Unitized curtain wall construction auxiliary robot and construction method

Abstract

The application relates to the technical field of curtain wall construction equipment, in particular to a unit type curtain wall construction auxiliary robot and a construction method, which comprises a mobile platform, a mechanical arm is installed on the top of the mobile platform, and a vacuum suction cup is installed on the surface of a suction cup mounting plate; four clamping column bodies are fixedly installed on the side of a clamping turntable, two clamping column bodies at opposite positions are close to the edge of the clamping turntable, and the other two clamping column bodies at opposite positions are close to the middle part of the clamping turntable; the beneficial effect is that the suction cup mounting plate is installed on the end of the mechanical arm, four clamping column bodies are fixedly connected on the side of the clamping turntable, two clamping column bodies at opposite positions are close to the edge of the clamping turntable, and the other two clamping column bodies at opposite positions are close to the middle part of the clamping turntable; the clamping turntable can drive the curtain wall glass to slowly rotate for position adjustment through the operation of the moving arm, so that the accurate plug-in installation of the curtain wall glass is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of curtain wall construction equipment technology, specifically to a unitized curtain wall construction auxiliary robot and construction method. Background Technology

[0002] Unitized curtain wall construction technology has advantages such as energy saving and environmental protection, which is in line with the current concept of green environmental protection.

[0003] In existing technologies, the installation of curtain wall glass is carried out by multiple workers working together, with the assistance of a single-arm robot equipped with a glass suction cup.

[0004] Currently, curtain wall construction assistance robots only use a robotic arm and suction cups to adhere the curtain wall glass. This results in low precision in adjusting the position of the glass, and the glass tends to rotate around the suction cups due to its own weight, making installation difficult. Therefore, this invention proposes a unitized curtain wall construction assistance robot and construction method to solve these problems. Summary of the Invention

[0005] The purpose of this invention is to provide a unitized curtain wall construction auxiliary robot and construction method to solve the problem of low position adjustment accuracy of a single robotic arm for curtain wall glass mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a unitized curtain wall construction auxiliary robot, comprising:

[0007] A mobile platform, wherein a robotic arm is mounted on the top of the mobile platform, and a suction cup mounting plate is rotatably mounted on the front end of the robotic arm, and a vacuum suction cup is mounted on the surface of the suction cup mounting plate.

[0008] The operating arm has two parts, which are rotatably mounted on both sides of the mobile platform. A clamping turntable is rotatably mounted on one end of the operating arm. Four clamping columns are fixedly mounted on the side of the clamping turntable, with two opposing clamping columns close to the edge of the clamping turntable and the other two opposing clamping columns close to the center of the clamping turntable.

[0009] The curtain wall glass is parallel to the suction cup mounting plate and is adsorbed by the vacuum suction cup. The curtain wall glass is located between two clamping turntables. Two of the clamping columns on the side of the clamping turntables are located on the outside of the curtain wall glass, and the other two clamping columns are located in the grooves on the side of the curtain wall glass.

[0010] A horizontal support plate is slidably mounted on the lower part of one end face of the mobile platform. A vertically arranged vertical plate is fixedly connected to the lower surface of one end of the horizontal support plate, and a rotatable roller is installed at the lower end of the vertical plate.

[0011] Preferably, a rubber pad is adhered to the upper surface of one end of the horizontal support plate, and a plurality of stiffening plates are fixedly arranged at equal intervals between the side of the vertical plate and the lower surface of the horizontal support plate. A groove for storing the vertical plate is provided at the lower part of one end face of the mobile platform.

[0012] Preferably, one end of the robotic arm is fixedly connected to a hinge ball, and a connecting ball shell is fixedly installed on the back of the suction cup mounting plate. An opening groove is provided on the outer side of the connecting ball shell, and the hinge ball passes through the opening groove and is rotatably installed in the inner cavity of the connecting ball shell.

[0013] Preferably, the surface of the clamping column is fitted with an annular sleeve, and the annular sleeve is in contact with the curtain wall glass. The surface of the clamping turntable is bonded with an anti-collision pad. A fixed shaft is fixedly inserted into the middle of the clamping turntable, and one end of the fixed shaft movably passes through the end of the operating arm.

