Mutually couplable telescopic dual-arm construction robot and operating method thereof

Abstract

The present invention relates to a construction robot in which two telescopic arms, which operate independently of each other, are detachably coupled at their ends by a quick coupler. Each arm is equipped with a first joint (swinging), a second joint (bending), and a telescopic arm (extension). When coupled, three points—two bending centers of the second joints of both arms and one coupling point—define a single support reference plane. A closed support structure with the three points as vertices is formed on the plane, converting an open motion chain into a closed chain. The governing term of the end-end error is converted from joint angle (L×δθ) to length (δL), thereby ensuring precision independent of reach. The closed support structure extends into a trapezoid of link coupling on the reference plane and leads to an asymmetric quadrilateral structure of direct gripping (operational form) and a pentagonal structure of a 7-axis variant (separate independent term). At the end, both a wristless configuration in which a 3D printing head is directly mounted without the interposition of a wrist joint and a general-purpose configuration equipped with a wrist joint and a gripper, in which the degree of freedom of wrist posture is preserved in the combined state, are possible, and the combination modes of pin combination, link combination, and direct gripping are discretely selected according to the allowable tolerance value of the operation and the number of free grippers. A 7-axis dual arm having an articulated upper arm and a telescopic forearm is combined via a band-type coupler base (roll alignment band) that can roll around the forearm axis and returns to a reference angle by an alignment spring, thereby absorbing roll during operation and preventing bending damage to the combined part, is included as a separate independent claim.

Description

Technology Field

[0001] The present invention relates to a construction robot, and more specifically, to a two-arm mutually coupled telescopic construction robot and a method of operating the same, wherein two telescopic arms operating separately are mutually coupled at the end to form a mechanically stable closed support structure, thereby structurally stabilizing the end. Background Technology

[0002] Construction sites involve large-scale structures and varying conditions, requiring robots to have a long-reach working radius of tens of meters. However, conventional multi-joint robot arms have a cantilever structure with an open kinematic chain, and the end-stage position error based on joint angle control increases proportionally to the reach (error ≈ L × δθ). For example, at a reach of 12m, a joint angle error of 0.1° results in an error of approximately 21mm at the end, creating a contradiction where precision collapses as the reach increases.

[0003] Conventional approaches to the limitations of such open chains can be broadly categorized into four types. First is the cooperative control series. U.S. Patent No. 5,336,982 (Patent Document 1) discloses a configuration in which force sensor signals are decomposed into moving force and compressing force for cooperative control while both arms grasp a common object, and the multi-arm hybrid position / force control series, such as U.S. Patent No. 4,826,392, belongs to this category. Since the object being grasped is strictly a workpiece and relies on force feedback control, a sensor, computation, and calibration system is required.

[0004] Second, there is the variable joint stiffness series. US Patent No. 11,331,809 (Patent Document 2) discloses a configuration in which a particle-filled bladder is placed in the joint and the particles are jammed by pressure to dynamically adjust the joint stiffness. This requires the bladder and pressure system to be constantly mounted in each joint, and the source of stiffness remains at the joint unit.

[0005] Third, there is the parallel mechanism series. Known methods include a five-section planar parallel mechanism in which two SCARA arms share a single working point in a horizontal plane, a delta mechanism, and a method in which a Stewart platform-type microstage is added to the end. However, these are manufactured as dedicated parallel machines and have a permanently coupled structure that cannot be separated, or they constantly bear the weight and piping complexity of the mechanism added to the end, and in particular, the planar parallel mechanism is only feasible in a horizontal plane arrangement where gravity is excluded out of plane.

[0006] Fourth, there is a series of mechanically coupled robots. Non-patent literature 1 (Uhlmann et al., 2026) reported a "situational coupling" in which the end effector flanges of two collaborative robots are rigidly connected by point constraint only when necessary, converting an open chain into a closed chain and improving stiffness by up to 37 times. Prior to this is research on permanently coupling two industrial robots to form a parallel mechanism (Non-patent literature 2). However, since this series completely rigidly connects the end effectors, the end end itself, which is to be fitted with a tool, is consumed in the coupling at the moment of coupling, leaving only one common end effector. Furthermore, the over-constraint caused by the point constraint rigid coupling accumulates assembly errors and thermal deformation as internal stress, and since it is a coupling of articulated arms, the stiffness depends on the servo holding force of each joint even after the closed chain is formed.

[0007] Meanwhile, a bracing strategy in which a flexible long arm is supported on an environmental structure to perform precision work is known in academia (Non-patent Literature 3), and an operation in which a dual-arm robot on a space station stabilizes its posture by gripping a fixture on a structure with one arm while performing work with the other arm is also known. However, the object they grip is always an external structure, and it is not a configuration in which one arm grips the other. This is because in a zero-gravity environment, the robot itself floats, so gripping the other arm does not increase stiffness relative to the workpiece. In contrast, on the ground, there are conditions unique to a gravity environment in which the base is fixed to the ground, the arm-arm closed chain becomes an effective stiffness loop, and gravity fixes the workpiece, thereby freeing the second arm from the task of fixing the object.

[0008] Meanwhile, the elemental technology employed by the present invention itself is widely known. The telescopic boom was already established in the crane field in the 1970s (Patent Documents 7, 8), and the telescopic robot arm is also known in numerous forms, ranging from early robot arms (Patent Document 9) to recent extended link arms, telescoping robots, parallel-arranged telescopic actuators (Patent Documents 10 to 13), and construction boom systems (Patent Document 14). Tool-equipment coupling by a hydraulic latch pin, i.e., a quick coupler, is an established technology in the construction machinery field (Patent Document 15), and the configuration of a dual-arm robot equipped with two arms on a single body (Patent Documents 16, 17) and a delta-type parallel mechanism (Patent Document 18) are also known. Furthermore, control approaches such as coordinated transport of multiple robots (Patent Document 19), dynamic compensation that compensates for deflection and vibration of a robot arm mounted on a flexible long-length boom using sensors and computation (Patent Document 20 - a representative approach to solving long-reach precision problems for construction in a control manner, belonging to the same applicant family as the boom system of Patent Document 14), load stabilization remote control (Patent Document 21), and precision force control (Patent Document 22), as well as long-reach applications such as aircraft cleaning, heavy load handling, and high-altitude work (Patent Documents 23 to 26), 3D printing robot systems (Patent Document 27), and composite robots for high-rise buildings (Patent Document 28) are also known. However, none of these documents disclose or suggest a configuration in which two telescopic arms, which operate independently of each other, are mutually coupled at their ends in a detachable manner using a dedicated quick coupler to form a support reference plane defined by three points and a closed support structure only when necessary. In other words, the novelty of the present invention lies not in individual elements, but in the structure and method of operation of their combination.

