-back direction is given by the value A. The dimension B of the construction robot 100 in the front-back direction is given by the value B. In this embodiment, the maximum distance A between the supporting surface and the front edge of the construction robot 100 in the front-back direction is given by the value A. The value of A / B is greater than or equal to 0.18 and less than or equal to 0.25. The smaller this ratio, the closer the supporting surface is to the front or rear side of the construction robot 100.

[0092] The following description focuses on the support surface near the front of the construction robot 100:

[0093] In one of the more specific embodiments, the minimum distance between the support surface and the front edge of the construction robot 100 in the front-rear direction is about 320 mm, and the size of the construction robot 100 in the front-rear direction is about 1500 mm, and the ratio is about 0.21.

[0094] In another, more specific embodiment, the minimum distance between the support surface and the front edge of the construction robot 100 in the front-rear direction is approximately 270 mm, and the size of the construction robot 100 in the front-rear direction is approximately 1500 mm, with a ratio of approximately 0.18.

[0095] In another, more specific embodiment, the minimum distance between the support surface and the front edge of the construction robot 100 in the front-rear direction is about 350 mm, and the size of the construction robot 100 in the front-rear direction is about 1500 mm, with a ratio of about 0.23.

[0096] In another, more specific embodiment, the minimum distance between the support surface and the front edge of the construction robot 100 in the front-rear direction is approximately 375 mm, and the size of the construction robot 100 in the front-rear direction is approximately 1500 mm, with a ratio of approximately 0.25.

[0097] In some optional embodiments, the construction robot 100 further includes a dust collection device and a hose 7 connecting the dust collection device and the tool body 50. The tool body 50, located at the end of the robotic arm 40, generates considerable dust during operation; therefore, a dust collection device and a hose 7 connecting the dust collection device and the tool body 50 are provided.

[0098] Reference Appendix Figure 1 Appendix Figure 2 A housing 20 is provided between the chassis 10 and the robotic arm 40. The housing 20 is used not only to accommodate a part of the lifting device 30, but also to accommodate the aforementioned vacuuming device (not shown). The hose 7 extends out of the housing 20 from one side of the lifting device 30 and is arranged along the lifting device 30. The hose 7 is configured as a telescopic and flexible pipe structure.

[0099] In some optional embodiments, the tool body 50 draws power from a stored power source via a wire. To protect this wire, a flexible hose 7 is provided to house it. This flexible hose 7 is connected at least to a robotic arm 40, and the wires from the robotic arm 40 to the tool body 50 can be arranged inside the robotic arm 40. In some more specific embodiments, the flexible hose for housing the wire and the aforementioned hose connecting the vacuuming device are configured as two parallel hoses 7.

[0100] In another optional embodiment, the hose 7 for accommodating the wire and the hose 7 for connecting the vacuum cleaner are configured as two hoses 7, both of which extend from the housing 20 and connect to the tool body 50, that is, the portions of the two hoses 7 outside the housing 20 have approximately the same orientation.

[0101] Reference Appendix Figure 1 Appendix Figure 2 The hose 7 extends from the lifting device 30 near the front of the vehicle into the housing 20, and extends laterally along the upper wall of the lifting device 30 before extending along the robotic arm to the tool body 50. The upper wall of the lifting device 30 is equipped with a hose clamp 31 that allows the hose 7 to extend approximately horizontally in a localized direction. The hose clamp 31 is mainly used to limit the movement of the hose 7.

[0102] In one more specific embodiment, a single hose clamp 31 limits the movement of two hoses 7. In another optional embodiment, two independent hose clamps 31 limit the movement of each hose. In yet another optional embodiment, only a single hose is disposed on the upper wall of the lifting device 30, in which case the hose clamp 31 limits the movement of only that single hose 7.