[0014] Preferably, one end surface of the operating arm is provided with a mounting groove, and a matching mounting shell is installed in the mounting groove. The surface of the mounting shell is provided with a positioning groove, and a fastening bolt is provided in the inner cavity of the positioning groove. The end of the fastening bolt passes through the mounting shell and is fixedly connected to the operating arm.

[0015] Preferably, an clearance groove is provided inside one end of the operating arm, a worm gear is fixedly sleeved on the outside of the fixed shaft, a drive worm is engaged on one side of the worm gear, the drive worm and the worm gear are both located inside the operating arm, and the drive worm is rotatably connected to the operating arm.

[0016] Preferably, one end of the drive worm is provided with a worm motor for driving its rotation, the worm motor is fixedly connected to the operating arm, and a washer is movably sleeved on the outer side of the shaft end of the drive worm.

[0017] Preferably, a horizontal turntable is rotatably mounted on the top of the mobile platform, the lower end of the robotic arm is fixedly connected to the upper surface of the horizontal turntable, the robotic arm is configured in a "V" shape and has a rotating shaft in the middle, a hydraulic cylinder is provided on the inner side of the middle of the robotic arm, the hydraulic cylinder and the robotic arm form a triangular structure, and the hydraulic cylinder and the robotic arm are rotatably connected by a pin.

[0018] Preferably, a camera is installed at one end of the mobile platform, and the camera is located between the suction cup mounting plate and the horizontal support plate.

[0019] A construction method based on the above-mentioned unitized curtain wall construction auxiliary robot specifically includes the following steps:

[0020] Step 1: Control the robotic arm to rotate and extend until the suction cup mounting plate is parallel to the curtain wall glass. The curtain wall glass is suspended in the air by the hoisting equipment above it. The vacuum suction cup is used to adhere to the curtain wall glass to reduce its sway.

[0021] Step 2: Control the movement and rotation of the operating arm until the two clamping turntables are respectively attached to the two sides of the lower end of the curtain wall glass. Then start the worm motor to drive the worm to rotate and drive the worm wheel to rotate until the clamping column is engaged and clamped to the edge of the curtain wall glass.

[0022] Step 3: Drive the operating arm to move the lower end of the curtain wall glass. At this time, the curtain wall glass can rotate around the hinge ball, thereby changing the tilt angle of the curtain wall glass. In addition, by coordinating the extension and retraction of the hydraulic cylinder with the movement of the operating arm, the curtain wall glass can be moved to the designated position and kept stable, thereby ensuring that the subsequent plug-in installation is more accurate and convenient.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] This invention features a suction cup mounting plate installed at the end of a robotic arm. This plate can rotate freely around the end of the robotic arm at a certain angle. Operating arms are located on both sides below the suction cup mounting plate, with a clamping turntable rotatably mounted at the end of each arm. Four clamping columns are fixedly connected to the side of the clamping turntable. Two opposing clamping columns are located near the edge of the turntable, while the other two are located near the center. When the turntable approaches and rotates near the curtain wall glass, the four clamping columns clamp the inner and outer sides of the groove on the side of the curtain wall glass. At this time, the suction cup mounting plate faces the center of the curtain wall glass, and the clamping turntable is located at the bottom of the glass. The movement of the operating arms allows the curtain wall glass to rotate slowly for position adjustment. This ensures the accuracy of the curtain wall glass's position adjustment and effectively prevents the glass from tilting or rotating due to gravity, thus guaranteeing accurate installation of the curtain wall glass. Attached Figure Description

[0025] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the overall structure and operation of the present invention;

[0027] Figure 3 This is an exploded view of the operating arm and clamping turntable structure of the present invention;

[0028] Figure 4 This is a schematic diagram illustrating the interaction between the clamping turntable and the curtain wall glass structure of the present invention;

[0029] Figure 5This is a schematic diagram showing the separation of the operating arm and the clamping turntable structure of the present invention;

[0030] Figure 6 This is a schematic diagram showing the separation of the robotic arm and suction cup mounting plate structure of the present invention;

[0031] Figure 7 This is a three-dimensional schematic diagram of the horizontal support plate structure of the present invention.

