Glass curtain wall transportation and installation robot based on parallel rope mechanism

Abstract

The application discloses a glass curtain wall transportation and installation robot based on a parallel rope mechanism, which is characterized by comprising a rope winding and unwinding module and a glass curtain wall installation platform, wherein the glass curtain wall installation platform comprises an inner frame and an outer frame, the inner frame is connected in the outer frame, and a support frame is connected to the rear side of the outer frame; a vacuum pump of a grabbing mechanism is installed on the support frame, the vacuum pump is connected with a suction cup, the suction cup is slidingly connected to the inner frame, the suction cup is used for grabbing the glass curtain wall, and rope connecting points are arranged around the glass curtain wall installation platform and connected with the rope winding and unwinding module. In the glass curtain wall installation robot, the parallel robot can be pulled by the rope to realize large-space performance and fast glass curtain wall installation in a large range, high efficiency is achieved, the effect of one-time arrangement is achieved, modular design is adopted, the structure is clear, installation is facilitated, and operation is easy.

Description

Technical Field

[0001] This invention discloses a glass curtain wall transportation and installation robot based on a parallel rope mechanism, which relates to the field of glass curtain wall installation technology. Background Technology

[0002] Traditional glass curtain wall installation methods primarily involve installing hoisting devices on the rooftop and suspending the glass curtain wall by securing it with ropes. Alternatively, scaffolding baskets can be used to lower workers and the glass curtain wall together. These methods suffer from low efficiency, high skill requirements, and high risks. On the other hand, using cranes with suction cups is inefficient, requires limited workspace, and is unsuitable for rapid installation.

[0003] In terms of movement, existing glass curtain wall installation robots on the market mainly rely on cantilever beams installed on rooftops and steel wire rope reels to suspend the glass curtain wall. Because the hoisting equipment needs to be installed on the rooftop, it can cause some damage to the building. Furthermore, the setup time is too long, resulting in low overall work efficiency. Additionally, because the constraint is only in one direction, the stability of the glass curtain wall and the installation platform is poor, leading to a low safety factor. Another method uses a crane with suction cups, which transport the glass curtain wall for installation by attaching suction cups to the end of the crane arm. Each installation requires readjusting the crane position, resulting in low installation efficiency and requiring highly skilled workers. Summary of the Invention

[0004] To address the shortcomings of the aforementioned background technology, this invention provides a glass curtain wall transportation and installation robot based on a parallel rope mechanism. It features a modular design, a clear structure, convenient installation, and easy operation.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a glass curtain wall transportation and installation robot based on a parallel rope mechanism, characterized in that it includes: a rope deployment and retraction module and a glass curtain wall installation platform.

[0006] The glass curtain wall installation platform includes an inner frame and an outer frame, with the inner frame connected inside the outer frame. A support frame is connected to the rear of the outer frame. A vacuum pump for a gripping mechanism is installed on the support frame. The vacuum pump is connected to a suction cup, which is slidably connected to the inner frame. The suction cup is used to grip the glass curtain wall. Rope connection points are set around the glass curtain wall installation platform, and the platform is connected to a rope retraction module through these rope connection points.

[0007] Furthermore, the rope retraction module is mounted on a crane, with the crane boom end and the crane body respectively connected to the rope retraction module. The glass curtain wall installation platform is pulled by two cranes on both sides. The rope retraction module and the glass curtain wall installation platform are connected by ropes, adopting an eight-cable, six-degree-of-freedom planar parallel glass curtain wall installation platform structure.

[0008] Furthermore, the rope winding and unwinding module includes: a base plate, a first winding wheel, a lead screw slide, a reciprocating lead screw, a winding drum, a timing belt, a first motor, a first pulley, and a swivel wheel;

[0009] The base plate is provided with a winding drum and a reciprocating screw arranged in parallel, and the two are connected by a synchronous belt. The first motor is used to drive the winding drum to rotate. One end of the rope passes through the screw slide, which is connected to the reciprocating screw. The rope is wound around the winding drum through the reciprocating screw. The other end of the rope is wound around the first winding wheel, and then passes through the first pulley and the universal wheel in sequence, extending out of the outside of the base plate and connecting to the rope connection point.

