Multifunctional construction robot

Abstract

The invention relates to a construction robot (10) for carrying out at least one type of construction task, for example surface treatments, cutting work, drilling work, and demolition work, in particular in the field of building construction and / or civil engineering. The construction robot can be produced in various types in a particularly economical manner and can carry out construction work economically if the construction robot comprises a driving platform (20), a robot arm (12), and a functional module (22), wherein at least one part of the functional module (22) can be slid and / or pivoted relative to the driving platform (20).

Description

[0001] Multifunctional construction robot

[0002] Description

[0003] The invention relates to a construction robot for performing at least one type of construction task. The construction robot comprises a driving platform and a robot arm.

[0004] Such construction robots are increasingly being used on construction sites to relieve construction workers of dangerous or highly strenuous tasks, such as working on ceilings. However, such construction robots are generally expensive to manufacture and maintain, which currently limits their potential applications.

[0005] The object of the present invention is therefore to offer a construction robot that is versatile, easily adaptable and cost-effective in production and use.

[0006] The problem is solved by a construction robot for carrying out at least one type of construction task, comprising a driving platform, a robot arm and a functional module, wherein at least part of the functional module can be moved and / or pivoted relative to the driving platform. All or at least some of the components specific to a type of construction task can be located in the functional module. The same driving platform can then be used together with different functional modules. This allows different types of construction robots to be built on the basis of the same driving platform. This makes it possible to exploit economies of scale. Production can be particularly cost-effective. By using different functional modules, a wide range of types of construction tasks can be processed by appropriately adapted construction robots. The construction robots designed in this way can therefore be particularly versatile.The construction robot is easy to adapt. For example, it is conceivable to simply replace the functional module with another functional module designed for a different construction task. To produce construction robots that perform different types of construction tasks, different functional modules can be mounted on the same driving platform, thus reducing manufacturing costs. Economies of scale can generally be utilized. The construction robot can thus be manufactured and used particularly cost-effectively.

[0007] The functional module can be moved and / or pivoted relative to the mobile platform. This enables a particularly compact design. The construction robot is easy to maintain. If maintenance work is required on the mobile platform, the functional module can be moved and / or pivoted until an interior area of ​​the mobile platform is accessible from the outside. This makes the mobile platform particularly easy to access from the outside.

[0008] In one embodiment, a safety controller, for example in the form of a control system, e.g. a programmable logic controller, sensors, supply lines, control lines, control computers and / or interfaces to modules are arranged inside.

[0009] The travel platform and functional module preferably form a common housing so that the interior is protected from improper access and preferably from the ingress of dirt such as construction dust and / or water when in normal operation. For this purpose, sealing elements such as sealing tape and / or labyrinth seals and / or a water drainage device such as a water drainage channel can be provided at the connection points, in particular on the rails. Appropriate protection against water and dust is, for example, in the protection class for protection against solid foreign bodies with a diameter > 1 mm, i.e. at least protection class 4, but preferably protection class 5 with protection against dust in damaging quantities, i.e. IP5X. Preferably, there is tightness against splash water from all sides, i.e. at least IPX4, but preferably protection against water jets from any angle, i.e. at least IPX5.In one embodiment, at least the protection class for the connection between the driving platform and the functional module, in particular for the common housing and particularly preferably for the construction robot, is provided with a protection class of at least IP54.

[0010] This allows maintenance work to be completed more quickly than if the construction robot had to be laboriously disassembled into individual components to access its internal components. This can be particularly advantageous when different types of functional modules are used, as pivoting or shifting the robot results in a standardized, easily trainable approach to performing maintenance work, independent of the type of functional module.

[0011] After completing the example maintenance work, the functional module can be moved and / or pivoted back to its original position. For example, the functional module can be horizontally movable and / or pivoted. This can also help the construction robot with its robot arm perform construction tasks in otherwise inaccessible locations.

[0012] The functional module, or at least part of it, can be mounted on rails on the mobile platform. This makes it particularly easy to move the functional module.

[0013] In one version, the functional module is constructed in several parts. A first section of the functional module is firmly connected to the driving platform, for example, by screwing or locking. A second section is designed to be movable, as described above, i.e., it can be displaced and / or pivoted relative to the driving platform. For this purpose, the second, movable section can be mounted on rails, as already described above, or can be pivoted by means of joints.