[0009] In addition, the present applicant has proposed a construction 4-arm robot equipment equipped with an upper main arm and a lower auxiliary arm (Patent Document 3, the present applicant's prior application), and a construction gripper device and tool interface in which the gripping force is discretely set by a replaceable pressure spring module (Patent Document 4, the present applicant's prior application). The present invention inherits the front protruding pyramid base, waist rotation, and gripper-tool interface configurations of these prior applications, and aims to solve the problem of long reach precision through a new structure of arm-arm mutual coupling. Prior art literature

[0010] U.S. Patent Publication US 5,336,982 "Dual-arm generalized compliant motion with shared control" (Aug. 9, 1994) U.S. Patent Publication US 11,331,809 "Dynamically Controlled Robotic Stiffening Element" (May 17, 2022)Korean Patent Application No. 10-2026-0124293 "Construction 4-arm robot equipment equipped with an upper main arm and a lower auxiliary arm" (Prior application by the present applicant) Korean Patent Application No. 10-2026-0132557 "Construction gripper device equipped with a replaceable pressure spring module" (Prior application by the present applicant) Korean Registered Patent Publication No. 10-2997622 "3D printing method for column-free members by combined operation of unreinforced cement-based curing materials and polymer-based molten materials" (Registered patent by the present applicant) Korean Registered Patent Publication No. 10-2992884 "Mobile polar structure 3D construction printing system capable of container loading and offset correction" (Registered patent by the present applicant) US Registered Patent Publication US 3,842,985 "Method for extending a crane boom" (Registered patent by the present applicant) 3,845,596 "Telescopic boom drive system" U.S. Registered Patent Publication US 4,645,084 "Robot arm" U.S. Registered Patent Publication US 11,553,973 "Robot arm with extendable angular link" U.S. Registered Patent Publication US 12,274,521 "Robot arm with extendable angular link" U.S. Registered Patent Publication US 12,564,973 "Telescoping robot" U.S. Published Patent Publication US 2024 / 0375271 A1 "Extension and retraction actuator with parallel arrangement" Republic of Korea Published Patent Publication No. 10-2025-0112254 "Boom system" (International Application PCT / AU2023 / 051066, International Publication WO 2024 / 086882 - Construction boom system) U.S. Registered Patent Publication US 5,966,850 "Hydraulic latch pin assembly for attaching a tool to construction equipment" Republic of Korea Registered Patent Publication No. 10-0897034 "Dual industrial robot for easy construction of one or two arms" (Published May 14, 2009) Republic of Korea Registered Patent Publication No. 10-1551093 "Dual-arm robot assembly device" (Published September 7, 2015) Republic of Korea Published Patent Publication No. 10-2024-0129310 "2-degree-of-freedom delta robot" (August 27, 2024)Published) U.S. Published Patent Application US 2024 / 0149462 A1 "Variable Payload Robot" (Published May 9, 2024 - Cooperative transfer of multiple robots) U.S. Registered Patent Application US 11,842,124 B2 "Dynamic compensation of a robot arm mounted on a flexible arm" (Registered Dec. 12, 2023, Fastbrick IP Pty Ltd) U.S. Registered Patent Application US 11,745,331 "Remote robot system considering load stabilization" U.S. Registered Patent Application US 11,690,773 "Wearable upper limb rehabilitation training robot capable of precise force control" U.S. Registered Patent Application US 12,076,759 "Aircraft cleaning robot" U.S. Registered Patent Application US 12,428,272 "Heavy-weight lifting and movement system" U.S. Registered Patent Publication US 12,552,051 "Robot system for object transport, handling, orientation and processing" US Registered Patent Publication US 12,614,896 "Robot arm mounted in an inverted position (for electric bypass suspension)" US Published Patent Application US 2019 / 0240912 A1 "3D printing robot, 3D printing robot system and method for generating an object using the same" Korean Published Patent Application No. 10-2026-0054663 "Hybrid robot system for cleaning high-rise buildings" (Published April 22, 2026).

[0011] Uhlmann et al., "Stiffness Enhancement by Means of Situational Coupling of Two Collaborative Robots", J. Manufacturing and Materials Processing, Vol.10(2), Art.54, 2026.02.04. DisclosureLai, CY; Villacis Chavez, DE; Ding, S., "Transformable parallel-serial manipulator for robotic machining", The International Journal of Advanced Manufacturing Technology, Vol.97, pp.2987-2996, 2018.Book, WJ; Le, S.; Sangveraphunsiri, V., "Bracing Strategy for Robot Operation", Theory and Practice of Robots and Manipulators (Proc. RoManSy '84), Springer, pp.179-185, 1985. The problem to be solved

[0012] The problem that the present invention aims to solve is as follows. First, the limitation of an open chain in which the angle control error is amplified proportionally to the reach (L×δθ) is overcome by the mechanical structure itself rather than by sensor and force feedback control, thereby converting the dominant term of the error into a length error (δL) independent of the reach.

[0013] Second, the problem of tool operation being restricted in the coupled state due to the end effector being consumed in the coupling of conventional robot coupling (Non-Patent Literature 1) is resolved so that the tool operation capability of the end is not consumed in the coupling and the tool remains in operation even in the coupled state. Furthermore, in an embodiment equipped with a wrist joint, the posture freedom is preserved.

[0014] Third, the problem of assembly errors, thermal deformation, and structural deformation accumulating as internal stress due to over-constraint caused by point-constrained rigid connections is resolved passively by allowing mechanical degrees of freedom of the joints rather than through force feedback control.

[0015] Fourth, it is to ensure reliability and field verifiability in harsh outdoor construction environments by allowing the form of the combination itself to be selected discretely according to the requirements of the work—that is, by replacing the continuous control problem with discrete machine selection. means of solving the problem

[0016] A construction robot according to one aspect of the present invention for solving the above problem comprises: a shoulder structure; a first arm and a second arm, each supported by the shoulder structure and capable of operating independently of each other, wherein each arm includes a pivoting part formed by a first joint (J1), a bending part formed by a second joint (J2), and a telescopic arm extending from the second joint and driven for extension; a coupling part provided at the end of the telescopic arm of the first arm; and a quick coupler provided at the end of the telescopic arm of the second arm and detachably coupled to the coupling part; wherein when the quick coupler and the coupling part are coupled, three points, including two bending centers of the second joints of both arms and one coupling point, define a single support reference plane, and a closed support structure having the three points as vertices is formed on the support reference plane, so that the open motion chain of both arms is converted into a closed chain and the end part is structurally stabilized.