[0010] Furthermore, a third pulley is provided between the first pulley and the first winding wheel. The third pulley is a steering wheel, and the first pulley and the first winding wheel are distributed at 90° on the base plate.

[0011] Furthermore, both pulley three and winding wheel are provided with a rotatably connected bearing seat on their lower sides. The bearing seat is connected to a lead screw slide table on its lower side. The lead screw slide table is connected to the base plate. The lead screw slide table and the bearing seat of winding wheel one are directly provided with a synchronization rod. The bearing seat of winding wheel one is directly provided with a synchronization rod between the bearing seat of pulley three and the bearing seat of winding wheel three.

[0012] Furthermore, a force measuring mechanism is provided between the first winding wheel and the third pulley. The force measuring mechanism includes: a connecting rod, a second pulley, a force sensor, a force sensor support frame, a fourth pulley, and a fifth pulley. The force sensor support frame is provided on the base plate. The top of the sensor support frame is connected to the force sensor. One side of the force sensor is connected to the upper end of the connecting rod. The lower end of the connecting rod is rotatably connected to the fourth pulley. The fourth pulley is rotatably connected between the force sensor support frame and the connecting rod. The fourth pulley winds the rope. The second and fifth pulleys are guide wheels at the front and rear ends of the fourth pulley, respectively. The height of the upper edge of the guide wheel is consistent with the height of the plane where the third pulley is located.

[0013] Furthermore, a rope length change detection mechanism is provided between the pulley and the omnidirectional wheel. The rope length change detection mechanism includes a winding wheel, a control board, and an encoder. The rope is wound multiple times on the winding wheel, and the encoder is coaxially connected to the winding wheel. The encoder and the control board are connected by communication.

[0014] Furthermore, the glass curtain wall installation platform also includes a multi-link mechanism, comprising: link one, link two, link three, link four, link five, link six, link seven, and a fixing bolt. A second motor driving the multi-link mechanism is mounted on the support frame. The second motor is connected to one end of link six, and the other end of link six is ​​connected to one end of link seven. The other end of link seven is connected to the rear side of the gripping mechanism. Link six has several mounting holes in its middle section, with one end of link three connected to each mounting hole. One end of link three is connected to one end of link four. One end of the fourth link is connected to one end of the second link, and the end of the second link is connected to a load block. An L-shaped frame is provided on the support frame, and a sliding groove is opened on the rearward extending crossbar of the L-shaped frame. The middle part of the second link is slidably connected to the sliding groove through a sliding rod. The upper and lower sides of the middle part of the fourth link are respectively hinged to the fifth link and the first link. The fifth link and the first link are respectively connected to the upper and lower sides of the support frame. The first link and the fifth link are fully constrained. The first link and the fifth link play the role of supporting the entire multi-link and stabilizing the overall structure. They can also be replaced individually to reduce costs.

[0015] Furthermore, the gripping mechanism also includes: a cylinder, a cylinder mounting base, a vacuum pump, a suction cup, and a sleeve. First, the vacuum pump is connected to the cylinder on the cylinder mounting base via a hose. The suction cup is installed at the end of the cylinder and is used to pick up and release the glass. The rear side of the cylinder mounting base is connected to the connecting rod seven. The cylinder mounting base is connected to the inner frame via a sleeve, which is installed on the inner frame to support the cylinder.

[0016] Beneficial effects: 1. The glass curtain wall installation robot of this invention can use the large-scale and rapid glass curtain wall installation by rope-pulling parallel robot to achieve high efficiency and one-time deployment. It adopts a modular design, with a clear structure, which is convenient to install, easy to operate and learn, and has the advantages of low maintenance costs.