[0032] In the diagram: 1. Mobile platform; 2. Robotic arm; 21. Articulated ball; 3. Suction cup mounting plate; 31. Vacuum suction cup; 32. Connecting ball shell; 33. Opening slot; 4. Operating arm; 41. Mounting slot; 42. Mounting shell; 43. Positioning groove; 44. Fastening bolt; 45. Clearance slot; 46. Drive worm gear; 47. Worm gear motor; 48. Washer ring; 5. Clamping turntable; 51. Fixed shaft; 52. Clamping column; 53. Annular sleeve; 54. Anti-collision pad; 55. Worm gear; 6. Horizontal support plate; 61. Vertical plate; 62. Roller; 63. Rubber pad; 64. Reinforcing plate; 7. Camera; 8. Horizontal turntable; 9. Hydraulic cylinder; 10. Curtain wall glass. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the present invention clear and complete, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only some, not all, embodiments of the present invention, and are merely illustrative of the embodiments of the present invention. They are not intended to limit the embodiments of the present invention. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] In the description of this invention, it should be noted that the terms "center," "middle," "upper," "lower," "left," "right," "inner," "outer," "top," "bottom," "side," "vertical," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "a," "first," "second," "third," "fourth," "fifth," and "sixth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0035] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0036] For purposes of simplicity and illustration, the principles of the embodiments are described primarily by way of example. In the following description, numerous specific details are set forth to provide a thorough understanding of the embodiments. However, it will be apparent to those skilled in the art that these embodiments may not be limited to these specific details in practice. In some instances, well-known methods and structures have not been described in detail to avoid unnecessarily obscuring these embodiments. Furthermore, all embodiments can be used in combination with each other.

[0037] Please see Figures 1 to 7 The present invention provides a technical solution:

[0038] Example 1: A unitized curtain wall construction auxiliary robot includes: a mobile platform 1, an operating arm 4, curtain wall glass 10, and a horizontal support plate 6.

[0039] Specifically, a robotic arm 2 is installed on the top of the mobile platform 1. A suction cup mounting plate 3 is rotatably mounted on the front end of the robotic arm 2. A vacuum suction cup 31 is mounted on the surface of the suction cup mounting plate 3. The vacuum suction cup 31 is used to adsorb the curtain wall glass 10. The suction cup mounting plate 3 can rotate freely at a certain angle at the end of the robotic arm 2 so as to adjust the tilt angle of the curtain wall glass 10.

[0040] Secondly, two operating arms 4 are provided and rotatably mounted on both sides of the mobile platform 1. A clamping turntable 5 is rotatably mounted on one end of each operating arm 4. Four clamping columns 52 are fixedly mounted on the side of the clamping turntable 5. Two opposing clamping columns 52 are close to the edge of the clamping turntable 5, and the other two opposing clamping columns 52 are close to the center of the clamping turntable 5. The curtain wall glass 10 is parallel to the suction cup mounting plate 3 and is adsorbed by the vacuum suction cup 31. The curtain wall glass 10 is located between the two clamping turntables 5. Two of the clamping columns 52 on the side of the clamping turntable 5 are located on the outside of the curtain wall glass 10, and the other two clamping columns 52 are located in the grooves on the side of the curtain wall glass 10. Figure 1 , Figure 3 and Figure 4 As shown, the operating arm 4 is a structure known in the prior art, which can rotate along its own center to change the position of the clamping turntable 5. Furthermore, when the clamping turntable 5 rotates, the clamping column 52 can be positioned as follows: Figure 3The clamping mechanism is attached to the side of the curtain wall glass 10 and the inner wall of the groove at that location, thereby clamping the curtain wall glass 10. The increased torque of the clamping turntable 5 also increases the clamping stability of the clamping column 52 on the curtain wall glass 10. At this time, the movement of the operating arm 4 can drive the lower end of the curtain wall glass 10 to move, and rotate at a certain angle around the connection between the robotic arm 2 and the suction cup mounting plate 3, thereby adjusting the tilt angle of the curtain wall glass 10. Since the force applied by the clamping turntable 5 to the curtain wall glass 10 conforms to the lever principle, the adjustment of the position of the curtain wall glass 10 is more precise and stable.