[0103] This specification also discloses another construction robot 100, including the aforementioned chassis 10, lifting device 30, robotic arm 40, and tool body 50. The chassis 10 extends in the front-to-back direction; the lifting device 30 is mounted on the chassis 10 and used to perform lifting operations; the robotic arm 40 includes a free end and a fixed end disposed on the upper side of the lifting device 30, the robotic arm 40 being mounted on the lifting end of the lifting device 30 via its fixed end, and the free end being adjustable in height and angle in three-dimensional space; the tool body 50 is disposed on the free end of the robotic arm 40. Furthermore, the construction robot 100 also includes a bumper 60 located on the front and / or rear side of the chassis 10, and when the construction robot 100 is in a transport state with the robotic arm 40 folded, the robotic arm 40 does not protrude from the bumper 60 in the front-to-back direction.

[0104] This specification also discloses another construction robot 100, including the aforementioned chassis 10, lifting device 30, robotic arm 40, tool body 50, and bumper 60. The chassis 10 extends in a front-to-back direction; the lifting device 30 is mounted on the chassis 10 and used to perform lifting operations; the robotic arm 40 includes a base disposed on the upper side of the lifting device 30 and an arm connected to the base, the arm including a first joint 42 that rotates relative to the base 41 about a first axis L1; the tool body 50 is disposed at the end of the robotic arm 40 away from the base. The bumper 60 is disposed on the front and / or rear side of the chassis 10 to provide protection for the construction robot 100. The first joint has a minimum distance in the front-to-back direction from the outer edge of one of the bumpers that is greater than or equal to 15 mm and less than or equal to 50 mm.

[0105] In some optional embodiments, the first joint 42 is positioned close to the front bumper 61, see Appendix Figure 3 In this embodiment, the maximum distance D between the edge of the first joint 42 near the front bumper 61 and the front bumper 61 is greater than or equal to 15 mm and less than or equal to 50 mm. As mentioned earlier, the smaller the distance D, the closer the first joint 42 is to the edge of the construction robot 100 in the front-rear direction, and the larger the effective working range of the robotic arm 40. In this embodiment, the closer the first joint 42 is to the front bumper 61, the greater the angle at which the robotic arm 40 extends forward and downward, and the larger its effective working range in front of and below the construction robot 100. However, it should be noted that a smaller distance will lead to a higher probability of the first joint 42 of the robotic arm 40 being hit. Therefore, the above-mentioned value range of greater than or equal to 15 mm and less than or equal to 50 mm is selected.

[0106] In some more specific embodiments, the aforementioned distance is 15mm, at which point the effective working range of the robotic arm 40 is close to the maximum value of the safe range.

[0107] In some more specific embodiments, the distance is 30mm. At this distance, the first joint 42 of the robotic arm 40 is at a moderate distance from the front bumper 61, and the probability of the first joint 42 being hit is relatively small, which is generally moderate.

[0108] In some more specific embodiments, the aforementioned distance is 50mm. At this time, the distance between the first joint 42 of the robotic arm 40 and the front bumper 61 is slightly larger, the effective working range of the robotic arm 40 is slightly smaller, but the probability of the first joint 42 being hit is also smaller, making it suitable for operation in more complex building environments.

[0109] In another optional embodiment, the first joint 42 is located near the rear bumper 62, and its overall logic is the same as described above, except that the direction is reversed, which will not be repeated here.

[0110] See Figure 1 As shown in the figure, this specification discloses a construction robot 100, including a walking component, a lifting device 30, an energy storage power supply, a robotic arm 40, a tool body 50, and a housing 20.

[0111] In some optional embodiments, refer to the appendix. Figure 1 In this embodiment, the walking assembly is configured as a tracked walking mechanism. Specifically, the walking assembly includes walking wheels and a walking motor that drives the walking wheels. The walking wheels include a front walking wheel, a rear walking wheel, a track 111 wound around the front and rear walking wheels, and an auxiliary wheel located between the front and rear walking wheels and capable of supporting the track 111. The walking motor drives one or both of the front and rear walking wheels. The walking motor is controlled by a control module at other locations on the chassis 10 or the construction robot 100.

[0112] Reference Appendix Figure 1 The chassis 10 extends in the front-to-back direction, and the tracked walking mechanism also extends roughly in the front-to-back direction. When the construction robot 100 needs to move, the walking wheels configured on the left and right tracks 111 can move the construction robot 100 forward and backward by running at the same speed; the walking wheels configured on the left and right tracks 111 can turn by running at a different speed.

