# US 2025/0084652 A1 · Building construction robot

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- Number: US 2025/0084652 A1
- Document ID: US20250084652A1
- Status: Published application
- Kind: A1
- Application number: 18/281,513
- Filed: 2023-05-17
- Published: 2025-03-13
- Earliest claimed: 2023-02-10
- Assignees: Qingdao University of Technology
- Applicants: Qingdao University of Technology
- Inventors: Yang Li; Chengjun Chen; Xuefeng Zhang; Guangzheng Wang; Yongqi Wang; Liping Liang; Jianze Liu; Fazhan Yang; Fu'e Ren
- Web page: https://patentgrep.com/patent/US20250084652A1

## CPC

- E04G 21/04: Devices for both conveying and distributing (concrete pumps F04)
- E04F 21/242: {with vibrating means, e.g. vibrating screeds}
- E04G 21/08: Internal vibrators {, e.g. needle vibrators (combined with vacuum E04G21/061)}
- E04G 21/10: Devices for levelling, e.g. templates or boards (smoothing tools E04F21/16, E04F21/24)
- G01B 11/30: for measuring roughness or irregularity of surfaces
- E04G: SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04F: FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS (windows, doors E06B)
- G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS

## Abstract

A building construction robot is provided. The building construction robot includes a vehicle body, a feeding assembly is arranged in the vehicle body, a mounting frame is fixedly connected to one end of the vehicle body, and the mounting frame is located at a discharge end close to the feeding assembly. One end of a vibrating assembly is fixedly connected to one end of a top of the vehicle body, and the other end of the vibrating assembly passes through a middle part of the mounting frame. A leveling assembly is arranged at one end, away from the vehicle body, of the mounting frame, a measuring part is arranged at a top of the mounting frame, and a moving part is arranged at a bottom of the vehicle body.

## Claims

### Claim 1

A building construction robot, comprising a vehicle body (1), wherein a feeding assembly is arranged in the vehicle body (1), a mounting frame (14) is fixedly connected to one end of the vehicle body (1), the mounting frame (14) is located close to a discharge end of the feeding assembly, one end of a vibrating assembly is fixedly connected to one end of a top of the vehicle body (1), and an other end of the vibrating assembly passes through a middle part of the mounting frame (14); and a leveling assembly is arranged at one end, away from the vehicle body (1), of the mounting frame (14), a measuring part is arranged at a top of the mounting frame (14), and a moving part is arranged at a bottom of the vehicle body (1).

### Claim 2 (depends on 1)

The building construction robot according to claim 1, wherein the feeding assembly comprises a feeding channel (2), the feeding channel (2) is located in the vehicle body (1), a discharge port of the feeding channel (2) is close to the mounting frame (14), a top of one end, away from the mounting frame (14), of the feeding channel (2) communicates with a feeding pipe (6), and a transportation part is rotationally connected into the feeding channel (2).

### Claim 3 (depends on 2)

The building construction robot according to claim 2, wherein the transportation part comprises a driving disk (4), the driving disk (4) is located in the feeding channel (2), a side wall of the driving disk (4) is in contact with an inner wall of the feeding channel (2) and is arranged in a slidable manner, one end of a driving part is fixedly connected to an axis of one end of the driving disk (4), and an other end of the driving part is fixedly connected to a side wall of the vehicle body (1); and a hollow screw conveyor (5) is fixedly connected to an other end of the driving disk (4), and the hollow screw conveyor (5) is in fit with the feeding channel (2).

### Claim 4 (depends on 3)

The building construction robot according to claim 3, wherein the driving part comprises a driving motor (3), an output shaft of the driving motor (3) is coupled to a center of the driving disk (4), and a fixed end of the driving motor (3) is fixedly connected to the side wall of the vehicle body (1).