[0041] Furthermore, the horizontal support plate 6 is horizontally slidably installed on the lower part of one end face of the mobile platform 1. A vertically set vertical plate 61 is fixedly connected to the lower surface of one end of the horizontal support plate 6. A rotatable roller 62 is installed at the lower end of the vertical plate 61. The horizontal support plate 6 is used to provide preventive support for the bottom of the curtain wall glass 10, so as to avoid the curtain wall glass 10 from suddenly falling and colliding with the floor slab.

[0042] In Embodiment 2, based on Embodiment 1, this application further includes a rubber pad 63 adhered to the upper surface of one end of the horizontal support plate 6 to prevent damage to the bottom of the curtain wall glass 10; multiple stiffening plates 64 evenly spaced are fixedly arranged between the side of the vertical plate 61 and the lower surface of the horizontal support plate 6 to improve the stability and strength of the vertical plate 61; and a groove is provided at the lower part of one end face of the moving platform 1 for storing the vertical plate 61 to prevent the horizontal support plate 6 from being blocked by the vertical plate 61 when stored.

[0043] In embodiment three, based on embodiment two, to ensure that the suction cup mounting plate 3 can rotate freely at a certain angle, this application further includes a hinge ball 21 fixedly connected to one end of the robotic arm 2, and a connecting ball shell 32 fixedly mounted on the back of the suction cup mounting plate 3. An opening groove 33 is provided on the outer side of the connecting ball shell 32, and the hinge ball 21 passes through the opening groove 33 and is rotatably mounted within the inner cavity of the connecting ball shell 32. Figure 6 As shown. The connecting spherical shell 32 can tilt and rotate at a certain angle on the outside of the hinged ball 21, thereby ensuring that the suction cup mounting plate 3 and the curtain wall glass 10 remain parallel to each other and will not separate from the curtain wall glass 10 due to the rotation of the robotic arm 2.

[0044] In Example 4, based on Example 3, in order to rotatably connect the clamping turntable 5 and the operating arm 4, this application further includes an annular sleeve 53 fitted on the surface of the clamping column 52, and the annular sleeve 53 is in contact with the curtain wall glass 10. The annular sleeve 53 is used to buffer the squeezing force between the clamping column 52 and the curtain wall glass 10. The annular sleeve 53 is made of flexible material. The surface of the clamping turntable 5 is bonded with an anti-collision pad 54. A fixed shaft 51 is fixedly inserted into the middle of the clamping turntable 5. One end of the fixed shaft 51 movably passes through the end of the operating arm 4, thereby ensuring the rotatable connection between the clamping turntable 5 and the operating arm 4.

[0045] In embodiment five, based on embodiment four, this application further includes a mounting groove 41 formed on one end surface of the operating arm 4, a mounting shell 42 adapted thereto installed in the mounting groove 41, a positioning groove 43 formed on the surface of the mounting shell 42, a fastening bolt 44 provided in the inner cavity of the positioning groove 43, and the end of the fastening bolt 44 penetrating the mounting shell 42 and fixedly connected to the operating arm 4, as shown below. Figure 3 As shown, the mounting housing 42 can be removed from the end of the operating arm 4 to facilitate the installation and removal of the clamping turntable 5 from the operating arm 4.

[0046] In embodiment six, based on embodiment five, in order to drive the clamping turntable 5 to rotate, this application further includes an avoidance groove 45 opened inside one end of the operating arm 4, a worm gear 55 fixedly sleeved on the outer side of the fixed shaft 51, and a driving worm 46 meshing on one side of the worm gear 55. Both the driving worm 46 and the worm gear 55 are located inside the operating arm 4, and the driving worm 46 is rotatably connected to the operating arm 4. Figure 5 As shown, when the drive worm 46 rotates, it can drive the worm wheel 55 to rotate, thereby driving the clamping turntable 5 to rotate. When the drive worm 46 stops rotating, the worm wheel 55 and the clamping turntable 5 can maintain a stable position and will not rotate randomly.

[0047] In embodiment seven, based on embodiment six, to prevent the drive worm 46 from shaking, this application further includes a worm motor 47 for driving the rotation of the drive worm 46 at one end. The worm motor 47 is fixedly connected to the operating arm 4. A washer 48 is movably sleeved on the outer side of the shaft end of the drive worm 46. The washer 48 is provided to prevent the drive worm 46 from shaking along its own length direction, thus affecting the meshing effect with the worm wheel 55.