[0113] Reference Appendix Figure 1The lifting device 30 is mounted on the chassis 10 and is used to perform lifting operations. Since drilling is often required at heights, even in the ceiling, during construction, the construction robot 100 needs to be equipped with the lifting device 30 to enable it to adapt to a wider range of height requirements. The lifting device 30 can be powered by a rotary motor, a hydraulic pump, or other components. The specific structure of the lifting device 30 is not limited and can be adapted to specific needs.

[0114] Reference Appendix Figure 1 The robotic arm 40 includes a free end and a fixed end disposed on the upper side of the lifting device 30. The fixed end is located at the lifting end of the lifting device 30 (i.e., the upper end of the lifting device 30). The robotic arm 40 can adjust its height and angle in three-dimensional space so that the free end of the robotic arm 40 can adjust various angles within a certain height range based on the height of the lifting device 30.

[0115] Reference Appendix Figure 1 The tool body 50 is disposed at the free end of the robotic arm 40 and moves with the height and angle adjustment of the robotic arm 40 until the working end of the tool body 50 faces the position to be worked. It is worth noting that the tool body 50 can be replaced according to the user's specific construction needs; for example, the tool body 50 can be configured as a construction tool such as an electric drill, electric hammer, electric pick, or screwdriver. In some embodiments of this specification, the tool body 50 is exemplary configured as an electric hammer structure with higher drilling efficiency.

[0116] In some embodiments of this specification, the construction robot 100 is also equipped with an energy storage power source configured to supply power to the walking components and / or lifting device 30 of the chassis 10.

[0117] In another embodiment of this specification, the energy storage power supply configured for the construction robot 100 is configured to supply power to at least one of the chassis 10, the lifting device 30, the energy storage power supply, the robotic arm 40, and the tool body 50, so as to meet the power needs of the construction robot 100.

[0118] See Figure 2As shown, the housing 20 disclosed in this application is disposed on the walking assembly. The housing 20 includes three first cover portions 21, second cover portions 22, and third cover portions 23 arranged in a straight line. At least one of the cover portions is detachably disposed on the walking assembly. It should be further noted that: the detachable disposal of the cover portion on the walking assembly described herein does not limit the cover portion to being directly connected to the walking assembly. It can also be indirectly connected to the walking assembly, that is, the cover portion can be directly connected to another component that is directly connected to the walking assembly. Essentially, it is still a detachable connection with the walking assembly, and the addition of one or more intermediate components should not be considered as a breach of the protection scope of this embodiment.

[0119] In some embodiments of this specification, the first cover portion 21, the second cover portion 22, and the third cover portion 23 of the housing 20 are arranged generally along the front-rear direction of the construction robot 100.

[0120] In some embodiments of this specification, a cover portion is detachably connected to the walking assembly.

[0121] In some embodiments of this specification, there are two cover portions that are detachably connected to the walking assembly.

[0122] In some embodiments of this specification, there are three cover portions that are detachably connected to the walking assembly.

[0123] In some embodiments of this specification, the three cover portions are arranged generally along a straight line, which is defined as the first straight line for ease of description, and the direction of the straight line is defined as the first straight line direction. One of the cover portions partially overlaps with another cover portion in the first straight line direction, that is, there is a second straight line perpendicular to the first straight line, and the two cover portions intersect the second straight line.

[0124] It should be further noted that in some embodiments of this specification, at least one of the cover components can be individually disassembled and used for equipment maintenance inside the enclosure. That is, when equipment maintenance is required inside the enclosure, it is not necessary to disassemble the entire cover structure as in existing technologies, thereby avoiding various problems caused by extensive disassembly.

[0125] In some embodiments of this specification, the three covering parts are arranged sequentially along a generally straight line, that is, a third straight line is drawn that is perpendicular to the first straight line, and no two covering parts intersect the third straight line.

[0126] In some embodiments of this specification, reference is made to the appendix. Figure 2 and attached Figure 3The first cover part 21 and the third cover part 23 are located on both sides of the housing 20, and the second cover part 22 is located between the first cover part 21 and the second cover part 22.