[0017] 2. This invention employs a modular rope reel traction module, which can be deployed on any crane or on a fixed plane, offering high applicability. The rope-controlled robot performs horizontal movement, with a relatively simple working principle, simplifying the work process and reducing difficulty. The eight-rope structure, with more than three degrees of freedom, is redundant and provides better stability. Since all pulleys on the crane boom are higher than the motion platform, the platform can rotate within a small range, allowing for the installation of inclined glass curtain walls. This structure also provides upward tension, and the ropes connecting to the motion platform's outer shell provide tension to prevent the platform from tipping over.

[0018] 3. The glass installation and transportation module of this invention adopts a multi-link glass curtain wall installation mechanism. Placing the glass inside the mechanism can effectively protect the glass. Secondly, the multi-link method pushes the glass forward to the work point during operation, keeping the entire mechanism away from the glass curtain wall plane to prevent collisions and increase safety. At the same time, the multi-link is equipped with load-bearing blocks, which can adjust the position and posture of the glass installation and transportation module in real time when suspended, ensuring the stability of the overall mechanism and preventing installation failure and collision problems caused by external forces such as wind, thus increasing safety.

[0019] 4. This invention uses a reciprocating screw to wind the rope onto the drum, ensuring that the rope can be arranged in multiple neat layers, increasing the rope length and expanding the working space of the mechanism. At the same time, the use of a slide table with a power sensor module and a fixed pulley in conjunction with the reciprocating screw movement allows the rope to extend horizontally, ensuring overlap and preventing errors caused by the rope rubbing against the pulley. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is an external schematic diagram of the glass curtain wall installation platform of the present invention;

[0022] Figure 3 This is a side view of a building of the glass curtain wall installation platform of the present invention;

[0023] Figure 4 This is a schematic diagram of the internal structure of the glass curtain wall installation platform of the present invention;

[0024] Figure 5 This is a side view of the glass curtain wall installation platform of the present invention;

[0025] Figure 6 This is a schematic diagram of the suction cup of the gripping mechanism of the present invention;

[0026] Figure 7 This is an external schematic diagram of the rope deployment and take-up module of the present invention;

[0027] Figure 8 This is a schematic diagram of the internal structure of the rope deployment and take-up module of the present invention;

[0028] Figure 9 This is a schematic diagram of the force measuring mechanism of the rope release and take-up module of the present invention. Implementation

[0029] The implementation of the technical solution will be further described in detail below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0030] like Figure 1The embodiment shown provides a glass curtain wall transportation and installation robot based on a parallel rope mechanism. It is characterized by comprising: a rope deployment and retraction module 100 and a glass curtain wall installation platform 200. The rope deployment and retraction module 100 drives the glass curtain wall installation platform 200 to move on the building surface 300 via ropes 400.

[0031] The rope retraction module 100 is mounted on a crane. The end of the crane boom and the crane body are respectively connected to the rope retraction module 100. The glass curtain wall installation platform 200 is pulled by two cranes on both sides. The rope retraction module 100 and the glass curtain wall installation platform 200 are connected by ropes. The glass curtain wall installation platform 200 adopts an eight-cable, six-degree-of-freedom planar parallel glass curtain wall installation platform 200 structure.

[0032] like Figures 2-5 As shown, the glass curtain wall installation platform 200 includes: an inner frame 211, an outer frame 205, and a platform shell 225. The inner frame 211 is connected inside the outer frame 205. The inner frame 211 is connected to the outer frame 205 via fixing bolts 222 around its perimeter. A support frame 209 is connected to the rear side of the outer frame 205. Rope connecting rods 202 are arranged around the perimeter of the outer frame 205. The platform shell 225 is connected to the front side of the outer frame 205. A second rope connecting rod 224 is arranged on the upper side of the platform shell. A third rope connecting rod 226 is symmetrically arranged on the lower side of the platform shell. The support frame 209 is equipped with... A vacuum pump 203 with a gripping mechanism is installed. The vacuum pump 203 is connected to a suction cup 212, which is slidably connected to the inner frame 211. The suction cup 212 is used to grip the glass curtain wall. Rope connection points are set around the glass curtain wall installation platform 200, which are connected to the rope retraction module 100 through the rope connection points. The rope connection points are rope connecting rod one 202, rope connecting rod two 224, and rope connecting rod three 226. Rope connecting rod one 202 is set around the base, rope connecting rod two 224 is set on the upper side of the platform shell 225, and rope connecting rod three 226 is set on the lower side of the platform shell 225.

