Five-axis prefabricated wallboard assembly truss manipulator

Abstract

The invention relates to the technical field of material taking and placing, and discloses a five-axis prefabricated wallboard assembly truss manipulator which comprises a mounting base, an adsorption device is fixedly mounted at the top of the mounting base, a stroke frame is fixedly mounted on the back face of a negative pressure device, and a second motor is fixedly mounted at the top of the stroke frame. An adjusting lead screw is fixedly installed at one end of an output shaft of the second motor, and the outer surface of the adjusting lead screw is movably sleeved with a stroke base in a threaded fit mode. Under the action of thread driving, a stroke seat is driven to move downwards, and under the action of pushing a stroke pushing seat by a pushing rod, a telescopic device extends out of the interior of a negative pressure bin, so that the span among three adsorption devices in the transportation device is increased, and the transportation device can be matched with a prefabricated wallboard with a large area; and the problem that the installation difficulty is improved due to the fact that the prefabricated wall panel is bent under the influence of the self weight in the process that the prefabricated wall panel is conveyed and installed through the conveying device is solved, and the stability of the device in the using process is improved.

Description

Technical Field

[0001] The present application relates to the technical field of material picking and placing, and in particular to a five-axis prefabricated wall panel assembly truss robot. Background Art

[0002] A five-axis truss robot is used in the installation process of the wall panels. The suction cups on the robot are used to absorb and fix the prefabricated wall panels, and then they are transferred, transported and installed on the beam frame. The suction cups on the robot are fixed in position, and the suction force often comes from a piston-type negative pressure device. The negative pressure strength is stable, but for some larger prefabricated wall panels, since the suction cups are fixed in position and the distance from the frame of the prefabricated wall panels is large, the prefabricated wall panels will bend under the influence of their own weight, resulting in difficulties during the installation process. In this regard, the present application document proposes a five-axis prefabricated wall panel assembly truss robot, which aims to solve the above-mentioned problems. Summary of the invention

[0003] The present application proposes a five-axis prefabricated wall panel assembly truss robot, which has the advantage that the position of the adsorption device can be adjusted according to the size of the prefabricated wall panel, so as to solve the problem that the prefabricated wall panel bends under the action of its own weight due to the suction cup being located far away from the outer frame of the prefabricated wall panel.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical scheme: a five-axis prefabricated wall panel assembly truss robot, including a large arm, a storage bin is fixedly installed on the right side of the large arm near the bottom, a connecting bracket is fixedly installed on the bottom of the storage bin, the bottom of the connecting bracket is movably provided with a rotating arm through a servo motor connection, a mounting plate is fixedly installed on the bottom of the rotating arm, a first motor is fixedly installed on the top of the mounting plate near both ends, a transport device is fixedly installed on one end of the output shaft of the first motor, the bottom of the transport device adsorbs the prefabricated wall panel by negative pressure, and the first motor can drive the transport device to rotate, thereby driving the prefabricated wall panel adsorbed by the transport device to adjust its posture.

[0005] Furthermore, the transport device includes a fixed frame, which is fixedly connected to one end of the output shaft of the first motor. A mounting frame is fixedly installed on the bottom of the fixed frame. The number of the mounting frames is two and they are distributed in an array in the extension direction of the fixed frame. A negative pressure device is fixedly installed on the bottom of the mounting frame. Telescopic devices are movably installed at both ends of the inner cavity of the negative pressure device. After the telescopic device is extended from the inside of the negative pressure device, a cavity is formed inside the telescopic device, thereby generating negative pressure.

[0006] Specifically, a mounting seat is fixedly installed on the front side of the negative pressure device near the middle position, and on the front side of the telescopic device near the outer side position, an adsorption device is fixedly installed on the top of the mounting seat, a travel frame is fixedly installed on the back side of the negative pressure device, a second motor is fixedly installed on the top of the travel frame, an adjusting screw is fixedly installed on one end of the output shaft of the second motor, the adjusting screw penetrates the travel frame and extends to the bottom, the outer surface of the adjusting screw is movably sleeved with a travel seat by means of threaded cooperation, push rods are movably sleeved on both ends of the travel seat, a travel push seat is fixedly installed on the back side of the telescopic device near the outer side, one end of the push rod is movably sleeved with the travel push seat by means of shaft hole cooperation, when the second motor rotates, the travel seat can be driven downward by threaded drive, so that the push rod pushes the travel push seat, thereby driving the telescopic device to extend from the inside of the negative pressure device.