[0127] Reference Appendix Figure 1 In some embodiments of this specification, the first cover portion 21 and the third cover portion 23 are symmetrically arranged with respect to a central plane, and the two first covers 24 configured on the first cover portion 21 and the third cover portion 23 are also symmetrically arranged with respect to the same central plane. The first cover portion 21 and the third cover portion 23 are defined as being symmetrically arranged with respect to a first central plane S1.

[0128] Reference Appendix Figure 1 Appendix Figure 2 Appendix Figure 5 In a portion of the embodiments described herein, the second cover portion 22 includes an even number of second cover units, and the even number of second cover units are symmetrically arranged with respect to another central plane, which is defined as the second central plane S2, and the first central plane S1 is perpendicular to the second central plane S2.

[0129] In one embodiment of this specification, the second cover portion 22 includes two second cover units, each integrally formed, and the two cover units are located on the left and right sides of the construction robot 100, respectively. At least two ends of a portion of the second cover units are connected to the first cover portion 21 and the third cover portion 23, respectively. In this embodiment, both cover units are connected to both the first cover portion 21 and the third cover portion 23. This connection is not limited to a direct or indirect connection via fasteners or other means; it can also be that the two cover portions are approximately adjacent to each other, creating a visual connection.

[0130] In some embodiments of this specification, the second cover portion 22 includes four second cover units, as shown in the attached drawing. Figure 2 Appendix Figure 8 Appendix Figure 9 , attached Figure 8 A structural schematic diagram of the cover part is attached. Figure 9 This is an exploded view of the covering portion. Four second covering units are distributed in pairs on the left and right sides of the construction robot 100, with the two second covering units located on the left or right side of the construction robot 100 positioned vertically. At least two ends of some of the second covering units are connected to the first covering portion 21 and the third covering portion 23, respectively. In this embodiment, all four second covering units are connected to both the first covering portion 21 and the third covering portion 23.

[0131] In one embodiment of this specification, the second cover portion 22 includes six second cover units, half of which are located on the left or right side of the construction robot 100, and the remaining second cover units are located on the other side of the construction robot 100. At least some of the second cover units are connected at both ends to the first cover portion 21 and the third cover portion 23, respectively.

[0132] In one embodiment of this specification, the second cover portion 22 includes eight or another even number of second cover units, wherein approximately half of the second cover units are located on the left or right side of the construction robot 100, and the remaining second cover units are located on the other side of the construction robot 100. At least some of the second cover units are connected at both ends to the first cover portion 21 and the third cover portion 23, respectively.

[0133] In some embodiments of this specification, reference is made to the appendix. Figure 4 The first cover portion 21 is provided with an openable and closable first cover 24.

[0134] In a more specific embodiment in part of this specification, the first cover 24 is hinged to the first cover portion 21.

[0135] In a more specific embodiment of this specification, the first cover portion 21 and the first cover 24 are connected by other non-hinged methods, such as forming a sliding connection through guide rails and grooves.

[0136] In some embodiments of this specification, reference is made to the appendix. Figure 4 The third cover portion 23 is provided with an openable and closable first cover 24.

[0137] In a more specific embodiment in part of this specification, the first cover 24 is hinged to the third cover portion 23.

[0138] In a more specific embodiment of this specification, the third cover portion 23 and the first cover 24 are connected by other non-hinged methods, such as forming a sliding connection through guide rails and grooves.

[0139] In some embodiments of this specification, reference is made to the appendix. Figure 4 At least a portion of the second cover unit, together with the first cover portion 21 and the third cover portion 23, is connected to an openable and closable second cover 25. (See attached document.) Figure 4 Appendix Figure 8 A portion of the first cover portion 21 extends along a first straight direction and abuts against the second cover 25. A portion of the third cover portion 23 extends along the first straight direction and abuts against the second cover 25.

[0140] In some embodiments of this specification, the first cover portion 21 includes an upwardly inclined surface, as shown in the attached drawing. Figure 1 The first cover portion 21 includes a first inclined surface facing forward and above the construction robot 100.