[0014] In one embodiment, the construction robot is designed such that the functional module is arranged on an upper side of the driving platform in the normal operating state. A lower side of the driving platform is the side of the driving platform that faces the ground in the normal operating state of the construction robot, and the upper side of the driving platform is the side of the driving platform that is opposite the underside of the driving platform. Thus, in the normal operating state, the functional module covers the driving platform.

[0015] In one embodiment, the construction robot has a securing device for connecting the functional module, in particular the movable section of the functional module, to the driving platform. The securing device prevents the movable functional module or its corresponding section from being accidentally removed from the driving platform, particularly without the use of tools.

[0016] The driving platform can have a tracked chassis, a wheeled chassis and / or an air cushion. The driving platform can also have a chassis onto which either tracks or wheels can be mounted. This means that the construction robot can be used on a variety of surfaces. A tracked chassis can be particularly suitable for use in shell construction and / or civil engineering, for example. Wheels can be used for use on sensitive floors, such as floors on which screed has already been laid. An air cushion can be advantageous, for example, if the construction robot is overall heavy but still needs to be able to move with little effort. If the air cushion is deactivated, the construction robot can also rest stably and, for example, without slipping on a surface.

[0017] The mobile platform can have at least one remote-controlled motor for moving the mobile platform. In this case, the construction robot can be used as a transporter even without a functional module. The remote control can be radio-based. Alternatively or additionally, it can also be internet-based. For example, the construction robot can be controlled via a smartphone or tablet computer. It is particularly conceivable that the mobile platform can move autonomously or semi-autonomously.

[0018] The construction robot can include a safety controller for monitoring at least one safety function. The safety controller can be embodied as a programmable logic controller. The safety controller can be installed on the driving platform. It can be connected between the construction robot's energy sources and actuators. Thus, it can be configured to continuously monitor the construction robot's movements. Compliance with safety-relevant framework conditions and limit conditions can thus be systematically monitored. Damage or hazardous situations due to malfunctions of individual components of the construction robot can be avoided.

[0019] If the driving platform includes the safety controller, the safety controller can operate independently of the type of functional module used with the construction robot. With a suitable design of the construction robot, a separate safety controller mounted on the functional module can be dispensed with.

[0020] The mobile platform can have at least one lashing point, preferably at least four lashing points. Thus, the construction robot can be loaded with a crane using the lashing points, regardless of which functional module is installed.

[0021] It is also conceivable for the mobile platform to have at least one, preferably at least four, optical distance meters for monitoring the surroundings of the mobile construction robot. The optical distance meters can, for example, comprise one or more LIDARs. The optical distance meters can be used, for example, to monitor a safety area around the construction robot. The safety requirements typically required correspond to very low error probabilities in the classification of measurement data from the distance meters. It has been found that these safety requirements are best met using optical rather than acoustic distance meters.

[0022] The functional module can include a control computer for controlling the robot arm. The control computer can, for example, issue path commands so that the respective construction task can be carried out using the robot arm. The construction robot can also include an implementation computer that converts the path commands into specific movement sequences of the robot arm.

[0023] The functional module can include an air compressor and / or a compressed air tank. Compressed air is required for a variety of construction tasks, or at least can be used advantageously. For example, compressed air can be used to blow out a borehole previously drilled by a drilling robot.

[0024] The functional module can further comprise a vacuum generator. The vacuum generator can, for example, be a suction device, in particular for dust extraction or general surface cleaning. The vacuum can also be used, for example, to operate a controllable suction cup. Such a suction cup can be used to secure the construction robot, in particular its robot arm, to an external point, for example, to a wall or ceiling.