[0048] Example 8, based on Example 7, in order to control the position of the suction cup mounting plate 3, this application further includes a horizontal turntable 8 rotatably mounted on the top of the mobile platform 1, with the lower end of the robotic arm 2 fixedly connected to the upper surface of the horizontal turntable 8. The robotic arm 2 is configured in a "V" shape, with a rotating shaft in the middle. A hydraulic cylinder 9 is provided on the inner side of the middle of the robotic arm 2, forming a triangular structure between the hydraulic cylinder 9 and the robotic arm 2. The hydraulic cylinder 9 and the robotic arm 2 are rotatably connected by a pin. Figure 1 As shown, the robotic arm 2, the horizontal turntable 8, and the hydraulic cylinder 9 are all existing technologies. When the hydraulic cylinder 9 is working, it can push the robotic arm 2 to deform, thereby extending and folding the robotic arm 2. In conjunction with the rotation of the horizontal turntable 8, the position of the suction cup mounting plate 3 can be controlled.

[0049] In embodiment nine, based on embodiment eight, this application further includes a camera 7 installed at one end of the mobile platform 1. The camera 7 is located between the suction cup mounting plate 3 and the horizontal support plate 6, and is used to monitor the position of the curtain wall glass 10 in real time.

[0050] This invention also discloses a construction method for the unitized curtain wall construction auxiliary robot described above, specifically including the following steps:

[0051] Step 1: Control the robotic arm 2 to rotate and extend until the suction cup mounting plate 3 is parallel to the curtain wall glass 10. The curtain wall glass 10 is suspended by the hoisting equipment above it. The vacuum suction cup 31 is used to adsorb the curtain wall glass 10 to reduce its sway.

[0052] Step 2: Control the movement and rotation of the operating arm 4 until the two clamping turntables 5 are respectively attached to the two sides of the lower end of the curtain wall glass 10. Then start the worm motor 47 to drive the worm 46 to rotate and drive the worm wheel 55 to rotate until the clamping column 52 is engaged and clamped to the edge of the curtain wall glass 10.

[0053] Step 3: Drive the operating arm 4 to move the lower end of the curtain wall glass 10. At this time, the curtain wall glass 10 can rotate around the hinge ball 21, thereby changing the tilt angle of the curtain wall glass 10. In addition, by coordinating the extension and retraction of the hydraulic cylinder 9 with the movement of the operating arm 4, the curtain wall glass 10 can be moved to the designated position and kept stable, thereby ensuring that the subsequent plug-in installation is more accurate and convenient.

[0054] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A unitized curtain wall construction auxiliary robot, characterized in that: include: A mobile platform (1) is provided with a robotic arm (2) mounted on its top. A suction cup mounting plate (3) is rotatably mounted on the front end of the robotic arm (2). A vacuum suction cup (31) is mounted on the surface of the suction cup mounting plate (3). The operating arm (4) has two parts and is rotatably mounted on both sides of the mobile platform (1). One end of the operating arm (4) is rotatably mounted with a clamping turntable (5). Four clamping columns (52) are fixedly mounted on the side of the clamping turntable (5). Two clamping columns (52) in opposite positions are close to the edge of the clamping turntable (5), and the other two clamping columns (52) in opposite positions are close to the middle of the clamping turntable (5). The curtain wall glass (10) is parallel to the suction cup mounting plate (3) and is adsorbed by the vacuum suction cup (31). The curtain wall glass (10) is located between two clamping turntables (5). Two of the clamping columns (52) on the side of the clamping turntable (5) are located outside the curtain wall glass (10), and the other two clamping columns (52) are located in the groove on the side of the curtain wall glass (10). A horizontal support plate (6) is horizontally slidably installed on the lower part of one end face of the mobile platform (1). A vertically arranged vertical plate (61) is fixedly connected to the lower surface of one end of the horizontal support plate (6). A rotatable roller (62) is installed at the lower end of the vertical plate (61). The surface of the clamping column (52) is fitted with an annular sleeve (53), and the annular sleeve (53) is in contact with the curtain wall glass (10). The surface of the clamping turntable (5) is bonded with an anti-collision pad (54). A fixed shaft (51) is fixedly inserted into the middle of the clamping turntable (5). One end of the fixed shaft (51) moves through the end of the operating arm (4). An clearance groove (45) is provided inside one end of the operating arm (4). A worm gear (55) is fixedly sleeved on the outside of the fixed shaft (51). A drive worm (46) is meshed on one side of the worm gear (55). The drive worm (46) and the worm gear (55) are both located inside the operating arm (4). The drive worm (46) is rotatably connected to the operating arm (4).

