Scaffold mounting apparatus and mounting method

Abstract

The application relates to a support mounting device and a mounting method. The support mounting device comprises a support frame, a taking mechanism for grabbing a support, a pose adjusting mechanism and an image acquisition mechanism. The pose adjusting mechanism is mounted on the support frame and is connected with the image acquisition mechanism and the taking mechanism respectively. When mounting, the image acquisition mechanism acquires the image of the support, and the pose information of the support can be obtained according to the image. Since the pose adjusting mechanism is connected with the image acquisition mechanism and the taking mechanism respectively, the pose adjusting mechanism receives the pose information of the support, adjusts the pose of the support according to the pose information of the support, makes the mounting plate of the support parallel to the surface to be mounted, moves the support towards the surface to be mounted until the mounting plate of the support is attached to the surface to be mounted. In this way, the included angle between the mounting plate and the surface to be mounted can be detected according to the actual mounting environment, and the support can be accurately mounted on the surface to be mounted.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of support installation, in particular to a support installation device and a support installation method. BACKGROUND

[0002] With the development of society, elevators are widely used in various buildings to automatically transport passengers between two locations with vertical height difference. In order to avoid the car from shaking due to factors such as air flow and vibration, a combined support is used to install the guide rail on the inner wall of the shaft. The guide rail and the guide shoe of the car slide or roll together, which plays a role in limiting and guiding the car, and ensures the stability of the car during lifting.

[0003] In order to save labor costs and improve installation efficiency, an installation device is usually placed in the shaft to automatically install the guide rail and the combined support on the inner wall of the shaft. Since there is an assembly error in the combined support, the common installation device cannot accurately install the combined support on the inner wall of the shaft. SUMMARY

[0004] Therefore, it is necessary to provide a support installation device and a support installation method, which can accurately install the support on the installation surface.

[0005] A support installation device, comprising:

[0006] a support frame;

[0007] a taking mechanism configured to grasp the support;

[0008] an image acquisition mechanism configured to acquire image information of the support; and

[0009] a pose adjustment mechanism installed on the support frame, the pose adjustment mechanism being connected with the taking mechanism and the image acquisition mechanism, respectively, and the pose adjustment mechanism being capable of adjusting a pose of the taking mechanism according to the image information, so as to make an installation plate of the support fit the installation surface.

[0010] In the above support installation device, during installation, the image acquisition mechanism acquires the image information of the support, and the pose information of the support can be obtained according to the image information. Since the pose adjustment mechanism is connected with the image acquisition mechanism and the taking mechanism, respectively, the pose adjustment mechanism receives the pose information of the support, adjusts the pose of the support according to the pose information of the support, makes the installation plate of the support parallel to the installation surface, and then moves the support towards the installation surface until the installation plate of the support fits the installation surface. In this way, the angle between the installation plate and the installation surface can be detected according to the actual installation environment, which is beneficial to accurately installing the support on the installation surface.

[0011] In one of the embodiments, the bracket mounting device further comprises a processor, which is communicatively connected with the image acquisition mechanism, and is configured to calculate an included angle between the mounting plate and the surface to be mounted according to the image information; and the pose adjustment mechanism comprises a first rotating assembly, which is connected with the processor and the taking mechanism respectively, and is configured to drive the taking mechanism to rotate around a first direction according to the included angle, wherein the first direction is the Z direction.

[0012] In one of the embodiments, the processor is further configured to calculate a distance between the mounting plate and the surface to be mounted according to the image information; and the pose adjustment mechanism further comprises a first translating assembly, which is connected with the processor and the first rotating assembly respectively, and is configured to drive the first rotating assembly and the taking mechanism to move towards or away from the surface to be mounted according to the distance.

[0013] In one of the embodiments, the pose adjustment mechanism further comprises a second rotating assembly, which is connected with the first translating assembly, and is configured to drive the first translating assembly, the first rotating assembly and the taking mechanism to rotate around the first direction.

[0014] In one of the embodiments, the pose adjustment mechanism further comprises a second translating assembly, which is mounted on the support frame, and the second rotating assembly is mounted on the second translating assembly, and the second translating assembly is configured to drive the second rotating assembly, the first translating assembly, the first rotating assembly and the taking mechanism to move along a second direction, wherein the second direction is the X direction.