[0017] According to the axioms of geometry, three points that are not on a single straight line uniquely determine a plane, so the existence and uniqueness of the aforementioned support reference plane are mathematically guaranteed. This is the same principle as establishing a first-order datum plane with at least three points of contact in mechanical drawing (GD&T) or defining a plane of a work coordinate system by specifying three points in CAD, where a single mechanical event called a combination creates a reference plane established in space.

[0018] Revisiting this from the perspective of the problem situation, it is as follows. The two telescopic arms in a separated state are equivalent to two straight lines in a skewed position in space; thus, the four points at both ends (two centers of inflection and two end points) generally do not lie on a single plane and are arbitrarily twisted according to the relative orientation. The joining is an event that merges the two end points into a single joining point, and according to the geometric theorem that two intersecting lines must lie on a single plane, at the moment of joining, the two arms are transformed into intersecting lines in a coplanar plane, and the four free points capable of twisting are reduced to three definite points that uniquely determine the plane. Starting from the basic form, a three-point closed structure (triangle), it expands into a trapezoid on the same reference plane upon link joining (dependent claim), and the pentagonal structure of the 7-axis variation is claimed as a separate independent claim. Meanwhile, since the direct grip mode connects the two end points through a gripping relationship rather than merging them into a single point, the four points are not completely reduced to three points, and the remainder is an operational form of an asymmetric quadrilateral slightly deviated from the plane (not limited to the claim). In other words, the present invention is a system in which structural stability is extended in a polygonal shape on a reference plane.

[0019] In one embodiment, the hinge axis of the second joint (J2) and the extension center axis of the telescopic arm are arranged to meet at one point, and the second joint is rotatably supported by a pair of cross-roller bearings without a shaft penetrating the telescopic arm, so that the intersection point is formed at the center of the pair of cross-roller bearings, and since this intersection point forms the vertex of the closed support structure, the vertex does not move even when bent.

[0020] At the end portion of the telescopic arm, a general-purpose configuration having a wrist joint portion (J4, J5, J6) and a gripper, a wristless configuration in which a 3D printing head is directly mounted without the interposition of a wrist joint portion, and a configuration in which the wrist joint portion is maintained but the 3D printing head is directly mounted to the wrist joint portion instead of the gripper are all possible. The coupling is discretely selected from among a pin coupling mode (triangular closed structure) in which the quick coupler directly engages the hinge pin, a link coupling mode (trapezoidal constrained to a closed structure plane) in which a link member having a hinge pin and a quick coupler at both ends is interposed, and a direct gripping mode in which the gripper grips the gripping jaw, according to the allowable tolerance value set in the working section and the required number of free grippers. Effects of the invention

[0021] According to the present invention, since the position of the working point in the combined state is determined by the lengths and bases of the two telescopic arms (bilateral measurement principle), the governing term of the end error is switched from the joint angle (L × δθ) to the length (δL), thereby ensuring precision independent of reach. In particular, the closed structure of the pin coupling mode becomes a geometrically locked structure, so that the maintenance of the combined shape is established independently of the servo holding force and backlash of the joint drive unit.

[0022] In addition, since the connection position is the end portion of the telescopic arm prior to the wrist joint, in the embodiment equipped with the wrist joint, the wrist posture degrees of freedom (J4, J5, J6) of both arms and the end tool remain in operation even in the connected state. Accordingly, both arms are connected while gripping different construction head tools, and it is possible to switch between the tool in use and the tool in standby solely through the wrist posture. Meanwhile, in the wristless configuration, since there is no wrist itself to be consumed in the connection, the 3D printing head is operated as an end with minimum mass and maximum rigidity directly connected to the telescopic arm.

[0023] In addition, since the axial rotation and axial movement allowed by the joint surface mechanically relieve over-constraint, passive stability is obtained in which assembly errors and thermal deformation do not accumulate as internal stress, and a closed support structure is maintained even with the front-rear and left-right tilting arrangement of the base or the expansion of the gap by rails.

[0024] In addition, when both arms are combined, the relative positions of the left and right arms are mechanically constrained, so collisions between the arms and between the arms and the main body are eliminated in principle, and when waist rotation is used with the lengths of both telescopic arms synchronized, polar operation following an arc trajectory in which the working point is mechanically guaranteed is possible, and triangular coordinate operation is possible when the lengths are controlled differently. Brief explanation of the drawing

[0025] FIG. 1 is an overall perspective view of a construction robot according to one embodiment of the present invention (representative view). Figure 2 is a perspective view showing the individual operation state of both arms. FIG. 3 is a perspective view showing the movable folding state for container loading. Figure 4 is an overall view of the direct gripping state, which is the first method of connecting both arms, and an enlarged view of the joint part. Figure 5 is an overall view and an enlarged view of the joint in the state of the pin connection (basic usage method), which is the second method of connecting the two arms. FIG. 6 is an overall view of the link connection state, which is the third method of connecting both arms, a detailed view of the link member, and an enlarged view of the joint. Figure 7 is a drawing showing a gap expansion configuration by rail as a base modification example. Figure 8 is a drawing showing a forward inclined arrangement configuration as a base modification example. Figure 9 is a drawing showing a left / right inclined arrangement configuration as a base modification example. Figure 10 is a drawing showing a waist rotation extension configuration as a base modification example. FIG. 11 is an enlarged view of a forearm telescopic 7-axis arm extension deformation example and its connecting part (roll alignment band and alignment spring). Specific details for implementing the invention

[0026] Overall composition (Fig. 1, Fig. 2)

[0027] Referring to FIG. 1, the construction robot (10) of the present embodiment is equipped with a shoulder structure (20) on the upper part of a waist rotation bearing (80), and both arms, a left arm (23L) and a right arm (23R), are supported on the shoulder structure (20). The lower structure (waist part, 11) of the waist rotation bearing (80) can be coupled to any support means, such as a mobile vehicle or a lifting structure, and since this configuration is outside the scope of the rights of the present application, it is represented by a dotted line in the drawing. The subject of the present application is the two-arm system on the upper part of the waist rotation bearing (80). Waist rotation is performed by the waist rotation bearing (80) and the waist rotation drive motor (81).

[0028] Each arm is a 6-axis configuration comprising a first joint (J1, 21) responsible for rotation relative to the shoulder structure (20), a second joint (J2, 22) responsible for flexion, a telescopic arm (23) integrating the upper arm and forearm into a single member, an extendable drive unit (J3, 24) positioned at the rear end of the telescopic arm, and a 3-axis wrist joint part (30; J4: 31, J5: 32, J6: 33) at the end of the telescopic arm. By integrating the forearm and upper arm into a single telescopic arm without separating them, the intermediate joint corresponding to the elbow of a conventional joint arm is removed, and when combined, the side of the closed structure functions as a strut dedicated to axial force. However, the wrist joint part and the gripper are not essential components, and as described below, a wristless configuration omitting them is also included in the embodiments of the present invention.

