CN211765972U - Mobile device and construction robot - Google Patents

Abstract

The utility model relates to a mobile device and construction robot, include: the mobile chassis is provided with a controller; the electromagnetic brake is arranged on the movable chassis and is electrically connected with the controller; the swinging mechanism is movably arranged on the movable chassis, and the electromagnetic brake is used for locking or releasing the swinging mechanism; one end of the spring shock absorber is connected with the movable chassis, and the other end of the spring shock absorber is connected with the swinging mechanism; and the terrain monitoring assembly is electrically connected with the controller. The movable chassis has adaptive floating vibration reduction capacity when passing through uneven ground, the spring vibration absorber is guaranteed to work in an optimal state, vibration reduction performance of the movable device is improved, the capacity of adapting to road conditions of complex and variable terrains such as uneven ground is enhanced, and walking reliability and safety of the construction robot are guaranteed.

Description

Mobile device and construction robot

Technical Field

The utility model relates to a running gear technical field especially relates to a mobile device and construction robot.

Background

In recent years, mobile chassis has been widely used as a transportation means in various fields such as buildings and logistics. To ensure smooth movement, the mobile chassis is usually equipped with a passive damped suspension system such as a spring damper. Once the spring damper is designed and formed, the damping characteristic of the movable chassis is fixed and is difficult to change. At this moment, if the mobile chassis often runs on a hollow and uneven complex terrain (such as a building site), the mobile chassis only equipped with the spring shock absorber can greatly shake, even the situations of suspension on one side, side turning and the like occur, the running performance and the reliability of the mobile chassis are greatly influenced, and the mobile chassis cannot adapt to complex and variable terrain road conditions.

SUMMERY OF THE UTILITY MODEL

Therefore, a mobile device and a construction robot are needed to be provided, and the problem that the prior art cannot adapt to the road conditions of the uneven complex and variable terrain is solved.

In one aspect, the present application provides a mobile device comprising:

the mobile chassis is provided with a controller;

the electromagnetic brake is arranged on the movable chassis and is electrically connected with the controller;

the swinging mechanism is movably arranged on the movable chassis, and the electromagnetic brake is used for locking or releasing the swinging mechanism;

one end of the spring shock absorber is connected with the movable chassis, and the other end of the spring shock absorber is connected with the swinging mechanism; and

a terrain monitoring assembly electrically connected with the controller.

The mobile device of the scheme is applied to various industries such as buildings, logistics and the like, for example, the mobile device can be applied to equipment to a building robot, and can be specifically assembled and connected with various upper-mounted executing devices so as to ensure the moving capacity and the operation stability of the building robot. Specifically, when the movable chassis runs on a flat road surface, the controller can control the electromagnetic brake to lock the swinging mechanism, the swinging mechanism is not moved and can limit the spring damper to work, at the moment, the movable chassis can be ensured to run stably, meanwhile, the electric energy loss caused by unnecessary work of the spring damper is reduced, or when the construction robot stops working, the swinging mechanism and the spring damper are locked by the electromagnetic brake, at the moment, the spring damper cannot be stretched and floated up and down, so that the working accuracy of the upper-mounted execution device can be ensured. However, when the mobile chassis runs on uneven complex ground road conditions, the terrain monitoring assembly can firstly detect the uneven conditions on the ground and transmit the detection data back to the controller, the controller can control the electromagnetic brake to control the swing angle of the swing mechanism according to the analysis and calculation result, the expansion amount of the spring shock absorber is adjusted, and finally the damping force of the spring shock absorber is adjusted, so that the mobile chassis has adaptive floating shock absorption capacity when running on uneven ground, the spring shock absorber is guaranteed to work in an optimal state, the shock absorption performance of the mobile device is improved, the capacity of adapting to uneven complex and variable terrain road conditions of the uneven potholes is strengthened, and the walking reliability and safety of the construction robot are guaranteed.

The technical solution of the present application is further described below:

in one embodiment, the mobile chassis comprises a chassis body and a support movably mounted on the bottom surface of the chassis body, the controller is disposed on the top surface of the chassis body, and the terrain monitoring assembly comprises a visual sensor electrically connected to the controller.

In one embodiment, the terrain monitoring assembly further comprises an angle sensor disposed on the swing mechanism and electrically connected to the controller.

In one embodiment, the terrain monitoring assembly further comprises an acceleration sensor disposed on the swing mechanism and electrically connected to the controller.