[0007] Furthermore, the negative pressure device includes a negative pressure sleeve, a negative pressure chamber is arranged inside the negative pressure sleeve, a partition is fixedly installed on the inner wall of the negative pressure chamber near the middle, a connecting hole is opened at one end of the partition, and the telescopic device is movably installed inside the negative pressure chamber at positions on both sides of the partition.

[0008] Furthermore, the telescopic device includes a telescopic seat, a mating groove is provided at one end of the telescopic seat, and the mating groove cooperates with the partition in the initial state; a first connecting pipe seat is provided at one end of the telescopic seat, and the first connecting pipe seat is connected to the adsorption device through a pipeline; a pressure-conducting pipe is provided in the inner cavity of the telescopic seat, and the pressure-conducting pipe passes through the mating groove and is connected to the first connecting pipe seat.

[0009] Furthermore, the adsorption device includes an adsorption seat, and a suction cup is fixedly installed at the bottom of the adsorption seat, and the negative pressure area formed inside the suction cup will adsorb the prefabricated wall panel.

[0010] Specifically, a limiting ring is fixedly installed at a position close to the middle of the outer surface of the adsorption seat, and the bottom of the limiting ring contacts the top surface of the mounting seat, thereby playing a role of fixed limiting.

[0011] Specifically, an annular contact seat is fixedly installed on the inner wall of the adsorption seat at a position above the limiting ring, and a second connecting pipe seat is fixedly installed on the front side of the outer surface of the adsorption seat at a position above the limiting ring. The first connecting pipe seat is connected to the second connecting pipe seat through a pipeline, so that the negative pressure inside the negative pressure chamber acts on the inside of the adsorption seat through the pressure-conducting pipe, the first connecting pipe seat, the second connecting pipe seat and the pipeline.

[0012] Specifically, the second connecting pipe seat passes through the adsorption seat and the annular contact seat and extends to the interior of the adsorption seat. A tail pipe is fixedly installed on the back side of the outer surface of the adsorption seat at a position above the limit ring. A pressure sensor is fixedly installed on one end of the tail pipe. A bypass pipe is arranged inside the annular contact seat, and the bypass pipe connects the second connecting pipe seat and the tail pipe. A telescopic machine is fixedly installed on the top of the adsorption seat.

[0013] Furthermore, when the output shaft of the telescopic machine is in the initial state, its outer surface contacts the inner wall of the annular contact seat. At this time, the second connecting pipe seat is in a closed state, so that the negative pressure in the negative pressure chamber will first act on the inside of the tail pipe through the bypass pipe. At this time, the pressure sensor can sense the pressure changes inside the tail pipe.

[0014] This application has the following beneficial effects.

[0015] The device can adjust the position of the transport device so that the adsorption position of the transport device and the prefabricated wall panel can be closer to the outer frame of the prefabricated wall panel, thereby avoiding the problem of difficulty in installation caused by bending and deformation of the prefabricated wall panel due to its own weight during adsorption and transportation. At the same time, after the telescopic device is extended, negative pressure will be formed inside the negative pressure bin, and the adsorption force of the adsorption device on the prefabricated wall panel will be supplemented, thereby avoiding the problem of looseness caused by insufficient adsorption force due to the heavy weight of the prefabricated wall panel. In addition, the effect of automatic adjustment of the adsorption force is also achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which constitute a part of the specification, illustrate embodiments disclosed in the present application and, together with the description, serve to explain the principles disclosed in the present application.

[0017] The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings, in which: Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a diagram of the structural transport device of the present invention; Figure 3 This is a diagram of the structural adjustment device of the present invention; Figure 4 It is a cross-sectional view of the structural adjustment device of the present invention; Figure 5 The structure of the present invention Figure 4 Sectional view in the middle AA direction; Figure 6 This is a diagram of the structural telescopic device of the present invention; Figure 7 It is a cross-sectional view of the structural telescopic device of the present invention; Figure 8 This is a diagram of the structural adsorption device of the present invention; Fig. 9 It is a cross-sectional view of the structural adsorption device of the present invention; Fig.10 The structure of the present invention Fig. 9 Cross-section in the middle BB direction; Fig.11 The structure of the present invention Fig. 9 Enlarged view of center C.