[0141] In some embodiments of this specification, the second cover portion 22 includes an upwardly inclined surface, as shown in the attached drawing. Figure 1 The second cover unit located on the upper side of the second cover portion 22 includes a second inclined surface facing the front and above the construction robot 100.

[0142] In some embodiments of this specification, the third cover portion 23 includes an upwardly inclined surface, as shown in the attached drawing. Figure 2 The third cover portion 23 includes a third inclined surface facing forward and above the construction robot 100.

[0143] In some embodiments of this specification, any of the aforementioned inclined surfaces is configured with an interaction unit and / or an electrical output port / terminal electrically connected to an energy storage power source. The interaction unit is used to enable the construction robot 100 to interact with the user and / or an external system.

[0144] For example, see Appendix Figure 8 The first cover portion 21 in the figure is equipped with an electrical output interface 201 / electrical output terminal. Specifically, the electrical output interface 201 / electrical output terminal can be configured as an existing electrical connection port / terminal such as a two-hole and / or three-hole AC power output interface 201, a USB-A interface, or a USB-C interface, for supplying power to external electrical devices.

[0145] For example, see Appendix Figure 8 The second cover unit in the figure is equipped with a light strip 203. This light strip 203 can be used for lighting, especially ceiling lighting facing the interior, to effectively illuminate the area under construction. Alternatively, it can serve as a warning light, emitting a flashing red light when equipment malfunctions, operating conditions become abnormal, or equipment malfunctions occur.

[0146] For example, see Appendix Figure 8 The second cover unit in the figure is equipped with an emergency stop button 202, which can be pressed by the user in an emergency to control the construction robot 100 to stop working immediately.

[0147] For example, see Appendix Figure 8 The second cover unit in the figure is equipped with a display screen structure 204, which is used to display the operation progress, battery level, fault codes or other status information of the construction robot 100 to the outside world.

[0148] As described above, in some embodiments of this specification, at least one of the first cover portion 21, the second cover portion 22, and the third cover portion 23 is detachably connected to the walking assembly. This is so that individual cover portions can be replaced, and the replaced cover portion can be configured with any of the aforementioned interactive units and / or electrical output ports / terminals electrically connected to the energy storage power source, thereby expanding the practical functionality of the construction robot 100. Accordingly, as an equipment manufacturer, specific interactive units and / or electrical output ports / terminals can also be configured on different cover portions according to different user needs, thus meeting the personalized needs of users.

[0149] In some embodiments of this specification, the construction robot 100 further includes a frame 26 at least partially located within the housing 20, the frame 26 providing support for at least one of the covering portions. (See attached document) Figure 7 , attached Figure 7 The construction robot 100 in the image has its cover sections concealed. The frame 26 is connected to the walking assembly of the chassis 10, forming a supporting base for each cover section. At least one cover section is directly or indirectly fixed to the frame 26.

[0150] In one of the more specific embodiments, one of the cover portions is directly or indirectly fixed to the frame 26. Another cover portion is not directly fixed to the frame 26, but is fixed to the walking assembly.

[0151] In one embodiment of this specification, the frame 26 includes a cage-like skeleton and a connector 27 fixed to the cage-like skeleton, with a portion of the second cover portion 22, the first cover portion 21, and the third cover portion 23 commonly connected to the connector 27. (See attached document.) Figure 7 The cage frame is configured as a roughly cuboid structure composed of square tubes. The cage frame defines the general shape of the box 20. The connector 27 fixed to the cage frame is configured to have structural features for connecting the cover portion, which is used to connect the cover portion to the connector 27.

[0152] In some embodiments of this specification, the connector 27 is welded and fixed to the cage frame. The main function of the connector 27 is to install the cover part, which does not need to be disassembled under normal circumstances. Therefore, in some embodiments, the connector 27 is directly welded to the cage frame. In another optional embodiment, the connector 27 is fixed to the cage frame by fasteners such as bolts.

[0153] In some embodiments of this specification, at least one of the cover portions is connected to the frame 26 by threaded fasteners. Specifically, the first cover portion 21 and / or the second cover portion 22 and / or the third cover portion 23 are connected to the frame 26 by threaded fasteners. (Refer to the appendix.) Figure 7 The connector 27 is provided with bolt holes, and the first cover portion 21 and / or the second cover portion 22 and / or the third cover portion 23 are also provided with bolt holes. The bolt holes of the connector 27 and the cover portions are opposite each other and are used to cooperate with bolt fasteners to fix the cover portions. In some more specific embodiments, the threaded fasteners are configured as bolts.