In one embodiment, the electromagnetic brake is disposed on the support, the swing mechanism includes a swing arm rotatably disposed on the support, and the electromagnetic brake is configured to lock or release the swing arm.

In one embodiment, the swing mechanism further comprises a connecting rod assembly, one end of the connecting rod assembly is connected with the electromagnetic brake, and the other end of the connecting rod assembly is rotatably connected with the swing arm.

In one embodiment, the spring damper comprises a telescopic rod, a fixed cylinder and a damping spring, one end of the telescopic rod is slidably inserted into the fixed cylinder, the other end of the telescopic rod is rotatably arranged on the support, and one end of the fixed cylinder, which is far away from the telescopic rod, is rotatably arranged on the swing arm; the outer wall of the telescopic rod is convexly provided with a first limiting plate, the outer wall of the fixed cylinder is convexly provided with a second limiting plate, and the damping spring is sleeved outside the telescopic rod and the fixed cylinder, and two ends of the damping spring are respectively abutted against the first limiting plate and the second limiting plate.

In one embodiment, the moving device further comprises a walking wheel and a driving motor, the walking wheel is rotatably arranged on the swing arm, and the driving motor is arranged on the swing arm and is in driving connection with the walking wheel.

In one embodiment, the swing arm is formed with an enclosure cavity, and the travelling wheel is arranged in the enclosure cavity.

In addition, the application also provides a construction robot, which comprises the mobile device.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a mobile device according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of another view angle of a mobile device according to an embodiment of the present invention;

fig. 3 is a schematic view of an assembly structure of the support, the electromagnetic brake, the spring damper, the swing mechanism, the traveling wheel, and the driving motor according to an embodiment of the present invention.

Description of reference numerals:

10. moving the chassis; 11. a chassis body; 12. a support; 20. a controller; 30. an electromagnetic brake; 40. a swing mechanism; 41. swinging arms; 42. a connecting rod assembly; 50. a spring damper; 51. a telescopic rod 52 and a fixed cylinder; 53. a damping spring; 54. a first limit plate; 55. a second limiting plate; 60. a terrain monitoring component; 61. a vision sensor; 62. an angle sensor; 63. an acceleration sensor; 70. a traveling wheel; 80. the motor is driven.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The embodiment of the application provides a construction robot, which is an automatic engineering mechanical device used in the field of construction and used for replacing traditional manpower to carry out various construction operations. Generally, a construction robot mainly includes a mobile device, a loading actuator mounted on the mobile device, and some auxiliary devices.

The mobile device provides flexible maneuvering capability for the construction robot, so that the construction robot has the capability of working in various terrains and different occasions. It will be appreciated that the particular type of movement means may be, but is not limited to, a wheeled arrangement, a belt-type arrangement, a chain-plate arrangement or a sprocket arrangement.

The loading execution device is a mechanical system capable of completing various types of construction operation. The upper-mounted executing device can be but is not limited to a grinding executing device, a spraying executing device, a cloth executing device, a paving executing device and the like. Taking a polishing execution device as an example, the polishing execution device mainly comprises a driving source, a transmission mechanism, an elastic floating mechanism, a polishing head and other components. The power output by the driving source is transmitted to the polishing head through the transmission mechanism, so that the polishing head rotates at a high speed to polish and level the concrete layer, the putty layer and the like of the building wall. The elastic floating mechanism plays a role in buffering and protecting when the polishing head is abutted against the wall.

Referring to fig. 1 and 2, a mobile device according to an embodiment of the present application is shown, which includes: a mobile chassis 10, an electromagnetic brake 30, a swing mechanism 40, a spring damper 50, and a terrain monitoring assembly 60. The mobile chassis 10 provides a power source for the mobile device to walk. The spring damper 50 works in cooperation with the swing mechanism 40, so that the mobile chassis 10 has a necessary damping capacity, and the passing capacity of the construction robot for road conditions with bad terrain is ensured. The electromagnetic brake 30 is used to flexibly switch the spring damper 50 between an operating state and a non-operating state. The terrain monitoring assembly 60 is used for detecting the terrain road condition of the external ground, so that the spring damper 50 is maintained at the optimal working state all the time.

In this embodiment, the controller 20 is installed on the mobile chassis 10; the electromagnetic brake 30 is arranged on the mobile chassis 10 and electrically connected with the controller 20; the swing mechanism 40 is movably arranged on the moving chassis 10, and the electromagnetic brake 30 is used for locking or releasing the swing mechanism 40; one end of the spring damper 50 is connected to the movable chassis 10, and the other end of the spring damper 50 is connected to the swing mechanism 40; the terrain monitoring assembly 60 is electrically connected to the controller 20.