[0029] A counterweight (25) is provided at the rear end of the telescopic arm (23) to compensate for the overturning moment during extension, and the bending drive of the second joint (22) can be transmitted through a crank link (26). Wiring and piping for the extension of the telescopic arm (23) are handled by a cable chain (76), a cable chain support rail (77) and a cable chain support bar (78) that support it. A control tower (70) is provided on the upper part of the shoulder structure (20) to rotate together with the shoulder and observe the working area of ​​both arms. The control tower (70) is equipped with a camera (71), a lidar (72), a gyro level sensor (73), and a light (74), and the types and number of detection means are not limited thereto, and a mounting interface for additional sensors is open. The image, point cloud, attitude data, and driving data collected from the control tower (70) are recorded and can be used for future work correction and learning.

[0030] In addition, the precision management of this robot is based on static correction assets. That is, a calibration map of mechanical errors, a work tip offset table for each tool, and actual measurements of residual vibration for each combination mode are accumulated and updated, and these actual measurement data, along with images from the control tower (70), can be used as basic data for the advancement of correction through artificial intelligence learning. The specific correction method by artificial intelligence itself is not the subject of the claims in this application.

[0031] The robot includes a control unit that controls the operation of each joint drive unit of both arms, the extension drive unit (24), the waist rotation drive motor (81), and the quick coupler (42). The control unit is configured to perform the selective execution of coordinate operation modes (synchronous / differential) and the selection of coupling modes described later, and since it can be implemented with a conventional industrial robot controller, it is not separately illustrated in the drawing.

[0032] As a key component of this embodiment, the hinge axis of the second joint (22) and the extension center axis of the telescopic arm (23) are arranged to meet at a single point at the center of the cross-roller bearing pair. The second joint is rotatably supported on both sides by a pair of cross-roller bearings without penetrating the inside of the telescopic arm with a shaft, thereby forming the intersection point as a virtual bending center. That is, the cross-roller bearing pair is an internal component of the second joint (22), and its center becomes the bending center of the second joint and the vertex of the triangle.

[0033] The triangle of the closed support structure—the triangular support structure line (T) shown as a dotted line in the drawing—has three vertices at the hinge pin connection point and the bending centers (cross roller centers) of the left and right second joints, and due to the above-mentioned intersection arrangement, the vertices do not move due to the bending of the joints. The plane defined by these three points is referred to in this specification as the "support reference plane," and the triangular support structure line (T) serves as a drawing of the support reference plane. By the geometric axiom that three points not lying on a single straight line uniquely determine a plane, this plane is uniquely determined simultaneously with the connection; furthermore, since the shape of the triangle is uniquely determined once the lengths of the three sides are determined (SSS congruence), the shape of the closed structure in the pin connection state is mathematically determined—this is the basis for the "geometrically locked structure" described later. A reference plane is determined in space through a single mechanical event called connection, and subsequent expansion of the connection mode (trapezoid) and coordinate operation are all carried out based on this plane.

[0034] Meanwhile, the hinge axis does not continuously coincide with the extension center axis. Since the pin connection point (hinge pin) is located at an offset position from the extension center axis, the extension center axis itself does not form a side of the triangle, and the extension center axis exists on a plane that extends the plane formed by the triangle. If the hinge axis and the extension center axis do not meet at a single point, the vertex moves during bending, causing the coordinates of the closed structure to become distorted, which is also the reason why it is difficult to use dual-arm linkage in a conventional 6-axis articulated arm.

[0035] A coupling portion (40, 41) is provided at a position prior to the wrist joint portion (30) as the end portion of the telescopic arm (23). The coupling portion includes a gripping projection (40) having a coupling surface that can be gripped by the gripper (60) of the opposing arm and allows axial rotation and axial movement in the gripped state, and a hinge pin (41) that is fastened by the quick coupler (42) of the opposing arm. That is, in a normal independent operation state (Fig. 2), the two arms handle construction materials or grip construction tools such as 3DP head tools (90) using their respective grippers (60) to perform work, and then, in work requiring precision correction, they are coupled together by gripping or pin fastening to form a closed support structure. The configuration of the gripper (60) and tool interface may follow the configuration of the applicant's prior application (Patent Document 4), and the gripping force may be discretely set for each target by a replaceable pressure spring module. Meanwhile, the hinge pin (41) and the quick coupler (42) are each mounted on a wristband-type coupler base (44) that wraps around the end of the telescopic arm, and in this embodiment (6-axis telescopic arm), the coupler base is fixedly mounted to the arm. That is, the coupling method of both arms is unified by the combination of the hinge pin (first arm) and the quick coupler (second arm) on the coupler base, and only the mounting method of the base (fixed / roll rotation) varies depending on the embodiment (see the 7-axis variation example described later).

[0036] The base may inherit a front-protruding pyramid-shaped structure such as the applicant's prior application (Patent Document 3). Due to the nature of the telescopic arm, when retracted, the arm main part and counterweight (25) are located at the rear, forming a full pocket structure with a large rear protrusion. Therefore, when using a front-protruding pyramid base during unfolding, the degrees of freedom of both arms are maximized, and the insufficient degrees of freedom for left / right rear collisions are compensated for by waist rotation (Fig. 2).

[0037] Moving folding (Fig. 3)

[0038] Referring to FIG. 3, the inclined base can be folded by a folding hydraulic cylinder (27) to a minimum width within the width of the container for container loading. In the folded state, it is loaded in conjunction with the operating equipment on the waist part (11) side.

[0039] Two-arm connection method 1 - Direct grip (Fig. 4)

[0040] Referring to FIG. 4, the first connection method is a structure in which the gripping jaw (40) of one arm is directly gripped by the gripper (60) of the other arm. This is derived from the principle of correcting shaking by holding the hand holding the brush when a person writes calligraphy, and a closed structure is formed from the shoulder to the gripping wrist. The gripping arm remains within the closed structure, but since the bending of the wrist of the gripping hand changes depending on the position of the work point, the wrist bending axis (32) of the gripping side forms an asymmetrical quadrilateral structure (22-22-40-32; asymmetrical quadrilateral structure line (D) in the drawing) that deviates slightly from the ideal triangular plane (J4 and J6 are roll axes, so they do not form vertices). Although it is geometrically possible to place the gripping point within a triangular expansion plane by rotating the gripping jaw (40) in the roll direction relative to the telescopic arm, it is not practical because it does not align with the square cross-section of the telescopic arm. Therefore, this embodiment maintains a standard mounting posture, and the result is the asymmetrical square (such a roll rotation mounting variation is also included in the technical concept of the present invention). It is the simplest method that can be immediately combined without requiring parts, but the control becomes complex due to the asymmetry. Even in the gripping state, the posture freedom of the tool can be secured to a certain extent by the J4, J5, and J6 of both arms. Since direct gripping is achieved with only one gripper, it is advantageous for work using only one hand in a narrow work area, and in this case, since no components such as links are interposed, interference by the waiting hand within the work area is minimized.