2. The unitized curtain wall construction auxiliary robot according to claim 1, characterized in that: A rubber pad (63) is glued to the upper surface of one end of the horizontal support plate (6). A plurality of stiffening plates (64) are fixedly arranged between the side of the vertical plate (61) and the lower surface of the horizontal support plate (6). A groove for the vertical plate (61) to be accommodated is provided at the lower part of one end face of the moving platform (1).

3. The unitized curtain wall construction auxiliary robot according to claim 2, characterized in that: One end of the robotic arm (2) is fixedly connected to a hinge ball (21), and a connecting ball shell (32) is fixedly installed on the back of the suction cup mounting plate (3). An opening groove (33) is provided on the outer side of the connecting ball shell (32), and the hinge ball (21) passes through the opening groove (33) and is rotatably installed in the inner cavity of the connecting ball shell (32).

4. The unitized curtain wall construction auxiliary robot according to claim 3, characterized in that: The operating arm (4) has a mounting groove (41) on one end surface. A mounting shell (42) that is compatible with it is installed in the mounting groove (41). A positioning groove (43) is provided on the surface of the mounting shell (42). A fastening bolt (44) is provided in the inner cavity of the positioning groove (43). The end of the fastening bolt (44) passes through the mounting shell (42) and is fixedly connected to the operating arm (4).

5. The unitized curtain wall construction auxiliary robot according to claim 4, characterized in that: One end of the drive worm (46) is provided with a worm motor (47) for driving its rotation. The worm motor (47) is fixedly connected to the operating arm (4). A washer (48) is movably sleeved on the outer side of the shaft end of the drive worm (46).

6. The unitized curtain wall construction auxiliary robot according to claim 5, characterized in that: A horizontal turntable (8) is rotatably mounted on the top of the mobile platform (1). The lower end of the robotic arm (2) is fixedly connected to the upper surface of the horizontal turntable (8). The robotic arm (2) is set in a "V" shape and has a rotating shaft in the middle. A hydraulic cylinder (9) is set on the inner side of the middle of the robotic arm (2). The hydraulic cylinder (9) and the robotic arm (2) form a triangular structure. The hydraulic cylinder (9) and the robotic arm (2) are rotatably connected by a pin.

7. The unitized curtain wall construction auxiliary robot according to claim 6, characterized in that: A camera (7) is installed at one end of the mobile platform (1), and the camera (7) is located between the suction cup mounting plate (3) and the horizontal support plate (6).

8. A construction method for a unitized curtain wall construction auxiliary robot according to any one of claims 1-7, characterized in that: Specifically, the following steps are included: Step 1: Control the robotic arm (2) to rotate and extend until the suction cup mounting plate (3) is parallel to the curtain wall glass (10). The curtain wall glass (10) is suspended by the hoisting equipment above it. The vacuum suction cup (31) is used to adsorb the curtain wall glass (10) to reduce its sway. Step 2: Control the operation arm (4) to move and rotate until the two clamping turntables (5) are respectively attached to the two sides of the lower end of the curtain wall glass (10). Then start the worm motor (47) to drive the worm (46) to rotate and drive the worm wheel (55) to rotate until the clamping column (52) clamps and holds the edge of the curtain wall glass (10). Step 3: Drive the operating arm (4) to move the lower end of the curtain wall glass (10). At this time, the curtain wall glass (10) can rotate around the hinge ball (21) as the center, thereby changing the tilt angle of the curtain wall glass (10). In addition, by coordinating the extension and retraction of the hydraulic cylinder (9) with the movement of the operating arm (4), the curtain wall glass (10) can be moved to the designated position and kept stable, thereby ensuring that the subsequent plug-in installation is more accurate and convenient.

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