[0033] The installation platform 200 adopts an eight-cable, six-degree-of-freedom planar parallel glass curtain wall structure; the rope take-up and release module 100 is equipped with eight units, with four units sequentially installed on the left and right cranes from front to back (from the building surface to the side furthest from the building surface).

[0034] The rope retraction module 100 at the rear of the crane extends the rope through multiple pulleys mounted on the crane boom. The rope is then led out to the pulley at the very top of the boom and connected to the rope connecting rods 202 at both ends of the upper side of the base.

[0035] The frontmost rope retraction module 100 of the crane extends directly and connects to the rope connecting rods 202 at both ends of the base. The middle rope retraction module 100 on the roof connects to the casters of the boom and to the rope connecting rods 224 (two) on the upper side of the platform shell. The rope 100 in the truck bed near the front extends directly and connects to the rope connecting rods 226 (two) on the lower side of the platform shell, thus completing the connection of eight ropes. Since the mechanism is completely controlled by eight ropes, the overall mechanism can be controlled within the motion platform by changing the length of the eight ropes and using the inverse kinematics calculation method of parallel mechanism.

[0036] A distance sensor 210 is installed on the surface of the outer frame, and a camera 213 is installed on the top surface of the outer frame to measure the distance between the glass curtain wall installation platform 200 and the building surface 300, and to coordinate the action of the gripping mechanism through distance measurement.

[0037] In this embodiment, the rope connecting rod installed on the outer frame 205 and the glass curtain wall installation platform 200 connects to the rope 400. The rope connected to the outer frame is mainly used for the planar movement of the motion platform, while the rope connected to the platform shell 225, in addition to providing tension to ensure that the installation platform does not tip over, also works with other ropes to make the glass curtain wall installation platform 200 rotate and install irregularly installed glass curtain walls.

[0038] The gripping mechanism further includes: a cylinder 206, a cylinder mounting base 207, and a sleeve 223. The vacuum pump 203 is connected to the cylinder 206 on the cylinder mounting base 207 via a hose. The suction cup 212 is installed at the end of the cylinder 206 for sucking up and releasing the glass. The rear side of the cylinder mounting base 207 is connected to the connecting rod 221. The cylinder mounting base 207 is connected to the inner frame 211 via the sleeve 223. The sleeve 223 is installed on the inner frame 211 for supporting the cylinder 206.

[0039] Overall principle of the gripping mechanism: By pushing the cylinder mounting base 207 forward, the cylinder 206 and other objects on the cylinder mounting base 207 also move forward and extend out together with the glass. After extending out, the glass is installed. After installation, the suction is released and the mechanism is driven to rotate back, completing one movement.

[0040] like Figure 6As shown, the glass curtain wall installation platform 200 further includes a multi-link mechanism, comprising: link 1 215, link 2 216, link 3 217, link 4 218, link 5 219, link 6 220, and link 7 221. A second motor 204 for driving the multi-link mechanism is mounted on the support frame 209. The second motor 204 is connected to one end of link 6 220, and the other end of link 6 220 is connected to one end of link 7 221. The other end of link 7 221 is connected to the rear side of the gripping mechanism. A plurality of mounting holes are provided in the middle of link 6 220, and one end of link 3 217 is connected to each mounting hole. The other end of link 3 217 is connected to one end of link 4 218, and the other end of link 4 218 is connected to... One end of the second connecting rod 216 is connected to the load block 208. An L-shaped frame is provided on the support frame 209. A sliding groove is opened on the horizontal bar extending backward of the L-shaped frame. The middle part of the second connecting rod 216 is slidably connected to the sliding groove through a sliding rod. The upper and lower sides of the middle part of the fourth connecting rod 218 are respectively hinged to the fifth connecting rod 219 and the first connecting rod 215. The fifth connecting rod 219 and the first connecting rod 215 are respectively connected to the upper and lower sides of the support frame 209. The first connecting rod 215 and the fifth connecting rod 219 are fully constrained.