[0015] A bracket mounting method, comprising the steps of:

[0016] acquiring an included angle between a mounting plate of the bracket and the surface to be mounted;

[0017] adjusting a pose of the bracket until the included angle between the mounting plate and the surface to be mounted is 0;

[0018] driving the bracket to move towards the surface to be mounted until the mounting plate is attached to the surface to be mounted.

[0019] The bracket mounting method, in the mounting process, an included angle between a mounting plate of the bracket and the surface to be mounted is acquired first, and a pose of the bracket is adjusted according to the included angle until the included angle between the mounting plate and the surface to be mounted is 0. Then, the bracket is driven to move towards the surface to be mounted until the mounting plate is attached to the surface to be mounted. In this way, the included angle between the mounting plate and the surface to be mounted can be detected according to the actual mounting environment, which is beneficial to accurately mounting the bracket on the surface to be mounted.

[0020] In one of the embodiments, the mounting plate is provided with spaced first mounting holes and second mounting holes, the first mounting holes and the second mounting holes are strip-shaped holes, the first mounting holes are arranged along the length direction of the mounting plate, and the second mounting holes are arranged along the width direction of the mounting plate.

[0021] The angle between the mounting plate of the bracket and the surface to be mounted is obtained, comprising:

[0022] An image of the bracket is collected;

[0023] A first depth data set of the region where the first mounting hole is located, a second depth data set of the region around the first mounting hole, a third depth data set of the region where the second mounting hole is located, and a fourth depth data set of the region around the second mounting hole are obtained;

[0024] According to the first depth data set, the second depth data set, the third depth data set, and the fourth depth data set, the angle between the mounting plate and the surface to be mounted is calculated.

[0025] In one of the embodiments, after the steps of obtaining the first depth data set of the region where the first mounting hole is located, the second depth data set of the region around the first mounting hole, the third depth data set of the region where the second mounting hole is located, and the fourth depth data set of the region around the second mounting hole, and before the step of calculating the angle between the mounting plate and the surface to be mounted according to the first depth data set, the second depth data set, the third depth data set, and the fourth depth data set, it comprises:

[0026] The abnormal data with large discreteness in the first depth data set, the second depth data set, the third depth data set, and the fourth depth data set are removed to obtain new first depth data set, second depth data set, third depth data set, and fourth depth data set;

[0027] The average values of the first depth data set, the second depth data set, the third depth data set, and the fourth depth data set after removing the abnormal data are calculated respectively;

[0028] The difference between each depth data in the first depth data set, the second depth data set, the third depth data set, and the fourth depth data set after removing the abnormal data and the average value of the corresponding data set is calculated;

[0029] determining whether the difference is greater than a preset value, and if the difference is greater than the preset value, removing the depth data whose difference is greater than the preset value, and repeating the above steps until the difference between each depth data and the average value of the corresponding data set is less than the preset value.

[0030] In one embodiment, the calculating the included angle between the mounting plate and the surface to be mounted according to the first depth data set, the second depth data set, the third depth data set and the fourth depth data set comprises:

[0031] calculating a first distance between the area around the first mounting hole and the surface to be mounted and a second distance between the area around the second mounting hole and the surface to be mounted;

[0032] calculating the included angle between the mounting plate and the surface to be mounted according to the first distance, the second distance and the distance between the center of the first mounting hole and the center of the second mounting hole.

[0033] In one embodiment, the driving the support to move towards the surface to be mounted to make the mounting plate fit the surface to be mounted comprises:

[0034] obtaining the distance between the mounting plate and the surface to be mounted;

[0035] driving the support to move towards the surface to be mounted according to the distance. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 FIG. 1 is a structural schematic diagram of a guide rail mounting device according to an embodiment of the present application.

[0037] Figure 2 FIG. 2 is a partial structural schematic diagram of the guide rail mounting device. Figure 1

[0038] Figure 3 FIG. 3 is a top view of a support according to an embodiment of the present application.

[0039] FIG. 10 is a schematic diagram of the components of the support according to an embodiment of the present application. DETAILED DESCRIPTION

[0040] ​In order to make the above objectives, characteristics and advantages of the present application more apparent, more comprehensible, the specific embodiments of the present application are described in detail below with reference to the drawings. In the following description, a large number of specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be implemented in many different ways other than those described herein, and one of ordinary skill in the art can make similar improvements without departing from the spirit of the present application, and therefore the present application is not limited to the specific embodiments disclosed below.