In summary, the implementation of the technical solution of the present embodiment has the following beneficial effects: the mobile device of the scheme is applied to various industries such as buildings, logistics and the like, for example, the mobile device can be applied to equipment to a building robot, and can be specifically assembled and connected with various upper-mounted executing devices so as to ensure the moving capacity and the operation stability of the building robot. Specifically, when the mobile chassis 10 travels on a flat road surface, the controller 20 may control the electromagnetic brake 30 to lock the swing mechanism 40, and the swing mechanism 40 may be fixed to limit the operation of the spring damper 50, at which time the electric power loss caused by the unnecessary operation of the spring damper 50 is reduced while ensuring the smooth traveling of the mobile chassis 10, or when the construction robot stops working, the swing mechanism 40 and the spring damper 50 are also locked by the electromagnetic brake 30, at which time the working accuracy of the upper actuator is ensured since the spring damper 50 does not float in an up-down telescopic manner. However, when the mobile chassis 10 is driven on a rough and complicated road condition on the ground, the terrain monitoring assembly 60 may first detect the rough condition on the ground and transmit the detected data back to the controller 20, and the controller 20 may further control the electromagnetic brake 30 to control the swing angle of the swing mechanism 40 according to the analysis and calculation result, so as to adjust the expansion amount of the spring damper 50, and finally achieve the purpose of adjusting the damping force of the spring damper 50, so that the mobile chassis 10 has an adaptive floating damping capacity when passing through the rough and uneven ground, thereby ensuring that the spring damper 50 works in an optimal state, improving the damping performance of the mobile device, enhancing the capacity of adapting to the rough and complicated and changeable road condition on the ground, and ensuring the walking reliability and safety of the construction robot.

It can be understood that, the above-mentioned detection means for determining the road condition of the ground by the terrain monitoring assembly 60 is to essentially feed back the monitoring data to the controller 20 in real time, and the controller 20 controls the action of the electromagnetic brake 30 through the current change, thereby achieving the process of controlling the reaction degree of the spring damper 50 to the external vibration excitation.

With continued reference to fig. 1 to 3, in some embodiments, the movable chassis 10 includes a chassis body 11 and a support 12 movably mounted on a bottom surface of the chassis body 11. The chassis body 11 is generally a plate integrally formed by a metal material, and the upper portion of the chassis body is used for bearing and fixing the upper-mounted actuator, so that the chassis body has excellent reliability. The support 12 is a metal base body mounted at the bottom of the chassis body 11 through a rotary bearing, and is in an L-shaped structure, so that the maintenance electromagnetic brake 30, the swing mechanism 40, the spring damper 50 and the like can be conveniently loaded, fixed, assembled and disassembled.

Further, in some embodiments, the moving device further includes a walking wheel 70 and a driving motor 80, the walking wheel 70 is rotatably disposed on the swing arm 41, and the driving motor 80 is disposed on the swing arm 41 and is in driving connection with the walking wheel 70. Therefore, the driving motor 80 outputs rotating power to drive the traveling wheels 70 to rotate, so that the mobile device travels. Wherein the driving motor 80 may be, but is not limited to, a stepping motor, a servo motor, etc. The road wheels 70 may be one of differential wheels, mecanum wheels, idler wheels, such that the mobile device has the capability of flexible reverse or zero angle turning.

Preferably, in the above embodiment, the chassis body 11 is rectangular, and in this case, the number of the supports 12 is four, and the supports are respectively installed at four corners of the bottom surface of the chassis body 11 in a one-to-one correspondence manner. Correspondingly, four driving motors 80, four walking wheels 70, four swinging mechanisms 40, four spring dampers 50 and the like are assembled and fixed with the support 12 in a one-to-one correspondence manner. Therefore, the four travelling wheels 70 can be formed to support the movable chassis 10 and the upper-mounted executing device in four points, so that the support is stable and the movement is reliable; meanwhile, the four travelling wheels 70 have elastic floating vibration reduction capacity, so that the mobile device has stronger capacity of adapting to uneven terrains.

Of course, it should be emphasized that in other embodiments, a passive damping system consisting of the electromagnetic brake 30, the spring damper 50, etc. may be mounted on only a middle portion of the four supports 12, and the implementation may be selected according to actual needs.