[0041] When motor 204 rotates, it drives connecting rod 6 220 to rotate, thereby pushing connecting rod 7 221 forward to move cylinder mounting seat 207 forward. Cylinder 206 moves forward through sleeve 223, pushing suction cup to move. At the same time, connecting rod 3 217 moves along with it; connecting rod 4 218 rotates; connecting rod 4 218 pushes connecting rod 2 216 to move, completing the movement of load block 209. Connecting rod 1 215 and connecting rod 5 219 are fully constrained, ensuring that connecting rod 4 218 rotates along a fixed axis, so that the shaft on connecting rod 2 216 moves horizontally in the slide groove.

[0042] like Figures 7-9 As shown, the rope winding and unwinding module 100 includes: a base plate 101, a lead screw slide 102, a first winding wheel 103, a lead screw slide 104, a reciprocating lead screw 105, a first support 106, a winding drum 107, a synchronous belt 108, a first motor 109, a motor base 110, a first pulley 111, a motor driver 112, a second winding wheel 113, a control board 114, an encoder 115, a caster wheel 116, a top plate 124, and a side plate 125;

[0043] A winding drum 107 and a reciprocating screw 105 are arranged parallel to each other on the base plate 101 and are connected by a synchronous belt 108. The reciprocating screw 105 is rotatably connected to a support member 106, which is connected to the base plate 101. The first motor 109 drives the winding drum 107 to rotate. One end of the rope passes through a screw slide 104, which is connected to the reciprocating screw 105. The rope is wound around the winding drum 107 through the reciprocating screw 105. The other end of the rope is wound around a winding wheel 103 and then passes through a pulley 111 and a caster wheel 116 in sequence, extending out of the outside of the base plate 101 and connecting to the rope connection point. The top plate 124 and the side plate 125, together with the base plate, form a rectangular box structure to protect the internal equipment.

[0044] Both pulley 3 120 and winding wheel 103 are provided with rotatably connected bearing seats on their lower sides. The bearing seats are connected to lead screw slide 102 on their lower sides. The lead screw slide 102 is connected to the base plate 101. The lead screw slide 104 and the bearing seat of winding wheel 103 are directly provided with a synchronization rod. The bearing seat of winding wheel 103 and the bearing seat of pulley 3 120 are provided with a synchronization rod to keep pulley 3 120, winding wheel 103 and lead screw slide 104 moving synchronously.

[0045] A pulley 120 is provided between pulley 111 and winding wheel 103. The pulley 120 is a steering wheel. The pulley 111 and winding wheel 103 are distributed at 90° on the base plate 101, and their axes are perpendicular to each other.

[0046] A force measuring mechanism is provided between the first winding wheel 103 and the third pulley 120. The force measuring mechanism includes: a connecting rod 117, a second pulley 118, a force sensor 119, a force sensor support frame 121, a fourth pulley 122, and a fifth pulley 123. The force sensor support frame 121 is provided on the base plate. The top of the sensor support frame 121 is connected to the force sensor 119. One side of the force sensor 119 is connected to the upper end of the connecting rod 117. The lower end of the connecting rod 117 is rotatably connected to the fourth pulley 122. The fourth pulley 122 is rotatably connected between the force sensor support frame 121 and the connecting rod 117. The fourth pulley 122 winds a rope. The second pulley 118 and the fifth pulley 123 are guide wheels at the front and rear ends of the fourth pulley 122, respectively. The height of the upper edge of the guide wheel is consistent with the height of the plane where the third pulley 120 is located.

[0047] The overall working principle of the force measuring mechanism: The rope passes through symmetrical pulleys. When the rope is subjected to external force, the rope becomes taut. Since pulley 122 can move up and down, it will be subjected to force and move upward. At the same time, it will drive the connecting rod 117 to move upward. The connecting rod 117 is connected to the pressure sensor 119. The pressure sensor 119 is therefore subjected to pressure, and the force of the current rope can be measured.