[0041] Referring to Figure 1 and Figure 2 , Figure 1 a structural schematic diagram of a support mounting device in an embodiment of the present application is shown, Figure 2 a partial structural schematic diagram of Figure 1 The support mounting device provided by the embodiment of the present application comprises a support frame 10, a picking mechanism 20 for picking a support 50, a pose adjustment mechanism 30, and an image acquisition mechanism 40 for acquiring image information of the support 50. The pose adjustment mechanism 30 is installed on the support frame 10 and connected with the image acquisition mechanism 40 and the picking mechanism 20 respectively. The pose adjustment mechanism 30 can adjust the pose of the picking mechanism 20 according to the image information, so as to make the mounting plate 51 of the support 50 fit the surface to be mounted.

[0042] Optionally, the image acquisition mechanism 40 is a depth camera. Of course, in other embodiments, the image acquisition mechanism 40 can also be other devices, which are not limited in this regard.

[0043] When the above support mounting device is mounted, the image acquisition mechanism 40 acquires the image information of the support 50, and the pose information of the support 50 can be obtained according to the image information. Since the pose adjustment mechanism 30 is connected with the image acquisition mechanism 40 and the picking mechanism 20 respectively, the pose adjustment mechanism 30 receives the pose information of the support 50, and adjusts the pose of the support 50 according to the pose information of the support 50, so that the mounting plate 51 is parallel to the surface to be mounted, and then the support 50 is moved towards the surface to be mounted until the mounting plate 51 fits the surface to be mounted. In this way, the included angle between the mounting plate 51 and the surface to be mounted can be detected according to the actual installation environment, which is beneficial to accurately mounting the support 50 on the surface to be mounted.

[0044] In one embodiment, referring to Figure 1 , Figure 2 and Figure 3The support mounting device further comprises a processor in communication connection with the image acquisition mechanism 40, and the processor is configured to obtain an included angle between the mounting plate 51 and the surface to be mounted according to the image information of the support 50. The pose adjustment mechanism 30 comprises a first rotating assembly 31 connected with the processor and the taking mechanism 20 respectively, and the first rotating assembly 31 is configured to drive the taking mechanism 20 to rotate around a first direction according to the included angle. The first direction is the Z direction. During mounting, the image acquisition mechanism 40 acquires the image of the support 50 and sends the image to the processor, the processor calculates the included angle between the mounting plate 51 and the surface to be mounted according to the image, and sends the included angle to the pose adjustment mechanism 30, and the pose adjustment mechanism 30 drives the taking mechanism 20 to rotate around the first direction according to the included angle, so that the mounting plate 51 is parallel to the surface to be mounted. In this way, through the cooperation of the processor, the image acquisition mechanism 40 and the first rotating assembly 31, the support 50 can be rotated to be parallel to the surface to be mounted, which is beneficial to improve the accuracy of mounting the support 50.

[0045] It should be noted that the first rotating assembly 31 can drive the taking mechanism 20 to rotate 360° around the first direction. Alternatively, the first rotating assembly 31 is a motor, and the taking mechanism 20 is connected with the output shaft of the motor. Of course, in other embodiments, the first rotating assembly 31 can also be a rotating cylinder, without being limited thereto.

[0046] In one embodiment, referring to Figure 1 , Figure 2 and Figure 3 , the processor is further configured to obtain a distance between the mounting plate 51 and the surface to be mounted according to the image information of the support 50. The pose adjustment mechanism 30 further comprises a first translating assembly 32, and the first rotating assembly 31 is mounted on the first translating assembly 32. The first translating assembly 32 is in communication connection with the processor, and the first translating assembly 32 is configured to drive the first rotating assembly 31 and the taking mechanism 20 to move towards or away from the surface to be mounted according to the distance. During mounting, the processor can also calculate the distance between the mounting plate 51 and the surface to be mounted according to the image of the support 50, and send the distance to the pose adjustment mechanism 30. After the mounting plate 51 is parallel to the surface to be mounted, the first translating assembly 32 drives the taking mechanism 20 and the support 50 to move towards the surface to be mounted according to the distance, until the mounting plate 51 is attached to the surface to be mounted.