[0025] In one embodiment, the construction robot comprises an application module. The application module is preferably arranged on a top side of the functional module. A bottom side of the functional module is the side of the functional module that faces the ground or the driving platform when the construction robot is in normal operation. The top side of the functional module is the side of the functional module that is opposite the bottom side of the functional module. Thus, the application module covers the functional module at least in sections. The application module provides additional elements specific to the construction task, for example storage compartments, tools such as drills, grinding materials, saw blades, cutting discs, grinding wheels, and holding devices such as dowels, anchors, and screws.For example, the application module can have one or more magazines for providing a plurality of tools and aids, wherein the construction robot, in particular the functional module or the application module, preferably comprises a control unit for controlling the magazine, ie for providing a tool or aid required for processing.

[0026] In one embodiment, the application module, functional module, and driving platform form a common housing. Interfaces between the functional module and driving platform and / or between the functional module and application module are designed to correspond, allowing, in particular, the exchange of different application modules and / or functional modules to be carried out quickly and easily.

[0027] In one embodiment, the robot arm is connected to the mobile platform. A lifting device can be arranged between the robot arm and the mobile platform. The lifting device extends vertically to raise the robot arm to a defined working height. In an alternative embodiment, the robot arm or the lifting device is connected to the functional module.

[0028] Further features and advantages of the invention will become apparent from the following detailed description of exemplary embodiments of the invention, based on the figures of the drawing, which illustrate details essential to the invention, and from the claims. The features shown therein are not necessarily to scale and are presented in such a way that the special features of the invention can be clearly seen. The various features can be implemented individually or in combinations in variants of the invention.

[0029] The schematic drawing shows embodiments of the invention and explains them in more detail in the following description.

[0030] They show:

[0031] Fig. 1 shows a construction robot in a perspective view viewed diagonally from behind, Fig. 2 shows a driving platform of the construction robot in a perspective view viewed diagonally from behind,

[0032] Fig. 3 the driving platform of the construction robot in a perspective view from the front,

[0033] Fig. 4 shows a change shaft arrangement and a battery in perspective views from the front,

[0034] Fig. 5 the exchange shaft arrangement in a perspective view from the rear, Fig. 6 the driving platform of the construction robot in a side view,

[0035] Fig. 7 the driving platform of the construction robot in a partially sectioned view with a view of a

[0036] Function module in a perspective view from the rear, and

[0037] Fig. 8 the construction robot in a perspective view from the front.

[0038] Fig. 9a-c A schematic representation of a construction robot with modular design with schematic representation for moving the functional module

[0039] Fig. 10 a schematic representation of an embodiment with an arrangement of functional module and application module

[0040] In the following description of the figures, the same reference numerals are used for identical or functionally corresponding elements to facilitate understanding of the invention.

[0041] Fig. 1 shows a mobile construction robot 10 for performing construction tasks on, for example, walls, ceilings, or floors. It has a robot arm 12 for this purpose. The robot arm 12 is designed as a multi-axis robot arm. It has at least six degrees of freedom. The construction robot 10 is designed for use on building construction sites or civil engineering sites.

[0042] Depending on the construction task to be performed, an end effector 14 of the robot arm 12 is equipped with various electrical machine tools. In the present embodiment, the end effector 14 is equipped with a grinder for performing grinding work. In alternative embodiments, the end effector 14 can also be equipped with, for example, a hammer drill, a chiseling machine, or a sawing machine for performing drilling, demolition, or cutting work.

[0043] The robot arm 12 further comprises a lifting device 16 that extends its reach, particularly in the vertical direction. The robot arm 12 is arranged at the edge of a front side 18 of the construction robot 10, allowing the construction robot 10 to perform construction work in positions close to walls or obstacles.

[0044] The construction robot 10 has a width of less than 80 cm, in particular a width of 76 cm, in order to fit through narrow door openings, such as door openings of office rooms, for example on building construction sites.

[0045] It is less than 140 cm long, and specifically 130 cm long. This length has proven advantageous for maneuvering sufficiently in common stairwells and corridor corners, for example. In general, the construction robot 10 is particularly maneuverable due to its short length and narrow width.

[0046] The construction robot 10 further comprises a driving platform 20 for locomotion, on which a functional module 22 is arranged.

[0047] Fig. 2 shows a perspective detailed view of the driving platform 20. The driving platform 20 has a tracked chassis 24.

[0048] On a frame 26 of the driving platform 20, rails 28 are formed, on which the functional module 22 (see Fig. 1) can be moved along a longitudinal direction L of the construction robot 10, in particular forwards or backwards, provided there is sufficient free space.