[0041] Direct gripping is an operational option that does not require separate dedicated coupling parts and constitutes one branch of the coupling mode selection step (method series of claims) of the operation method described below. Meanwhile, in the case of direct gripping, since the gripping projection (40) is located on the extension center axis of the telescopic arm, a closed structure based on the gripping point is formed along the extension center axis, and accordingly, the asymmetrical square structure line (D) of FIG. 4 is illustrated as serving as the extension center axis of the telescopic arm.

[0042] On the other hand, compared to the method of gripping the tool itself with both hands (tool-assisted gripping), this method requires a standard interface for two-handed gripping for all tools, which increases tool complexity and reduces durability as the tool is positioned between the driving loads of both arms. In contrast, this wrist-grabbing method places the support point closer to the source of the driving structural force, allowing the tool to focus on its inherent function while the driving structure is resolved within the basic two-arm system. Therefore, gripping the wrist is structurally more advantageous than gripping the tool.

[0043] Two-arm connection method 2 - Pin connection, basic usage example (Fig. 5)

[0044] Referring to FIG. 5, the second connection method is a pin connection in which the hinge pin (41) of the first arm is connected to the quick coupler (42) of the second arm, which is the basic usage method that enables the most stable closed structure connection operation. Since it operates in a quick coupler manner, the connection parts of the left and right arms are different from each other. A fixed hinge pin (41) is provided on one side (the first arm), and a quick coupler (42) consisting of a spring and a hydraulic or electric drive unit is provided on the other side (the second arm), following the driving method of a conventional excavator quick coupler that releases after being clipped by pushing up the spring, and the lock is maintained without power by the spring.

[0045] In the pin-coupled state, the second joint (22) of both arms and the hinge pin (41) are in precise contact within the closed triangle structure (22-22-43; triangle support structure line (T)), thereby creating a geometrically stable structure. The completed coupling state in which the quick coupler (42) engages the hinge pin (41) is indicated as the combined quick coupler (43) in the drawing, and the center of engagement is the coupling point that defines the support reference plane. At this time, the J4, J5, and J6 of both arms are secured with a degree of freedom of posture, allowing them to grip different 3DP output head tools (90L, 90R) or work extensions, and are operated primarily for cross-use, where one is in use while the other is on standby, rather than simultaneous use (dual head operation). Since the pin coupling is easily mutually coupled by the quick coupler, it is the basic mode most frequently used in actual operation and serves as an effective means to execute the slab output method according to the applicant's registered patent (Patent Document 5) with high precision.

[0046] Direct head connection configuration without a gripper (see Fig. 5)

[0047] Meanwhile, as another embodiment of the present invention, a wristless dedicated configuration is possible in which a 3D printing head (90) is directly mounted via a quick coupler without placing a wrist joint part (J4, J5, J6) and a gripper (60) at the end of the telescopic arm (23). Since the positional precision of the nozzle tip is dominant and the requirement for changing the head's posture is limited, the 3DP printing operation is sufficiently operated by only the rotation of the first joint (J1), the bending of the second joint (J2), and the extension (J3) of the telescopic arm (23). This configuration eliminates the weight, play, and cost of the wrist joint and gripper, thereby increasing the rigidity and natural frequency of the end, and since there is no wrist itself to be consumed in the coupling, the problem of end effector consumption in conventional robot coupling (Non-Patent Literature 1) does not occur at the source. In this case as well, the mutual coupling of both arms by the hinge pin (41) and quick coupler (42) and the formation of the triangular support structure are established in the same way, and it is effective as a dedicated machine for precisely executing the slab output method according to the applicant's registered patent (Patent Document 5). That is, the triangular support structure of the present invention is established regardless of the presence or absence of a wrist and a gripper, and the wrist joint and the gripper are additional components that expand versatility.

[0048] Furthermore, as an intermediate form between the above wristless dedicated configuration and the fully general-purpose configuration, it is also possible to maintain the wrist joint portions (J4, J5, J6) but omit the gripper (60) and directly mount a 3D printing head (90) to the end of the wrist joint portion. This configuration is suitable for 3D printing operations that require a change in nozzle position, such as inclined or curved surfaces, as it eliminates the weight and play of the gripper while ensuring nozzle position control by the wrist joint portion. In other words, even if the wrist joint portion is provided, the gripper is not an essential component, and the gripper is an additional component for general-purpose operation, such as material handling and tool replacement. In this case as well, since the coupled portion and quick coupler are provided at the end of the telescopic arm prior to the wrist joint portion, the mutual coupling of the two arms, the formation of a triangular support structure, and the preservation of the wrist position freedom in the coupled state are established in the same way.

[0049] Two-arm connection method 3 - Link connection (Fig. 6)

[0050] Referring to FIG. 6, the third connection method is a structure that separates the two end portions by interposing a link member (50) between the hinge pin connection parts of both arms. The link member (50) is equipped with a quick coupler (52) at one end and a hinge pin (51) at the other end, and is connected in the same manner as the connection method of both arms. Since the second joint (22) of both arms and the hinge pin are in contact with a closed triangle structure, the link member is designed to form a trapezoid (a trapezoidal structure line (Q) in the drawing) on ​​the triangle structure.

[0051] That is, unlike the asymmetrical quadrilateral structure (D) of direct gripping, this trapezoidal quadrilateral structure is constrained to a triangular structure plane (support reference plane). The two joint points in the completed fastening state are indicated in the drawing as the hinge pin (41a) connected to the link member and the quick coupler (42a) connected to the link member, and the trapezoid (22-22-41a-42a; trapezoidal structure line (Q)) has the centers of bending on both sides and these two joint points as vertices.

[0052] The link member (50) is mounted on a tool holder (12) installed on the main body of the equipment (which may follow the configuration disclosed in Patent Document 3 as a moving part area other than the present application). Since the quick coupler (52) within the link member is structured to be locked by a locking spring (54), the coupling is automatically achieved by simply pushing in the hinge pin, and the lock is released only when power is transmitted from the hydraulic or electric connection equipment built into the holder. That is, the link member is a purely manual structural member without a power source or wiring during operation, and since the spring lock is maintained without power, accidental release during operation is, in principle, impossible, and unlocking becomes a discrete event performed only on the holder.