### Claim 5 (depends on 1)

The building construction robot according to claim 1, wherein the vibrating assembly comprises a rectangular upright rod (20), the rectangular upright rod (20) is fixedly connected to one end of the top of the vehicle body (1), a sliding sleeve (21) is sleeved on an outside of the rectangular upright rod (20) in a vertically slidable manner, a rectangular cross rod (22) is fixedly connected to an outer side wall of the sliding sleeve (21), and a reciprocating lifting part is sleeved outside of the rectangular cross rod (22) in a horizontally slidable manner; a vibrating spear (8) is rotationally connected to the reciprocating lifting part, the vibrating spear (8) is vertically arranged, and the vibrating spear (8) is located at the middle part of the mounting frame (14); a guide support (27) is sleeved outside and connected to a middle part of the vibrating spear (8) in a slidable manner, and the guide support (27) is fixedly connected to one end of the top of the vehicle body (1); one end of a telescopic part is fixedly connected to a middle part of the rectangular cross rod (22), and an other end of the telescopic part is fixedly connected to the top of the vehicle body (1).

### Claim 6 (depends on 5)

The building construction robot according to claim 5, wherein the reciprocating lifting part comprises a slider (28), the slider (28) is sleeved an outside of the rectangular cross rod (22) in a horizontally slidable manner, one side of the slider (28) is provided with a chute (35), and the chute (35) has a horizontally arranged isosceles triangular structure; a sliding shaft (36) is connected into the chute (35) in a slidable manner, a hinge shaft (34) is arranged at an axis of the sliding shaft in a slidable manner, the hinge shaft (34) is rotationally connected to the vibrating spear (8), a spring (37) is arranged between the vibrating spear (8) and the sliding shaft (36), the spring (37) is sleeved outside the sliding shaft (36), and a reciprocating part is fixedly connected to a top of the slider (28).

### Claim 7 (depends on 6)

The building construction robot according to claim 6, wherein the reciprocating part comprises a second rack (29), a bottom of the second rack (29) is fixedly connected to the top of the slider (28), and a top of the second rack (29) is meshed with two second gears (31) symmetrically arranged; axes of the two second gears (31) are rotationally connected to both ends of a gear connecting rod (30), one end of a second connecting rod (25) is rotationally connected to a middle part of the gear connecting rod (30), an other end of the second connecting rod (25) is rotationally connected to one end of a first rotating rod (24), and an output shaft of a third motor (23) is fixedly connected to an other end of the first rotating rod (24); a bottom of the third motor (23) is fixedly connected to a top of the rectangular cross rod (22); tops of the two second gears (31) are meshed with a third rack (32), a fixed rod (33) is fixedly connected to one end of the third rack (32), and a bottom of the fixed rod (33) is fixedly connected to one end of the top of the rectangular cross rod (22).

### Claim 8 (depends on 1)

The building construction robot according to claim 1, wherein the leveling assembly comprises two symmetrically arranged racks (17), the racks (17) penetrate through and are arranged at both ends of the mounting frame (14) in a slidable manner, the racks (17) are meshed with gears (16), and axes of the two gears (16) are fixedly connected to both ends of a biaxial motor (15); the biaxial motor (15) is fixedly connected to the top of the mounting frame (14), a first connecting rod (10) is fixedly connected to a bottom of each rack (17), ends, close to the vehicle body (1), of the two first connecting rods (10) are fixedly connected to both ends of a strike-off plate (9), and a vibration plate (11) is fixedly connected to ends, away from the vehicle body (1), of the two first connecting rods (10); a vibration motor (12) is fixedly connected to a center of a top of the vibration plate (11), two inclined struts (13) symmetrically arranged are fixedly connected to one end, away from the vehicle body (1), of the vibration plate (11), and end parts of the two inclined struts (13) are fixedly connected to tops of the two racks (17), respectively.

### Claim 9 (depends on 1)

The building construction robot according to claim 1, wherein the measuring part comprises two receiver mounting frames (18) symmetrically arranged, the two receiver mounting frames (18) are fixedly connected to both ends of the mounting frame (14) respectively, and a laser measurement system (19) is fixedly connected to a top of each of the two receiver mounting frames (18).

### Claim 10 (depends on 1)

The building construction robot according to claim 1, wherein the moving part comprises four wheels (7), the four wheels (7) are respectively arranged at a periphery of the vehicle body (1), and a motor is in transmission connection with a middle part of each of the four wheel (7).