[0048] A rope length change detection mechanism is provided between the pulley 111 and the caster wheel 116. The rope length change detection mechanism includes a winding wheel 113, a control board 114, and an encoder 115. The rope is wound multiple times on the winding wheel 113. The winding wheel 113 is coaxially connected to the encoder 115. The encoder 115 and the control board 114 are connected by communication.

[0049] The overall working principle of the rope length change detection mechanism: The photoelectric encoder 116 is used to detect the number of rotations of the encoder wheel 113. Based on the number of rotations of the winding wheel 113 when the rope is retracted / extended, the current change in rope length can be determined.

[0050] Working process: The glass curtain wall installation platform 200 is hoisted using ropes 400. The vacuum pump 203 is started to adsorb the glass onto the suction cup 213. Then, the multi-link movement in the glass curtain wall installation platform places the glass curtain wall in the inner frame 212. Afterwards, the ropes 400 of the rope retraction module 100 are connected to rope connecting rods 202, 224, and 226 respectively to move on the building surface 300. When the installation position is reached, the distance sensor 211 and camera 214 on the glass curtain wall installation platform detect whether the target position has been reached. If the target position is reached, the movement stops, the motor 204 starts to rotate, and the multi-link starts to move, extending the glass to cooperate with the workers in the building for installation. At this time, because the position of the glass changes, the overall center of gravity shifts, so a load block 208 is installed at the end of the multi-link to balance the gravity. The load block can be replaced as the weight of the glass changes. After the installation is completed, the vacuum pump 212 releases pressure, and then the motor 204 rotates to retract the multi-link, completing one installation.

[0051] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A glass curtain wall transport installation robot based on a parallel rope mechanism, characterized by, include: Rope retraction module (100) and glass curtain wall installation platform (200). The glass curtain wall installation platform (200) includes an inner frame (211) and an outer frame (205). The inner frame (211) is connected inside the outer frame (205), and a support frame (209) is connected to the rear side of the outer frame (205). A vacuum pump (203) with a gripping structure is installed on the support frame (209). The vacuum pump (203) is connected to a suction cup (212), which is slidably connected to the inner frame (211). The suction cup (212) is used to grip the glass curtain wall. Rope connection points are set around the glass curtain wall installation platform (200), and the platform is connected to a rope retraction module (100) through these rope connection points. The rope winding and unwinding module (100) includes: a base plate (101), a first winding wheel (103), a lead screw slide (104), a reciprocating lead screw (105), a winding drum (107), a timing belt (108), a first motor (109), a first pulley (111), and a caster wheel (116). A winding drum (107) and a reciprocating screw (105) are arranged in parallel on the base plate (101) and connected to each other by a synchronous belt (108). The first motor (109) is used to drive the winding drum (107) to rotate. One end of the rope passes through the screw slide (104), which is connected to the reciprocating screw (105). The rope is wound around the winding drum (107) through the reciprocating screw (105). The other end of the rope is wound around the first winding wheel (103) and then passes through the first pulley (111) and the universal wheel (116) in sequence, extending out of the outside of the base plate (101) and connecting to the rope connection point.

2. The glass curtain wall transport and installation robot based on a parallel rope mechanism according to claim 1, characterized in that, The rope retraction module (100) is mounted on a crane. The end of the crane boom and the vehicle body are respectively connected to the rope retraction module (100). The glass curtain wall installation platform (200) is pulled by two cranes on both sides. The rope retraction module (100) and the glass curtain wall installation platform (200) are connected by ropes. The structure of the glass curtain wall installation platform (200) is an eight-cable, six-degree-of-freedom planar parallel glass curtain wall installation platform (200).

3. The glass curtain wall transport and installation robot based on a parallel rope mechanism according to claim 1, characterized in that, A third pulley (120) is provided between the first pulley (111) and the first winding wheel (103). The third pulley (120) is a steering wheel. The first pulley (111) and the first winding wheel (103) are distributed at 90° on the base plate (101).