[0049] For this purpose, the functional module 22 has rollers on its underside that can be latched into and secured to the rails 28 by means of a locking mechanism. All lines, such as cables or hoses, that connect elements of the mobile platform 20 to elements of the functional module 22 are provided with plug-in contacts, so that the functional module 22 can be mounted or dismounted on the mobile platform 20 without the need for tools.

[0050] In order to be able to move the functional module 22 along the rails 28, the cables to the functional module 22 are guided in movable cable guides 30.

[0051] By moving the functional module 22 outwards, an interior area 32 of the driving platform 20 can be reached from the outside.

[0052] Located in the interior area 32 is a swap shaft arrangement 33 with four hot-swappable swap shafts 34, of which only one of the swap shafts 34 is provided with a reference number in Fig. 2 for illustrative reasons. The swap shaft arrangement 33 has a pivoting cover 35 as protection against external influences. After pivoting the cover 35, the swap shafts 34 are accessible from the outside without tools, for example for a battery change. Fig. 2 and Fig. 3 also show that the mobile platform 20 has four wheel motors 40 for moving the mobile platform 20 and thus the construction robot 10 (see Fig. 1). The mobile platform 20 and in particular the wheel motors 40 can be controlled via a remote control 42. The remote control 42 is designed as a portable internet-capable computer, in particular in the form of a tablet computer that can be connected to the internet.The remote control 42 is further configured to establish a direct radio connection to the construction robot 10, allowing it to control the robot even when no internet connection is available. The driving platform 20 has a control computer 43 with a radio interface 44—shown only schematically in Fig. 3—in the form of a combined Wi-Fi and 5G radio interface. The control computer 43 can establish an internet connection via the radio interface 44, allowing it to, among other things, receive control commands from the remote control 42 and receive or send other data, e.g., to a remote, cloud-based computer.

[0053] Optical distance meters 46 in the form of LIDAR are also arranged on the sides, in particular on all four sides, of the driving platform 20, so that the immediate area around the driving platform 20 can be monitored without blind spots. Thus, movements of the construction robot 10, in particular of the driving platform 20 and also of the functional module 22, that are relevant to people can be monitored with a particularly high degree of reliability. The distance meters 46 can be used for personal protection and / or fall protection. With the help of the optical distance meters 46, an error probability of less than 1:1,000,000, in particular less than 1:5,000,000, can be achieved.

[0054] Also located in the interior area 32 is a safety controller 48 in the form of a programmable logic controller (PLC). Signals from all sensors located on the travel platform 20 as well as supply lines coming from the exchange shafts 34 are connected to the inputs of the safety controller 48. The outputs of the safety controller 48 lead to actuators on the travel platform 20 and, via the cable guides 30, to the functional module 22 (see Fig. 1). "Sensors" can be understood to mean all devices that record measurement data, such as the aforementioned optical distance meters, current and voltage sensors formed on the exchange shafts 34, motion sensors located on the wheel motors 40, position sensors of the robot arm 12, or the like."Actuators" can be understood as all devices that further utilize the data and electrical energy arriving at the inputs. Examples of actuators include the wheel motors 40, servo motors of the robot arm 12, motors of the function module 22, the control computer 43, and the like.

[0055] The interior 32 also contains an inertial measurement unit 50 (IMU) connected to the control computer 43. The IMU 50 is used, among other things, by the control computer 43 and the safety controller 48 to collect, evaluate, and monitor movement data of the mobile platform 20. In particular, by monitoring the inclination, direction of rotation, and speed of the mobile platform 20 and, if necessary, counteracting the robot arm 12, the construction robot 10 can be secured against unintentional tipping over. Inclination data can also be used to compensate for inclination-related deviations of the robot arm 12 from the target positions to be reached.

[0056] Fig. 4 shows a swap shaft assembly 33 and a battery 36 in perspective views obliquely from the front. Fig. 5 shows the swap shaft assembly 33 in a perspective view obliquely from the rear.