[0047] In one embodiment, referring to Figure 1 , Figure 2 and Figure 3The pose adjusting mechanism 30 further comprises a second rotating assembly 33. The first translating assembly 32 is drivingly connected with the second rotating assembly 33. The second rotating assembly 33 is configured to drive the first translating assembly 32, the first rotating assembly 31 and the taking mechanism 20 to rotate around the first direction. In this way, the second rotating assembly 33 can drive the first translating assembly 32, the first rotating assembly 31 and the taking mechanism 20 to rotate around the first direction. Thus, the support 50 can be attached to the wall around the shaft.

[0048] It should be noted that the second rotating assembly 33 can drive the first translating assembly 32 to rotate 360° around the first direction. Alternatively, the second rotating assembly 33 is an electric motor. The first translating assembly 32 is connected with the output shaft of the electric motor. Of course, in other embodiments, the second rotating assembly 33 can also be a rotating cylinder, without being limited thereto.

[0049] In one embodiment, referring to Figure 1 , Figure 2 and Figure 3 , the pose adjusting mechanism 30 further comprises a second translating assembly 34. The second translating assembly 34 is installed on the support frame 10. The second rotating assembly 33 is installed on the second translating assembly 34. The second translating assembly 34 is configured to drive the second rotating assembly 33, the first translating assembly 32, the first rotating assembly 31 and the taking mechanism 20 to move along a second direction. The second direction is the X direction. When the taking mechanism 20 is rotated to the surface to be installed, the second translating assembly 34 drives the first translating assembly 32, the first rotating assembly 31, the second rotating assembly 33 and the taking mechanism 20 to move along the second direction until the taking mechanism 20 is opposite to the position to be installed.

[0050] In this embodiment, referring to Figure 1 , Figure 2 and Figure 3 , the pose adjusting mechanism 30 comprises the first rotating assembly 31, the second rotating assembly 33, the first translating assembly 32 and the second translating assembly 34. The first translating assembly 32 comprises a first guide rail 321 and a first sliding block 322 slidingly matched with the first guide rail 321. The second translating assembly 34 comprises a second guide rail 341 and a second sliding block 342 slidingly matched with the second guide rail 341. The second translating assembly 34 is provided with two second guide rails 341. Both of the second guide rails 341 extend along the second direction. The first rotating assembly 31 is arranged between the two second guide rails 341. The second rotating assembly 33 is installed on the two second sliding blocks 342 through a first connecting block. The first sliding block 322 is connected with the output shaft of the second rotating assembly 33. The first rotating assembly 31 is installed on the first guide rail 321 through a second connecting block. The taking mechanism 20 is connected with the output shaft of the first rotating assembly 31.

[0051] The support installation method provided by an embodiment of the present application, referring to Figure 1 , Figure 2and Figure 3 In the bracket mounting device of any of the above embodiments, the taking mechanism 20 of the bracket mounting device grasps the bracket 50, and the bracket 50 includes a mounting plate 51 configured to be attached to a mounting surface.

[0052] The bracket mounting method includes:

[0053] S10, obtaining an included angle between the mounting plate 51 and the mounting surface.

[0054] S20, adjusting the posture of the bracket 50 until the included angle between the mounting plate 51 and the mounting surface is 0.

[0055] Specifically, the bracket mounting device includes a posture adjusting mechanism 30 connected to the taking mechanism 20, and the posture adjusting mechanism 30 adjusts the posture of the taking mechanism 20, thereby adjusting the posture of the bracket 50.

[0056] S30, driving the bracket 50 to move towards the mounting surface until the mounting plate 51 is attached to the mounting surface.

[0057] Specifically, the posture adjusting mechanism 30 drives the bracket 50 to move towards the mounting surface until the mounting plate 51 is attached to the mounting surface.

[0058] The above bracket mounting method includes: first, obtaining an included angle between the mounting plate 51 and the mounting surface, and adjusting the posture of the bracket 50 according to the included angle until the included angle between the mounting plate 51 and the mounting surface is 0. Then, driving the bracket 50 to move towards the mounting surface until the mounting plate 51 is attached to the mounting surface. In this way, the included angle between the mounting plate 51 and the mounting surface can be detected according to the actual installation environment, which is beneficial to accurately mounting the bracket 50 on the mounting surface.