With continued reference to fig. 1 and 2, in some embodiments, the controller 20 is disposed on the top surface of the chassis body 11, and the terrain monitoring assembly 60 includes a vision sensor 61, and the vision sensor 61 is electrically connected to the controller 20. The controller 20 is installed on the top surface of the chassis body 11 to be as far away from the ground as possible, so as to prevent the controller 20 from being contaminated and damaged by sewage, ash, etc. The vision sensor 61 is located on the side of the controller 20 and faces the front of the traveling direction of the mobile device, can acquire topographic pattern and graphic data of the front ground in real time, feeds the topographic pattern and graphic data back to the controller 20, and can be used for controlling the mobile device to adjust the forward traveling direction and angle after the controller 20 analyzes and identifies, so that the purpose of avoiding obstacles and uneven road surfaces is achieved, and vibration excitation applied to the mobile device by the outside is reduced.

Further, in some embodiments, the terrain monitoring assembly 60 further includes an angle sensor 62, the angle sensor 62 being disposed on the swing mechanism 40 and electrically connected to the controller 20. The angle sensor 62 can be used to detect the rotation angle of the swing mechanism 40 in real time (the rotation angle includes an upward swing angle and a downward swing angle, where the swing mechanism 40 is at the original position when in the horizontal posture), so as to feed back the angle data to the controller 20, so that the controller 20 can calculate the compression amount of the spring damper 50, and further can form a suitable damping force, so as to meet the requirements of terrain vibration reduction of different pothole degrees.

Still further, in some embodiments, the terrain monitoring assembly 60 further includes an acceleration sensor 63, and the acceleration sensor 63 is disposed on the swing mechanism 40 and electrically connected to the controller 20. When the mobile device runs over a pothole or an obstacle, the detection data of the acceleration sensor 63 can be changed significantly, and at the moment, the acceleration sensor 63 can be used for detecting the stability of the vehicle body, so that data support is provided for leveling the mobile chassis 10. That is, it can be understood that if the chassis body 11 is tilted to a certain side, the detection data of the acceleration sensor 63 installed corresponding to the certain side will be changed significantly, and the controller 20 will control and adjust the electromagnetic brake 30, the swing mechanism 40 and the spring damper 50 on the certain side to perform corresponding actions, so that the damping force of the adjusted spring damper 50 meets the floating damping requirement, and the smooth passing capability of the mobile device is ensured.

With continued reference to fig. 1 to fig. 3, in some embodiments, the electromagnetic brake 30 is disposed on the support 12, the swing mechanism 40 includes a swing arm 41, the swing arm 41 is rotatably disposed on the support 12, and the electromagnetic brake 30 is configured to lock or release the swing arm 41. It can be understood that, swing arm 41 is made of metal material, and can produce magnetic attraction after electromagnetic brake 30 is powered on, and then it is fixed with swing arm 41 magnetism, and swing arm 41 can't rotate relatively to support 12 this moment, has also retrained spring damper 50 and has stretched out and drawn back and float, reaches the compressive capacity of adjusting spring damper 50, and then reaches the purpose of adjusting the damping force. Moreover, when the mobile device runs on a flat road or needs to be stopped at a certain position for construction, the electromagnetic brake 30 locks the swing arm 41, so that the spring damper 50 can lose the up-and-down floating capacity, the structure and the pose of the whole mobile device are stable, the energy is saved, the consumption is reduced, and the operation progress of the upper-mounted execution device is improved.

Specifically, in any of the above embodiments, the swing arm 41 is formed in a semi-closed bent plate structure such as a U-shape, a V-shape, or a trapezoid. The preferred swing arm 41 is a U-shaped bent plate structure. Namely, two free ends of the swing arm 41 are respectively arranged on the support 12 through rotating shafts, at this time, the cavity of the swing arm 41 is formed into an enclosure cavity, and the travelling wheel 70 is arranged on the swing arm 41 by means of a wheel shaft and is positioned in the enclosure cavity. Therefore, the swing arm 41 can form a certain external blocking effect on the travelling wheel 70, and the travelling wheel 70 is prevented from being damaged by obstacles in the external environment.