[0154] In some embodiments of this specification, the first cover portion 21 and / or the second cover portion 22 and / or the third cover portion 23, on the side exposed outside the housing 20, do not have holes for mating with the threaded fasteners. That is, the bolt holes of the cover portions are located on the side closer to the inner wall of the housing 20, avoiding the exposure of bolt holes or bolt fasteners to the outside, which would affect the aesthetics of the product.

[0155] In some embodiments of this specification, the energy storage power supply configured in the chassis 10 includes a power compartment and a battery pack detachably connected to the power compartment. The battery pack can be detached from the power compartment and configured to power cordless power tools. Cordless power tools include at least electric drills, wrenches, hammer drills, picks, reciprocating saws, screwdrivers, electric shears, polishers, chainsaws, and grinders. That is, the battery pack is not a dedicated battery pack for the construction robot 100; users can easily interchange the battery packs of cordless power tools with those of the construction robot 100 to achieve higher efficiency in battery use.

[0156] This specification also discloses another construction robot 100, including a chassis 10, an energy source system, a robotic arm 40, and a housing 20. The chassis 10 is configured to at least support the movement of the construction robot 100. Specifically, the chassis 10 may include the tracked walking mechanism described above. The energy source system is configured to supply power only to the walking mechanism 11 of the chassis 10. Specifically, the energy source system is configured as an energy storage power source with a battery pack. In another embodiment, the energy source system may also include an internal combustion engine and / or a generator. The robotic arm 40 includes a fixed end and a free end, the fixed end of which is disposed on the chassis 10, and the free end is capable of height and angle adjustment in three-dimensional space. The housing 20 is disposed on the chassis 10, and the housing 20 includes three generally linearly arranged first cover portions 21, second cover portions 22, and third cover portions 23, at least one of which is detachably disposed on the walking assembly. The cover is detachably connected to the walking assembly, making it easy to disassemble. This allows users or manufacturers to replace the cover with one that has different functions, thereby expanding the functionality of the construction robot 100 and meeting the personalized needs of different users.

[0157] This specification also discloses another construction robot 100, including a walking component, a power source system, a robotic arm 40, and a housing 20. The walking component is configured to support the movement of the construction robot 100. A lifting device 30 is disposed on the walking component and has a lifting end for performing lifting operations. The power source system is configured to supply power to the walking component and / or the lifting device 30. The robotic arm 40 includes a fixed end and a free end. The robotic arm 40 is mounted on the lifting end of the lifting device 30 via its fixed end, and the free end is capable of adjusting its height and angle in three-dimensional space. The housing 20 is disposed on the walking component. The housing 20 includes a frame and a detachable cover portion connected to the frame. The cover portion is detachably connected to the walking component, making it easy to disassemble so that users or manufacturers can replace the cover portion with different functions, thereby expanding the functionality of the construction robot 100 and meeting the personalized needs of different users.

[0158] Specifically, in some optional embodiments, the cover portion includes three generally linearly arranged first cover portion 21, second cover portion 22, and third cover portion 23. At least one of the cover portions is detachably connected to the walking assembly. This eliminates the need for users or manufacturers to replace all cover portions, thereby reducing costs when expanding the construction robot 100.

[0159] It should be understood that the above embodiments are exemplary and not all possible implementations included in the claims. Various modifications and changes can be made to the above embodiments without departing from the scope of this disclosure. Similarly, the various technical features of the above embodiments can be arbitrarily combined to form other embodiments of this application that may not be explicitly described. Therefore, the above embodiments only illustrate several implementation methods of this application and do not limit the scope of protection of this patent application.