[0059] In one embodiment, in step S10, the following steps are included:

[0060] S11, collecting an image of the bracket 50.

[0061] Specifically, the bracket mounting device includes an image collecting mechanism 40 configured to collect an image of the bracket 50, and the image includes the mounting plate 51.

[0062] In this embodiment, the mounting plate 51 is provided with a first mounting hole 511 and a second mounting hole 512 spaced apart, and the first mounting hole 511 and the second mounting hole 512 are both strip-shaped holes. The first mounting hole 511 extends along the length direction of the mounting plate 51, and the second mounting hole 512 extends along the width direction of the mounting plate 51.

[0063] S12, acquire a first depth data set of a region where the first mounting hole 511 is located, a second depth data set of a region around the first mounting hole 511, a third depth data set of a region where the second mounting hole 512 is located, and a fourth depth data set of a region around the second mounting hole 512.

[0064] It should be noted that the first depth data set refers to a set of distance values between the to-be-installed surface and the image acquisition mechanism 40 measured through the first mounting hole 511, the second depth data set refers to a set of distance values between the image acquisition mechanism 40 and the region around the first mounting hole 511, the third depth data set refers to a set of distance values between the to-be-installed surface and the image acquisition mechanism 40 measured through the second mounting hole 512, and the fourth depth data set refers to a set of distance values between the image acquisition mechanism 40 and the region around the second mounting hole 512.

[0065] For the convenience of description, Z11 represents the first depth data set, Z11: [Z11_1, Z11_2, Z11_3…Z11_n]. Z12 represents the second depth data set, Z12: [Z12_1, Z12_2, Z12_3…Z12_n]. Z21 represents the third depth data set, Z21: [Z21_1, Z21_2, Z21_3…Z21_n]. Z22 represents the fourth depth data set, Z22: [Z22_1, Z22_2, Z22_3…Z22_n].

[0066] S13, according to the first depth data set, the second depth data set, the third depth data set, and the fourth depth data set, calculate the included angle between the mounting plate 51 and the to-be-installed surface.

[0067] Specifically, the bracket installation device further comprises a processor, the processor is in communication connection with the image acquisition mechanism 40, and the processor calculates the included angle between the mounting plate 51 and the to-be-installed surface according to the image acquired by the image acquisition mechanism 40.

[0068] In one embodiment, after step S12 and before step S13, the method further comprises:

[0069] S121, remove abnormal data with large dispersion in the first depth data set, the second depth data set, the third depth data set, and the fourth depth data set to obtain new first depth data set, second depth data set, third depth data set, and fourth depth data set.

[0070] For the convenience of description, Z11" represents the first depth data set after removing abnormal data, Z11": [Z11" 1, Z11" 2, Z11" 3... Z11" n]. Z12" represents the second depth data set after removing abnormal data, [Z12" 1, Z12" 2, Z12" 3... Z12" n]. Z21" represents the third depth data set after removing abnormal data, Z21": [Z21" 1, Z21" 2, Z21" 3... Z21" n]. Z22" represents the fourth depth data set after removing abnormal data, Z22": [Z22" 1, Z22" 2, Z22" 3... Z22" n].

[0071] S122, respectively, calculate the average of the first depth data set, the second depth data set, the third depth data set and the fourth depth data set after removing abnormal data.

[0072] For the convenience of description, Z11" ave represents the average of the first depth data set after removing abnormal data, Z12" ave represents the average of the second depth data after removing abnormal data, Z21" ave represents the average of the third depth data set after removing abnormal data, and Z22" ave represents the average of the fourth depth data set after removing abnormal data, the calculation formula is as follows:

[0073]

[0074]

[0075]

[0076]

[0077] S123, calculate the difference between each depth data in the first depth data set, the second depth data set, the third depth data set and the fourth depth data set after removing abnormal data and the average value of the corresponding data set.

[0078] S124, judge whether the difference is greater than the preset value, if greater than the preset value, remove the depth data whose difference is greater than the preset value, repeat the above steps until the difference between each depth data and the average value of the corresponding data set is less than the preset value.