4. The glass curtain wall transport and installation robot based on a parallel rope mechanism according to claim 3, characterized in that, Both pulley three (120) and winding wheel one (103) are provided with a rotating support seat on their lower sides. Both support seats are connected to a lead screw slide (102) on their lower sides. The lead screw slide (102) is connected to the base plate (101). The lead screw slide (104) and the support seat of winding wheel one (103) are directly provided with a synchronization rod. The support seat of winding wheel one (103) and the support seat of pulley three (120) are provided with a synchronization rod.

5. The glass curtain wall transportation and installation robot based on a parallel rope mechanism according to claim 4, characterized in that, A force measuring mechanism is provided between the first winding wheel (103) and the third pulley (120). The force measuring mechanism includes: a connecting rod (117), a second pulley (118), a force sensor (119), a force sensor support frame (121), a fourth pulley (122), and a fifth pulley (123). The force sensor support frame (121) is provided on the base plate. The top of the sensor support frame (121) is connected to the force sensor (119), and one side of the force sensor (119) is connected to... The upper end of the connecting rod (117) and the lower end of the connecting rod (117) are rotatably connected to pulley four (122). Pulley four (122) is rotatably connected between the force sensor support frame (121) and the connecting rod (117). Pulley four (122) is wrapped with rope. Pulley two (118) and pulley five (123) are guide wheels at the front and rear ends of pulley four (122) respectively. The height of the upper edge of the guide wheel is consistent with the height of the plane where pulley three (120) is located.

6. The glass curtain wall transportation and installation robot based on a parallel rope mechanism according to claim 4, characterized in that, A rope length change detection mechanism is provided between the pulley (111) and the caster wheel (116). The rope length change detection mechanism includes a winding wheel (113), a control board (114), and an encoder (115). The rope is wound multiple times on the winding wheel (113). The winding wheel (113) is coaxially connected to the encoder (115). The encoder (115) and the control board (114) are connected by communication.

7. The glass curtain wall transport and installation robot based on a parallel rope mechanism according to claim 1, characterized in that, The glass curtain wall installation platform (200) further includes a multi-link mechanism, which includes: link one (215), link two (216), link three (217), link four (218), link five (219), link six (220), link seven (221), and a fixing bolt (222). A second motor (204) for driving the multi-link mechanism is provided on the support frame (209). The second motor (204) is connected to one end of link six (220), and the other end of link six (220) is connected to one end of link seven (221). The other end of link seven (221) is connected to the rear side of the gripping mechanism. Several mounting holes are provided in the middle of link six (220). One end of the mounting hole is connected to the third link (217), one end of the third link (217) is connected to one end of the fourth link (218), the other end of the fourth link (218) is connected to one end of the second link (216), and the end of the second link (216) is connected to the load block (208). An L-shaped frame is provided on the support frame (209), and a sliding groove is opened on the horizontal bar extending backward of the L-shaped frame. The middle part of the second link (216) is slidably connected to the sliding groove through a sliding rod. The upper and lower sides of the middle part of the fourth link (218) are respectively hinged to the fifth link (219) and the first link (215). The fifth link (219) and the first link (215) are respectively connected to the upper and lower sides of the support frame (209).

8. The glass curtain wall transport and installation robot based on a parallel rope mechanism according to claim 7, characterized in that, The gripping mechanism also includes: a cylinder (206), a cylinder mounting base (207), a vacuum pump (203), a suction cup (212), and a sleeve (223). First, the vacuum pump (203) is connected to the cylinder (206) on the cylinder mounting base (207) through a hose. The suction cup (212) is installed at the end of the cylinder (206) for sucking up and releasing the glass. The rear side of the cylinder mounting base (207) is connected to the connecting rod seven (221). The cylinder mounting base (207) is connected to the inner frame (211) through the sleeve (223). The sleeve (223) is installed on the inner frame (211) for supporting the cylinder (206).

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