[0057] The interchangeable shaft arrangement 33 has four interchangeable shafts 34. The interchangeable shafts 34 each serve to accommodate one battery, for example, corresponding to the type of battery 36. The batteries 36 serve to electrically drive the construction robot 10 (see Fig. 1), in particular the robot arm 12 (see Fig. 1), the driving platform 20, and the functional module 22.

[0058] The battery 36 is a lithium-based battery, for example, based on LiFePO4 or Li-NMC. It is also conceivable that the battery is sodium-based. The battery 36 has a capacity of 2.5 kWh. It weighs 16 kg. In general, the battery 36 can preferably weigh less than 25 kg, in particular less than 20 kg, so that it can be transported, in particular carried, by a user of the construction robot 10 without additional aids. For this purpose, the battery 36 has a handle 37.

[0059] With multiple units of the battery 36, a total capacity of at least 10 kWh, in particular at least 20 kWh, can be provided by the interchangeable shaft arrangement 33. Thus, the construction robot can utilize a continuous output of at least 1 kW, in particular at least 2 kW, for at least 8 hours without changing the battery and avoiding deep discharge. This can be advantageous for particularly remote construction sites where no charging station or the like is otherwise available for recharging the batteries 36.

[0060] The interchangeable bays 34 have energy interfaces 38 with sockets for connecting the batteries 36. The sockets are located on the inside rear sides of the interchangeable bays 34, so that different types of batteries 36, in particular of different sizes, nominal voltages, or capacities, can be inserted into the interchangeable bays 34. The energy interfaces 38 serve to supply energy to the entire construction robot 10, i.e., among other things, the mobile platform 20, the robot arm 12, and the functional module 22. They comprise DC / DC converters and DC / AC converters to convert the nominal voltages and currents provided by the type of batteries 36 into different energy modes, in particular depending on the type of functional module 22 and the requirements of the robot arm 12, in particular the end effector 14 (see Fig. 1). This also allows different charge states of the batteries 36 (see Fig. 4) and the associated voltages to be compensated.A load management system is also installed. Specifically, DC voltages of 24 V and 48 V, as well as AC voltage of 230 V, can be provided.

[0061] The electrical energy provided by the batteries 36 is fed through contactors 39 to protect against overloads.

[0062] As shown in Fig. 6, the travel platform 20 has two lashing points 52 on each of its long sides, i.e., at least four in total, to which support cables or the like can be attached for crane loading. The lashing points 52 are formed as recesses in a side wall of the travel platform 20 so that they do not protrude from the rest of the travel platform 20, thus minimizing the risk of injury from the lashing points 52.

[0063] From the side view according to Fig. 6 it can also be seen that the driving platform 20, apart from the movable cable guides 30, is flat on the top.

[0064] Fig. 7 shows a partially sectioned view of the functional module 22 arranged on the driving platform 20. The functional module 22 contains a control computer 54 for controlling the robot arm 12. The control computer 54 contains program code 55 specifically designed to carry out the respective type of construction tasks for which the construction robot 10 is intended. The program code 55 is shown only schematically in Fig. 7. It can also include a program code component that controls the construction robot 10, when necessary, to exchange a battery 36 that is discharged to a certain charge level (see Fig. 4) for a charged battery 36 and to connect the discharged battery 36 to an external charger.

[0065] For generating, storing, and metered release of compressed air, the functional module 22 further comprises an air compressor 56 and a compressed air tank 58. The compressed air is supplied via lines to the robot arm 12, where it is available at the end effector 14 (see Fig. 1). Furthermore, the functional module 22 comprises a vacuum generator 62 in the form of a dust extractor in a housing part 60 (illustrated only schematically). A dust collection container 64 (also illustrated only schematically) is located behind a cover flap 66. It can be removed without tools using a lifting and locking mechanism.

[0066] Fig. 8 shows a perspective view of the construction robot 10. It can be seen that an application module 68 is arranged on the functional module 22. The application module 68 covers the functional module 22. The application module 68 provides the additional elements required for the respective type of construction task for which the construction robot 10 is designed. In particular, there are several storage options, of which a drawer 70 is marked with a reference symbol. A total station can be stored on the storage options, in particular the drawers 70, for example, for the precise localization of the construction robot 10. Consumables, for example accessories such as rock drills, grinding material or saw blades or materials to be processed such as anchors, screws, dowels, can be stored on the lifting device 16 and / or on the application module 68.