Claims

1. A construction robot, characterized in that, include: The chassis extends in the front-to-back direction; A lifting device, which is mounted on the chassis, is used to perform lifting operations; Energy storage power supply, configured to supply power to the chassis and / or lifting device; A robotic arm includes a free end and a fixed end disposed on the upper side of a lifting device. The robotic arm is mounted on the lifting end of the lifting device via its fixed end. The free end is capable of adjusting its height and angle in three-dimensional space. The main body of the tool is mounted on the free end of the robotic arm; A bumper is disposed on the front and / or rear side of the chassis, and the robotic arm does not protrude from the bumper in the front-to-back direction when the construction robot is in the transport state with the robotic arm folded.

2. The construction robot according to claim 1, characterized in that, The robotic arm includes a base and an arm that are connected to each other. The tool body is disposed at the end of the arm that is away from the base. The arm is rotatably disposed on the base about a first axis that is not perpendicular to the ground.

3. The construction robot according to claim 2, characterized in that, The first axis is parallel to the front-rear direction of the vehicle.

4. The construction robot according to claim 2, characterized in that, The arm includes a first joint, a second joint, and a first arm segment connected in sequence. The first joint rotates relative to the base around a first axis. The first arm segment is disposed on the second joint and rotates with the second joint relative to the first joint around a second axis perpendicular to the first axis. When the second axis is parallel to the ground, the maximum rotation angle of the first arm segment is greater than 200° and less than or equal to 270°.

5. The construction robot according to claim 4, characterized in that, When the second axis is parallel to the ground, the maximum rotation angle of the first arm segment is greater than 230° and less than or equal to 270°.

6. The construction robot according to claim 2, characterized in that, The height difference between the first axis and the upper side of the lifting device is greater than or equal to 100mm and less than or equal to 200mm.

7. The construction robot according to claim 2, characterized in that, The chassis is equipped with an energy storage compartment for accommodating the energy storage power source on its front or rear side. The bumper on the corresponding side of the construction robot and the projection of the energy storage power source onto the construction robot in the front-rear direction do not coincide.

8. The construction robot according to claim 1, characterized in that, The lifting device is eccentrically positioned on the chassis in the front-to-back direction.

9. The construction robot according to claim 1, characterized in that, A support member is provided between the lifting device and the robotic arm. The support member is configured to have a support surface for mounting the robotic arm. The support surface is located on the upper side of the lifting device away from the geometric center of the construction robot.

10. The construction robot according to claim 9, characterized in that, The maximum distance between the support surface and one of the edges of the construction robot in the front-back direction is A, the dimension of the construction robot in the front-back direction is B, and the value of A / B is greater than or equal to 0.18 and less than or equal to 0.

25.

11. The construction robot according to claim 1, characterized in that, The construction robot also includes a dust collection device and a hose connecting the dust collection device and the tool body.

12. The construction robot according to claim 1, characterized in that, The construction robot also includes an energy storage power source and a flexible conduit for housing the wires connecting the energy storage power source and the robotic arm.

13. The construction robot according to claim 11 or 12, characterized in that, The upper wall of the lifting device is equipped with a hose clamp that allows the hose to extend in a roughly horizontal direction in a certain area.

14. A construction robot, characterized in that, include: The chassis extends in the front-to-back direction; A lifting device, which is mounted on the chassis, is used to perform lifting operations; A robotic arm includes a free end and a fixed end disposed on the upper side of a lifting device. The robotic arm is mounted on the lifting end of the lifting device via its fixed end. The free end is capable of adjusting its height and angle in three-dimensional space. The tool body is disposed at the free end of the robotic arm; The construction robot also includes a bumper configured on the front and / or rear side of the chassis. When the construction robot is in a transport state with the robotic arm folded, the robotic arm does not protrude from the bumper in the front-to-back direction.

15. A construction robot, characterized in that, include: The chassis extends in the front-to-back direction; A lifting device, which is mounted on the chassis, is used to perform lifting operations; A robotic arm includes a base disposed on the upper side of a lifting device and an arm connected to the base, the arm including a first joint that rotates relative to the base about a first axis; The main body of the tool is mounted on the robotic arm; A bumper, disposed on the front and / or rear side of the chassis; The first joint is at least 15 mm and less than or equal to 50 mm from the outer edge of one of the bumpers in the front-rear direction.

Images