[0079] Optionally, the preset value is twice the camera accuracy specification value in the image acquisition mechanism 40. Of course, in other implementations, the preset value can also be other values, not limited thereto.

[0080] Therefore, the discrete large depth data in the first depth data set, the second depth data set, the third depth data set and the fourth depth data set are removed, which is beneficial to accurately install the support 50 to the surface to be installed.

[0081] In one embodiment, in step S13, the following steps are included:

[0082] S131, calculate the first distance between the area around the first mounting hole 511 and the surface to be installed, and the second distance between the area around the second mounting hole 512 and the surface to be installed.

[0083] For convenience of description, Z3 represents the first distance, and Z4 represents the second distance, and the calculation formula is as follows:

[0084] Z3=Z11"_ave-Z12"_ave-W;

[0085] Z4=Z21"_ave-Z22"_ave-W;

[0086] Wherein, W represents the thickness of the support 50.

[0087] S132, according to the first distance and the second distance, calculate the angle θ between the mounting plate 51 and the surface to be installed:

[0088]

[0089] Wherein, L1 represents the vertical distance between the center of the first mounting hole 511 and the center of the second mounting hole 512.

[0090] In one embodiment, in step S10, the following steps are included:

[0091] S11, obtain the distance between the mounting plate 51 and the surface to be installed.

[0092] For convenience of description, Z5 represents the distance between the mounting plate 51 and the surface to be installed, and the calculation formula is as follows:

[0093]

[0094] In step S30, the following steps are included:

[0095] S31, according to the distance between the mounting plate 51 and the surface to be installed, drive the support 50 to move towards the surface to be installed.

[0096] Therefore, according to the distance between the mounting plate 51 and the surface to be installed, the support 50 is driven to move, which prevents the contact force between the support 50 and the surface to be installed from being too large to damage the support 50 and the surface to be installed.

[0097] In the embodiment, after the driving support 50 moves towards the direction of the surface to be installed, the installation plate 51 is 2mm away from the surface to be installed, then the support 50 is driven at a low speed to move towards the direction of the surface to be installed. After the installation plate 51 contacts the surface to be installed, the support 50 stops moving through the contact force between the support 50 and the surface to be installed.

[0098] In the description of the present application, it should be understood that, if these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like appear, these terms indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the 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 cannot be understood as a limitation on the present application.

[0099] In addition, if these terms "first", "second" appear, these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, if the term "multiple" appears, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0100] In the present application, unless otherwise explicitly specified and limited, if the terms "mounting", "connecting", "connecting", "fixing" and the like appear, these terms should be interpreted broadly. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0101] The technical features of the above-described embodiments can be combined in any way. In order to make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0102] The above embodiments only express several implementation ways of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation to the patent scope of the application. It should be pointed out that for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A bracket installation method, characterized in that, The bracket includes a mounting plate, which has a first mounting hole and a second mounting hole spaced apart. Both the first mounting hole and the second mounting hole are strip-shaped holes. The first mounting hole extends along the length direction of the mounting plate, and the second mounting hole extends along the width direction of the mounting plate. The bracket installation method includes the following steps: Obtain the angle between the mounting plate and the surface to be mounted; Adjust the posture of the bracket until the angle between the mounting plate and the surface to be mounted is 0. Drive the bracket to move toward the surface to be installed until the mounting plate is in contact with the surface to be installed; Obtaining the angle between the mounting plate and the surface to be mounted includes the following steps: The image acquisition mechanism acquires images of the bracket; A first depth dataset of the area where the first mounting hole is located, a second depth dataset of the area surrounding the first mounting hole, a third depth dataset of the area where the second mounting hole is located, and a fourth depth dataset of the area surrounding the second mounting hole are obtained; wherein, the first depth dataset refers to the set of distance values ​​between the surface to be mounted and the image acquisition mechanism measured through the first mounting hole, the second depth dataset refers to the set of distance values ​​between the image acquisition mechanism and the area surrounding the first mounting hole, the third depth dataset refers to the set of distance values ​​between the surface to be mounted and the image acquisition mechanism measured through the second mounting hole, and the fourth depth dataset refers to the set of distance values ​​between the image acquisition mechanism and the area surrounding the second mounting hole; The angle between the mounting plate and the surface to be mounted is calculated based on the first depth dataset, the second depth dataset, the third depth dataset, and the fourth depth dataset.