[0067] Furthermore, the remote control 42 is located on the application module 68, particularly for reasons of easy accessibility. The remote control 42 rests on a holder and can be removed from the application module 68 without tools.

[0068] Furthermore, there is an emergency button 72 on the application module 68, which, when activated, stops movements of the construction robot 10 as quickly as possible.

[0069] From Fig. 8, it can also be seen that the lifting device 16 is accessible from the front 18 of the construction robot 10. Maintenance work or, if necessary, replacement of the robot arm 12 or a part thereof, for example, the lifting device 16, is thereby simplified.

[0070] Figures 9a to 9c illustrate the modular construction robot 10 moving the function module 22.

[0071] Fig. 9a shows the construction robot 10 with a two-part functional module 22. The functional module 22 in this exemplary embodiment accordingly has a first section 22a of the functional module 22 and a second section 22b of the functional module. While the first section 22a of the functional module 22 is fixedly connected to the driving platform 20, the second section 22b of the functional module 22 is mounted on the driving platform 20 so as to be movable relative to the driving platform 20. The functional module 22 is arranged on the driving platform 20 and essentially covers it. Two application modules 68 are arranged on the functional module 22. In the exemplary embodiment shown, the application module 68 covers the functional module 22. As can be seen from this illustration, the driving platform 20, the functional module 22, and the application module 68 each have a housing, forming a common housing in the assembled and operational state.This prevents access to the interior of the construction robot, particularly during operation of the construction robot 10.

[0072] The robot arm 12 is arranged at a first end section of the lifting device 16. The lifting device 16 is designed as a telescope and, in the illustrated embodiment, is arranged at a second end section opposite the first end section on an upper side of the driving platform 20. The lifting device 16 extends beyond an upper side of the application module 68 so that the robot arm 12 can be raised vertically to increase the vertical reach of the robot arm 12 and, in particular, to perform activities on ceilings or high-positioned areas on walls.

[0073] For simplification and better understanding, robot arm 12 and application module 68 are not shown in Figures 9b to 9c. In the normal operating state, the interior area 32 is not accessible. Accordingly, the second section 22b is closed, ie, the movable second section 22b is not shown in an open position.

[0074] If the second section 22b moves from the closed position according to Fig. 9c to an open position, the second section 22b moves along and on the rails 28. The interior area 32, which includes, among other things, the control of the construction robot, in particular the driving platform 32, the communication unit, the computing unit, the power supply in the form of batteries arranged in the exchange shaft arrangement 33, sensors, supply and / or control lines to the functional module 22 and application module 68 as well as to the robot arm 12, is now accessible for maintenance and repair. The housing is thus open. The interior area 32 is preferably surrounded by an interior wall.

[0075] For maintenance purposes, the second section 22b of the functional module can be moved, making the interior accessible without removing the application module 68. Depending on the application and design, the application module can be constructed in several parts (not shown) and divided according to the first and second sections 22a, 22b of the functional module 22. A first part of the application module 68, which is assigned to the first section 22a of the functional module 22, can be firmly connected to the latter, while a second part of the application module 68, which is assigned to the second section 22b of the functional module 22, can be firmly connected to the latter. When the second section 22a of the functional module 22 is moved, the first part of the application module 68 also separates from the second part of the application module 68. When the second section 22a of the functional module 22 is moved, the first part of the application module 68 is also separated from the second part of the application module 68. When the first and second parts of the application module 68 are reconnected.

[0076] Fig. 10 schematically shows a further embodiment with an alternative arrangement of functional module 22 and application module 68 to the embodiments according to Figs. 1 to 9c.

[0077] A functional module 22 is arranged on the upper side of the driving platform 20, wherein the functional module 22 covers only a partial area of ​​the driving platform 20, namely at least the inner area 32.