[0053] According to the link connection, the range of freedom of movement for both hands is expanded compared to the pin connection, allowing both hands to be used simultaneously and enabling cooperative two-hand work such as gripping long bulk materials like rebar modules with both hands.

[0054] Coordinate operation mode (Fig. 1, Fig. 10)

[0055] Coordinate operation in the combined state is performed in two modes. If the lengths of the left and right arms are synchronized equally and waist rotation is used, it operates in the same way as a polar method, where the working point is geometrically constrained on the vertical bisector of the base and controlled by radius (length) and orientation (waist). In this case, the radius of the arc trajectory is fixed by the length setting, and since continuous movement is limited to the single waist axis, the quality of the arc is mechanically guaranteed. Furthermore, under left-right symmetrical loads, sagging is symmetrical, and a compensation effect is obtained where the working point does not deviate from the center plane (the asymmetric load component is eliminated by static correction). On the other hand, if the lengths of the left and right arms are controlled differently, it can be operated using triangular coordinates based on the bilateral surveying principle.

[0056] Base modification examples (Figs. 7 to 10)

[0057] Referring to FIG. 7, the base of the first joint (J1) on the plane can be horizontally extended (M in FIG. 7) using the moving rail (28) on the shoulder structure (20), and the closed triangular structure is not broken even when the gap is extended. The extension of the base length serves as a means to adjust the trade-off between rigidity and the working area. Furthermore, by applying this, if the two-arm system is mounted on a long rail of several tens of meters, it can be used as a cantilever-type equipment modified from a gantry, which moves along the rail and covers a widely extended area, rather than a circular coordinate system based on waist rotation.

[0058] Referring to FIG. 8, the closed triangle structure is maintained even in a forward-sloping arrangement where the J1 base is inclined inward (forward) of the triangle, and the trigonometric function position control with different lengths of the arms and the linkage of the two arms are naturally established. This is a base modification to additionally secure a work area concentrated on the front, and corresponds to the first modification of the front-protruding pyramid base of Patent Document 3.

[0059] Referring to FIG. 9, even in a left / right inclined arrangement where the J1 base is inclined to the left / right outside of the triangle, the vertical cross-section of the telescopic arm is tilted, but the closed triangle structure is not broken. However, there is one premise here. The hinge axis of the second joint (J2) and the extension center axis of the telescopic arm meet at a single point at the center of the cross-roller bearing pair, so that one side of the triangle connecting the left and right bending centers always lies on the triangle structure (T) of the hinge pin point - right bending center - left bending center, regardless of the bending rotation of J2. The intersection point arrangement described above satisfies this premise. The left / right inclined arrangement corresponds to a second variation of the front protruding pyramid base of Patent Document 3, and since the telescopic arm has a large rear end protrusion and is not driven by a joint, the left / right outside inclination is particularly advantageous for reducing rear collision, and it is a variation that focuses on the front working area while reducing rear collision of the left / right arms.

[0060] Referring to FIG. 10, coordinate movement at a fixed shoulder is possible by changing the length of both arms, but using a shoulder with waist rotation (R in FIG. 10) applied by a waist rotation bearing (80) and a waist rotation drive motor (81) makes it easier to move the work coordinates. When the lengths of both arms are synchronized, it becomes a triangular tilt telescope arm in which control is simplified by waist rotation and arm length, and when the lengths of both arms are different, it becomes a modified triangular tilt telescope arm. When the work area is concentrated in the front due to forward tilt and left / right outward tilt, the range of activity is reduced, but by compensating for this with waist rotation, the concentrated work area can be expanded to ±180°.

[0061] 7-axis extended deformation example (Fig. 11)

[0062] Referring to FIG. 11, a modified example is possible in which a 6-axis articulated arm with two arms is extended into a 7-axis arm by applying telescopic movement only to the forearm, similar to the upper arm of Patent Document 3. In this case, each arm is equipped with an articulated arm third joint (24a; J3) and an articulated arm extension drive unit (24b; J4), and the wrist joint part becomes the articulated arm wrist first to third axes (31a, 32a, 33a; J5~J7). Since the J3-J3 line, which is one side of the triangle, changes according to the bending angle of the forearm, the flat triangular structure for linking the two arms becomes a pentagonal structure (pentagonal structure line (P) in the drawing) in which J3-J3-band roll-hinge pin-band roll are connected. Therefore, the use of a link member is difficult, direct gripping is possible, and pin connection requires a deformation of the joint part—a roll alignment band. This is based on the following problem recognition. In a 7-axis arm having an articulated upper arm, roll rotation around the longitudinal axis of both forearms occurs continuously during operation in the coupled state. If the hinge pin (41) and quick coupler (42) are fixedly mounted to the coupler base (44) as in the basic type, this roll acts as a bending load that bends the quick coupler, leading to structural damage to the coupled part. To solve this, in the 7-axis modified example, the coupler base is made in the form of a band that wraps around the end of the forearm, but is mounted to allow roll rotation around the longitudinal axis of the forearm, and a roll alignment band (45) is adopted with an alignment spring (46) interposed between the band and the arm. When coupled, the alignment spring maintains the band at a reference angle so that the connection is made in a stable position, and when driven after coupling, the band follows the roll rotation of both arms and absorbs the roll, so the hinge bending of the quick coupler is offset and no bending load acts on the coupled part. In this case as well, the three points of the bending center of the third joint (24a) of both arms and the connection point (43) define the support reference plane, which is the same as in the basic form, and the closed structure (24a-24a-45-43-45) of the pentagonal structural line (P) unfolds on that plane.With this configuration, the articulated arms with increased degrees of freedom can be operated independently over a wide working range during normal operation, but for special precision tasks such as 3DP printing, the arms can be linked within a limited range and used like a tilt polar arm. However, since it is not a complete planar constraint, the reduction effect of driving play correction is limited compared to the complete constraint by the triangular planar structure of a 6-axis telescopic arm.

[0063] Selection of Combination Mode and Construction Method

[0064] The three coupling modes differ in their residual degrees of freedom and sources of stiffness. Pin coupling establishes the position using the geometric stiffness of a closed triangle (basic usage), link coupling provides simultaneous two-hand use with a trapezoid constrained to a plane, and direct gripping is immediately coupled without parts to suppress vibration and sagging through gripping friction. The selection of a mode is determined discretely based on the result of comparing the allowable tolerance value required for the work section with a preset reference value and the number of free grippers (1 or 2) required for the task; for example, pin coupling is assigned to high-precision output sections, link coupling to two-hand gripping tasks such as rebar modules, and direct gripping to processes requiring frequent switching. The correspondence between these judgment criteria and actual vibration data can be updated according to the construction history.