Further, in some embodiments, the swing mechanism 40 further includes a link assembly 42, one end of the link assembly 42 is connected to the electromagnetic brake 30, and the other end of the link assembly 42 is rotatably connected to the swing arm 41. Specifically, the link assembly 42 includes a first link and a second link, one end of the first link is rotatably connected to the electromagnetic brake 30, the other end is rotatably connected to one end of the second link, and the other end of the second link is rotatably connected to the swing arm 41. The connecting rod assembly 42 can restrict or release the rotation freedom degree of the swing arm 41 at a faster response speed, and can adapt to the severe requirements of more complicated uneven road surfaces on more frequent adjustment of the spring compression amount and the damping force.

In addition, by adopting the U-shaped bent plate structure, the spring damper 50 and the link assembly 42 are also conveniently mounted on the two opposite outer side surfaces respectively, so that the spring damper and the link assembly 42 are prevented from interfering with each other.

With reference to fig. 1 and fig. 3, on the basis of any of the above embodiments, the spring damper 50 includes an expansion link 51, a fixed cylinder 52 and a damping spring 53, one end of the expansion link 51 is slidably inserted into the fixed cylinder 52, the other end of the expansion link 51 is rotatably disposed on the support 12, and one end of the fixed cylinder 52 away from the expansion link 51 is rotatably disposed on the swing arm 41; the outer wall of the telescopic rod 51 is convexly provided with a first limit plate 54, the outer wall of the fixed cylinder 52 is convexly provided with a second limit plate 55, and the damping spring 53 is sleeved outside the telescopic rod 51 and the fixed cylinder 52, and two ends of the damping spring are respectively abutted against the first limit plate 54 and the second limit plate 55. When the movable chassis 10 passes through a hollow road surface, along with the generation of vibration, the telescopic rod 51 and the fixed cylinder 52 can move in a telescopic mode under the telescopic deformation of the damping spring 53, so that the requirement of telescopic floating support of the movable chassis 10 is met, and the movable chassis is simple in structure and high in reliability. Of course, it should be noted that in other embodiments, the spring damper 50 may also be formed by other structures in the prior art and operate on other operation principles, such as but not limited to an air damper, a damping damper, etc.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. A mobile device, comprising:

the mobile chassis is provided with a controller;

the electromagnetic brake is arranged on the movable chassis and is electrically connected with the controller;

the swinging mechanism is movably arranged on the movable chassis, and the electromagnetic brake is used for locking or releasing the swinging mechanism;

one end of the spring shock absorber is connected with the movable chassis, and the other end of the spring shock absorber is connected with the swinging mechanism; and

a terrain monitoring assembly electrically connected with the controller.

2. The mobile device according to claim 1, wherein the mobile chassis comprises a chassis body and a support movably mounted on a bottom surface of the chassis body, the controller is disposed on a top surface of the chassis body, and the terrain monitoring assembly comprises a vision sensor electrically connected to the controller.

3. The mobile device of claim 2, wherein the terrain monitoring assembly further comprises an angle sensor disposed on the swing mechanism and electrically connected to the controller.

4. The mobile device of claim 3, wherein the terrain monitoring assembly further comprises an acceleration sensor disposed on the swing mechanism and electrically connected to the controller.

5. The mobile device according to any one of claims 2 to 4, wherein the electromagnetic brake is disposed on the support, the swing mechanism includes a swing arm rotatably disposed on the support, and the electromagnetic brake is configured to lock or release the swing arm.

6. The mobile device according to claim 5, wherein the swing mechanism further comprises a linkage assembly, one end of the linkage assembly is connected to the electromagnetic brake, and the other end of the linkage assembly is rotatably connected to the swing arm.

7. The mobile device according to claim 5, wherein the spring damper comprises a telescopic rod, a fixed cylinder and a damping spring, one end of the telescopic rod is slidably inserted into the fixed cylinder, the other end of the telescopic rod is rotatably arranged on the support, and one end of the fixed cylinder, which is far away from the telescopic rod, is rotatably arranged on the swing arm; the outer wall of the telescopic rod is convexly provided with a first limiting plate, the outer wall of the fixed cylinder is convexly provided with a second limiting plate, and the damping spring is sleeved outside the telescopic rod and the fixed cylinder, and two ends of the damping spring are respectively abutted against the first limiting plate and the second limiting plate.

8. The mobile device according to claim 5, further comprising a traveling wheel rotatably disposed on the swing arm and a driving motor disposed on the swing arm and drivingly connected to the traveling wheel.

9. The mobile device of claim 8, wherein the swing arm is formed with an enclosure in which the road wheel is disposed.

10. A construction robot comprising a moving means according to any of the preceding claims 1 to 9.

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