[0078] An application module 68 (Fig. 10b) is arranged on the top side of the functional module 22 and on the top side of the driving platform 20. In this exemplary embodiment, the lifting device 16 is part of the application module 68 and can thus be easily replaced by exchanging the application module 68 with another application module with a different tool or tool carrier. In the operating state, the application module 68, functional module 22, and driving platform 20 form a common housing, so that the interior area 32 is protected from access. List of reference symbols

[0079] 10 construction robots

[0080] 12 Robot arm

[0081] 14 End effector

[0082] 16 Lifting device

[0083] 18 Front

[0084] 20 driving platform

[0085] 22 Function module

[0086] 22a First Section

[0087] 22b Second Section

[0088] 24 tracked chassis

[0089] 26 frames

[0090] 28 rail

[0091] 30 Cable routing

[0092] 32 Interior

[0093] 33 Exchange shaft arrangement

[0094] 34 Exchange shaft

[0095] 35 Cover

[0096] 36 Battery

[0097] 37 handle

[0098] 38 Energy interface

[0099] 39 Protection

[0100] 40 wheel motor

[0101] 42 Remote control

[0102] 43 tax calculators

[0103] 44 Radio interface

[0104] 46 distance meters

[0105] 48 security controllers

[0106] 50 IMU

[0107] 52 lashing point

[0108] 54 tax calculators

[0109] 55 Program code

[0110] 56 air compressor

[0111] 58 compressed air tank

[0112] 60 Housing part 62 Vacuum generator

[0113] 64 dust collection containers

[0114] 66 Cover flap

[0115] 68 Application module 70 Drawer

[0116] 72 Emergency button

Claims

Patent claims 1. Construction robot (10) for carrying out at least one type of construction task, for example surface treatments, cutting work, drilling work, demolition work, in particular in building construction and / or civil engineering, comprising a driving platform (20), a robot arm (12) and a functional module (22), wherein at least a part of the functional module (22) can be displaced and / or pivoted relative to the driving platform (20).

2. Construction robot (10) according to one of the preceding claims, characterized in that the functional module (22) or at least the part of the functional module (22) is arranged on rails (28) located on the driving platform (20).

3. Construction robot (10) according to one of the preceding claims, characterized in that the driving platform (20) has a tracked chassis (24), a wheeled chassis and / or an air cushion.

4. Construction robot (10) according to one of the preceding claims, characterized in that the driving platform (20) has at least one remote-controllable motor (40) for moving the driving platform (20).

5. Construction robot (10) according to one of the preceding claims, characterized in that the construction robot (10) comprises a safety controller (48) for monitoring at least one safety function.

6. Construction robot (10) according to one of the preceding claims, characterized in that the driving platform (20) comprises the safety controller (48).

7. Construction robot (10) according to one of the preceding claims, characterized in that the driving platform (20) has at least one lashing point (52), preferably at least four lashing points (52).

8. Construction robot (10) according to one of the preceding claims, characterized in that the driving platform (20) has at least one, preferably at least four, optical distance meters (46) for monitoring an environment of the mobile construction robot (10) has.

9. Construction robot (10) according to one of the preceding claims, characterized in that the functional module (22) has a control computer (43, 54) for controlling the robot arm (12).

10. Construction robot (10) according to one of the preceding claims, characterized in that the functional module (22) has a compressed air compressor (56) and / or a compressed air tank (58).

11. Construction robot (10) according to one of the preceding claims, characterized in that the functional module (22) comprises a vacuum generator (62).

12. Construction robot (10) according to one of the preceding claims, characterized in that the driving platform (20) has an inner region (32), wherein at least one exchange shaft (34) for receiving a battery (36), at least one sensor, a control computer and / or a supply line are arranged in the inner region (32).

13. Construction robot (10) according to one of the preceding claims, characterized in that the driving platform (20) and the functional module (22) form a common housing.

14. Construction robot (10) according to one of the preceding claims, characterized in that the functional module (22) is designed in several parts and has a first and a second section, wherein the first section is fixedly connected to the driving platform (20) and the second section of the functional module (22) is arranged on the driving platform so as to be displaceable and / or pivotable relative to the driving platform (20).

15. Construction robot (10) according to one of the preceding claims, characterized in that the functional module (22) is arranged on an upper side of the driving platform (20) and an application module, which is designed to provide construction task-specific elements, is arranged on an upper side of the functional module.

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