[0065] A method for operating a construction robot according to the present invention comprises: (a) performing construction work by independently operating a first arm and a second arm; (b) selecting one of the plurality of coupling modes based on the result of comparing an allowable tolerance value required for a work section with a preset reference value and the number of required free grippers; (c) forming a closed support structure by coupling according to the selected mode; (d) performing construction work with a construction tool mounted or gripped at the end in the coupled state; and (e) releasing the coupling and returning to independent operation after the work is completed.

[0066] Variations and Other Matters

[0067] The coupling surface of the gripping jaw (40) is preferably a cylindrical journal, but can be modified into a spherical coupling surface (allowing 3 rotational degrees of freedom - however, since it cannot transmit out-of-plane moment, the out-of-plane load flows into the bending of the arm), annular groove, etc. Multiple gripping jaws with the gripping jaw placed in multiple positions along the arm length direction, modifications with the journal placed on the tool side, and modifications with parallel micro-stages coupled to the end are also included in the technical concept of the present invention. Furthermore, it is noted that when a normal two-arm with articulated upper and forearms adopts this coupling concept, redundant degrees of freedom remain in the closed loop, so the solution of the coupling state is not unique, and thus the geometric expansion effect of the present invention does not occur.

[0068] The non-penetrating support by the aforementioned cross-roller bearing pair is the optimal embodiment for the support structure of the second joint, but is not limited thereto. Furthermore, a variation is also possible in which the hinge axis of the second joint is intentionally offset from the above-mentioned cross arrangement to adopt a simple support structure such as a penetrating shaft, and the control unit performs a correction calculation to compensate for the displacement of the vertex position according to the offset to maintain the triangular support structure; this is also included in the technical concept of the present invention. This offset correction is based on the same principle as the method of offsetting the polar center axis and then restoring it through a correction calculation in the applicant's registered patent (Patent Document 6). The direction of the offset is not limited to within the triangular plane. If the vertex on the second joint side is offset upward or downward (out-of-plane direction) of the triangular plane and this is offset by an offset in the opposite direction or a correction calculation at the coupling point on the quick coupler side, the geometry of the closed support structure is established identically on the offset parallel plane. In other words, the configuration in which a triangle is viewed as a surface having thickness, vertices are distributed vertically within that thickness range, and then restored through correction is geometrically equivalent to the triangular support structure of the present invention, and implementation via such offset-correction path is also included within the technical concept of the present invention.

[0069] Multiple construction head tools gripped by both arms can be standardized so that the offset from the gripping reference plane to the nozzle tip is identical (common gauge point); in this case, the working point is mechanically preserved even when switching tools while in a pin-connected state. Residuals of manufacturing tolerances are statically corrected using tool-specific offset tables. Explanation of the symbols

[0070] 10 : Construction robot (dual-arm system) 11 : Waist part (Outside the scope of rights - dashed city) 12 : Tool holder (Patent Document 3) 20: Shoulder structure 21: 1st joint (J1, rotation) 22 : 2nd joint (J2, bend) - Center of bend (center of the cross roller pair) = Vertex of the triangle 23 : Telescopic arm (23L: Left arm, 23R: Right arm - telescopic forearm in the 7-axis variant) 24 : Extended drive unit (J3) 24a : Joint arm 3rd joint (7-axis arm J3) 24b : Joint arm extension drive unit (7-axis arm J4) 25 : Counterweight 26 : Crank link 27 : Folding hydraulic cylinder 28 : Moving rail 30: Wrist joint (general term) 31 : Wrist 1st axis (J4) / 31a : Articular arm wrist 1st axis (J5) 32 : Wrist 2nd axis (J5) / 32a : Articular arm wrist 2nd axis (J6) 33 : Wrist 3rd axis (J6) / 33a : Articular arm wrist 3rd axis (J7) 40 : Gripping jaw (gripping connection surface of the part to be joined) 41 : Hinge pin (pin connecting element of the part to be joined) 41a : Hinge pin (joint point) connected to the link member 42 : Quick coupler (joint movable jaw element) 42a : Quick coupler (joining point) with linked members 43 : Combined quick coupler (joining point) 44: Coupler base (fixed mounting in the standard model) 45 : Roll alignment band (roll rotation mounted coupler base, 7-axis variant) 46 : Alignment spring 50 : Link missing 51 : Hinge pin of link member 52 : Linkless Quick Coupler 53 : Link member mounting holder (tool holder side) 54 : Quick coupler locking spring of link member 60: Gripper (Patent Document 4; 60L: Left, 60R: Right) 70 : Control Tower 71 : Camera 72 : Lida 73 : Gyro level sensor 74 : Lighting 76 : Cable chain 77 : Cable chain support rail 78 : Cable chain support bar 80: Waist rotation bearing 81 : Waist rotation drive motor 90: Construction tools (general term; 90L: Left tool, 90R: Right tool - 3D printing head, etc.) 91 : Building materials <Concept Line / Action Indicator Character Symbols> T : Triangular support structure line (double-dotted line) - 22-22-43: Imaginary triangle connecting the bending centers (cross roller centers) of the left and right second joints and the connection point Q: Trapezoidal structural line (dash-dotted line, Fig. 6) - 22-22-41a-42a: Trapezoid in reference plane upon link connection D: Asymmetrical quadrilateral structural line (dotted line, Fig. 4) - 22-22-40-32: Asymmetrical quadrilateral slightly offset from the plane during direct gripping (the vertex is the wrist flexion axis on the gripping side 32 - J4 ​​roll has no effect). Since the gripping tab lies on the extension axis, it also serves as the extension center axis line. P : Pentagonal structural line (dotted line, Fig. 11) - 24a-24a-45-43-45: Pentagon of the 7-axis variation (elbow bend center-band roll axis-joint point) M: Rail base movement (operation indication, Fig. 7) A: Base bending angle (motion indication, Fig. 8·9) R: Waist rotation (motion indicator, Fig. 10)