2. The bracket installation method according to claim 1, characterized in that, After the steps of obtaining the first depth dataset of the area where the first mounting hole is located, the second depth dataset of the area surrounding the first mounting hole, the third depth dataset of the area where the second mounting hole is located, and the fourth depth dataset of the area surrounding the second mounting hole, and before the step of calculating the angle between the mounting plate and the surface to be mounted based on the first depth dataset, the second depth dataset, the third depth dataset, and the fourth depth dataset, the following steps are included: Remove highly discrete outliers from the first depth dataset, the second depth dataset, the third depth dataset, and the fourth depth dataset to obtain new first depth dataset, second depth dataset, third depth dataset, and fourth depth dataset; Calculate the average values ​​of the first depth dataset, the second depth dataset, the third depth dataset, and the fourth depth dataset after removing outlier data, respectively; Calculate the difference between the average value of each depth data in the first depth dataset, the second depth dataset, the third depth dataset, and the fourth depth dataset after removing outlier data and the average value of its corresponding dataset; Determine whether the difference is greater than a preset value. If it is greater than the preset value, remove depth data with a difference greater than the preset value. Repeat the above steps until the difference between each depth data and the average value of its corresponding dataset is less than the preset value.

3. The bracket installation method according to claim 1, characterized in that, The step of calculating the angle between the mounting plate and the surface to be mounted based on the first depth dataset, the second depth dataset, the third depth dataset, and the fourth depth dataset includes: Calculate the first distance between the area surrounding the first mounting hole and the surface to be mounted, and the second distance between the area surrounding the second mounting hole and the surface to be mounted; The angle between the mounting plate and the surface to be mounted is calculated based on the first spacing, the second spacing, and the distance between the center of the first mounting hole and the center of the second mounting hole.

4. The bracket installation method according to claim 1, characterized in that, The step of driving the bracket to move towards the surface to be installed, so that the mounting plate fits against the surface to be installed, includes: Obtain the distance between the mounting plate and the surface to be mounted; The bracket is driven to move toward the surface to be installed according to the spacing.

5. A bracket installation device, characterized in that, The bracket installation equipment performs the bracket installation method as described in any one of claims 1 to 4.

6. The bracket installation device according to claim 5, characterized in that, The bracket installation equipment includes: Support frame; A component retrieval mechanism, used to grasp a support; Image acquisition mechanism, the image acquisition mechanism being used to acquire image information of the bracket; and The pose adjustment mechanism is installed on the support frame and is connected to the part-retrieving mechanism and the image acquisition mechanism respectively. The pose adjustment mechanism can adjust the pose of the part-retrieving mechanism according to the image information so that the mounting plate of the bracket fits against the surface to be installed.

7. The bracket installation device according to claim 6, characterized in that, The bracket mounting device further includes a processor, which is communicatively connected to the image acquisition mechanism. The processor is used to calculate the angle between the mounting plate and the surface to be mounted based on the image information. The pose adjustment mechanism includes a first rotating component, which is connected to the processor and the part-picking mechanism respectively. The first rotating component is used to drive the part-picking mechanism to rotate around a first direction according to the angle, wherein the first direction is the Z direction.

8. The bracket installation device according to claim 7, characterized in that, The processor is also used to calculate the distance between the mounting plate and the surface to be installed based on the image information; the pose adjustment mechanism further includes a first translation component, which is connected to the processor and the first rotation component respectively, and the first translation component is used to drive the first rotation component and the picking mechanism to move towards or away from the surface to be installed based on the distance.

9. The bracket installation device according to claim 8, characterized in that, The posture adjustment mechanism further includes a second rotating component, which is connected to the first translation component. The second rotating component is used to drive the first translation component, the first rotating component, and the picking mechanism to rotate around the first direction.

10. The bracket installation device according to claim 9, characterized in that, The posture adjustment mechanism further includes a second translation component, which is mounted on the support frame. A second rotation component is mounted on the second translation component. The second translation component is used to drive the second rotation component, the first translation component, the first rotation component, and the picking mechanism to move along a second direction, wherein the second direction is the X direction.

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