Claims

Claim 1 Shoulder structure (20); a first arm and a second arm, each supported by the shoulder structure and capable of operating independently of each other, wherein each arm comprises a pivoting portion formed by a first joint (21), a bending portion formed by a second joint (22), and a telescopic arm (23) extending from the second joint and driven for extension; and a coupling portion (40, 41) provided at the end of the telescopic arm of the first arm; A construction robot comprising: a quick coupler (42) provided at the end of the telescopic arm of the second arm and detachably coupled to the part to be coupled thereto; wherein, when the quick coupler and the part to be coupled are coupled, three points (22, 22) at the center of bending defined on the hinge axis of the second joint of each arm and one point (43) at the coupling point define a single support reference plane (T), and a closed support structure having the three points as vertices is formed on the support reference plane, so that the open motion chain of both arms is converted into a closed chain and the end part is structurally stabilized. Claim 2 A construction robot according to claim 1, wherein the coupling part includes a hinge pin (41), the quick coupler (42) is locked without power by a spring, and when the quick coupler and the hinge pin are coupled, the closed support structure forms a geometrically locked triangular structure (22-22-43), characterized in that the maintenance of the coupling shape is established independently of the servo holding force of each joint drive part. Claim 3 A construction robot according to claim 1, characterized in that at least one of the first arm and the second arm has a 3D printing head (90) mounted directly on the end of the telescopic arm (23) or through the wrist joint (30) without the interposition of a gripper (60). Claim 4 A construction robot according to claim 1, wherein each arm further includes a plurality of axial wrist joint portions (30; 31, 32, 33) at the end side of the telescopic arm (23) and a gripper (60) mounted on the wrist joint portion, wherein the coupling portion (40, 41) and the quick coupler (42) are provided at a position prior to the wrist joint portion, so that the postural degrees of freedom of the wrist joint portions of both arms are preserved in the coupled state, wherein the coupling portion further includes a gripping jaw (40) that can be grasped by the gripper of the opposite arm, and wherein the coupling surface of the coupling portion allows at least one of axial rotation and axial movement so that over-constraint is mechanically relieved. Claim 5 A construction robot according to claim 1, wherein the hinge axis of the second joint (22) and the extension center axis of the telescopic arm (23) are arranged to meet at one point, and the intersection point forms the point (22) of the bending center that defines the support reference plane, so that the point does not move and the support reference plane is preserved even when the second joint bends. Claim 6 A construction robot according to claim 1, further comprising a link member (50) having a hinge pin (51) at one end and a quick coupler (52) at the other end, wherein the link member is interposed between the coupling portion (40, 41) of the first arm and the quick coupler (42) of the second arm, so that the closed support structure extends into a trapezoidal closed structure (22-22-41a-42a) that includes the link member as one side on the support reference plane, wherein the quick coupler (52) of the link member is automatically coupled by a locking spring (54) and the lock is maintained without power, and the unlock is performed only when power is transmitted from a hydraulic or electric connection facility provided in the tool holder (12). Claim 7 A construction robot according to claim 4, wherein construction tools (90L, 90R) are respectively gripped and connected to the wrist joints (30) of both arms, and the tools in use and the tools in standby are switched alternately by the wrist position, and the plurality of construction tools (90) are standardized so that the offset from the gripping reference plane to the working tip is the same, thereby preserving the working point when switching tools alternately. Claim 8 A construction robot according to claim 1, wherein the shoulder structure (20) is pivotally supported by a waist rotation bearing (80) and further includes a control unit for controlling the driving of both arms and waist rotation, wherein the control unit is configured to selectively execute a first coordinate mode in which the work point follows an arc trajectory by waist rotation (R) while the lengths of the telescopic arms (23) of both arms are synchronized, and a second coordinate mode in which the work point is moved within the support reference plane by controlling the lengths of both arms differently. Claim 9 A construction robot according to claim 1, wherein the shoulder structure (20) is supported on a front protruding inclined base and can be folded within the container loading width by a folding hydraulic cylinder (27). Claim 10 Shoulder structure (20); first arm and second arm, each supported by the shoulder structure and capable of operating independently of each other, wherein each arm is a 7-axis arm comprising a pivoting portion formed by a first joint (21), an articulated upper arm formed by a second joint (22), a telescopic forearm connected to the upper arm by a third joint (24a) and extended by an extension drive portion (24b), a 3-axis wrist joint portion (31a, 32a, 33a) provided at the end of the forearm, and a gripper (60) mounted on the wrist joint portion; a roll alignment band (45), which is a band-type coupler base mounted at the end of the forearm of each arm at a position prior to the wrist joint portion, wrapping around the forearm and capable of roll rotation around the longitudinal axis of the forearm, and biased back to a reference angle by an alignment spring (46); provided on the roll alignment band of the first arm A construction robot comprising: a hinge pin (41); and a quick coupler (42) provided on the roll alignment band of the second arm and detachably coupled to the hinge pin; wherein, when the quick coupler and the hinge pin are coupled, three points (24a, 24a) of the bending center defined on the hinge axis of the third joint of each arm and one point (43) of the coupling point define a single support reference plane, and a closed pentagonal support structure (24a-24a-45-43-45) of five vertices formed by adding two points (45, 45) of the roll axis of the two roll alignment bands to the three points is formed on the support reference plane, so that the open motion chain of both arms is converted into a closed chain, and when driven in the coupled state, the roll rotation occurring in both arms is absorbed by the roll rotation of the roll alignment band so that no bending load is applied to the quick coupler, and the posture freedom of the wrist joint portion of both arms is preserved. Claim 11 A method of operating a construction robot including a first arm and a second arm, comprising: (a) a step of performing construction work by independently operating the first arm and the second arm; (b) a step of selecting one of a plurality of coupling modes with different remaining degrees of freedom based on the result of comparing an allowable tolerance value required for a work section with a preset reference value and the number of free grippers required for the work, wherein the plurality of coupling modes include a pin coupling mode, a link member (50) interposition mode, and a direct gripping mode for a coupling part (40, 41) provided at the end of the telescopic arm (23) of the first arm; (c) a step of forming a mechanically stable closed support structure including the telescopic arms of both arms as sides by coupling the coupling part (42, 60) of the second arm to the coupling part directly or via a link member according to the selected coupling mode; (d) a step of performing construction work with a construction tool (90) mounted or gripped at the end of both arms in a coupled state. and (e) a step of releasing the coupling and returning to independent operation; a method of operating a construction robot, comprising. Claim 12 A method of operating a construction robot according to claim 11, wherein the above step (d) comprises a step of selecting and performing one of the following: a synchronous mode in which the work point follows an arc trajectory by waist rotation (R) while the lengths of the telescopic arms (23) of both arms are synchronized, and a differential mode in which the work point is moved according to the geometry of a triangle with two sides of different lengths while the shoulder spacing is fixed by controlling the lengths of the telescopic arms of both arms differently. Claim 13 A method of operating a construction robot according to claim 11, wherein step (d) comprises a two-hand cooperation step in which the grippers (60L, 60R) of both arms grip and construct a single long material (91) together in the link member (50) interposed mode. Claim 14 A method of operating a construction robot according to claim 11, wherein the above step (d) includes the step of outputting different construction head tools (90L, 90R) held in each of the arms by switching them in a wrist position. Claim 15 A method of operating a construction robot according to claim 11, wherein step (d) comprises the step of performing a three-dimensional output operation with a 3D printing head (90) mounted directly on the end of the telescopic arm (23) or through the wrist joint (30) without the interposition of a gripper (60).

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