[0018] In the figure; 1, big arm; 2, storage bin; 3, connecting bracket; 4, rotating arm; 5, mounting plate; 6, first motor; 7, transportation device; 71, fixing frame; 72, mounting frame; 73, negative pressure device; 731, negative pressure sleeve; 732, negative pressure bin; 733, partition; 734, connecting hole; 74, telescopic device; 741, telescopic seat; 742, matching groove; 743, first connecting pipe seat; 744, pressure pipe; 7 5. Mounting seat; 76. Adsorption device; 761. Adsorption seat; 762. Suction cup; 763. Limiting ring; 764. Annular contact seat; 765. Second connecting pipe seat; 766. Tail pipe; 767. Pressure sensor; 768. Bypass pipe; 769. Telescopic machine; 77. Travel frame; 78. Second motor; 79. Adjusting screw; 701. Travel seat; 702. Push rod; 703. Travel push seat; 8. Prefabricated wall panel. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0020] A five-axis prefabricated wall panel assembly truss robot, see Figure 1 , including a big arm 1, a storage bin 2 is fixedly installed on the right side of the big arm 1 near the bottom, a connecting bracket 3 is fixedly installed on the bottom of the storage bin 2, a rotating arm 4 is movably sleeved on the bottom of the connecting bracket 3 by means of a servo motor, a mounting plate 5 is fixedly installed on the bottom of the rotating arm 4, a first motor 6 is fixedly installed on the top of the mounting plate 5 near both ends, a transport device 7 is fixedly installed on one end of the output shaft of the first motor 6, a prefabricated wall panel 8 is adsorbed on the bottom of the transport device 7 by means of negative pressure, and the first motor 6 can drive the transport device 7 to rotate, thereby driving the prefabricated wall panel 8 adsorbed by the transport device 7 to adjust its posture.

[0021] See also Figure 2-Figure 4The transport device 7 includes a fixed frame 71, which is fixedly connected to one end of the output shaft of the first motor 6. A mounting frame 72 is fixedly installed at the bottom of the fixed frame 71. The number of the mounting frames 72 is two, and they are arranged in an array in the extension direction of the fixed frame 71. A negative pressure device 73 is fixedly installed at the bottom of the mounting frame 72. Telescopic devices 74 are movably installed at both ends of the inner cavity of the negative pressure device 73. After the telescopic device 74 is extended from the inside of the negative pressure device 73, a cavity will be formed inside the telescopic device 74, thereby generating negative pressure.

[0022] See also Figure 2-Figure 4 , a mounting seat 75 is fixedly installed on the front side of the negative pressure device 73 near the middle position, and a mounting seat 75 is fixedly installed on the front side of the telescopic device 74 near the outer side, an adsorption device 76 is fixedly installed on the top of the mounting seat 75, a travel frame 77 is fixedly installed on the back side of the negative pressure device 73, a second motor 78 is fixedly installed on the top of the travel frame 77, an adjusting screw rod 79 is fixedly installed on one end of the output shaft of the second motor 78, the adjusting screw rod 79 penetrates the travel frame 77 and extends to the bottom, the outer surface of the adjusting screw rod 79 is movably sleeved with a travel seat 701 by means of threaded cooperation, and push rods 702 are movably sleeved on both ends of the travel seat 701, a travel push seat 703 is fixedly installed on the back side of the telescopic device 74 near the outer side, one end of the push rod 702 is movably sleeved with the travel push seat 703 by means of shaft hole cooperation, and when the second motor 78 rotates, the travel seat 701 can be driven to move downward by threaded driving, so that the push rod 702 pushes the travel push seat 703, thereby driving the telescopic device 74 to extend from the inside of the negative pressure device 73.

[0023] When it is necessary to install a prefabricated wall panel 8 with a larger area, the adjusting screw 79 can be driven to rotate by the second motor 78, and the travel seat 701 can be driven to move downward under the action of the threaded drive. Under the pushing action of the push rod 702 on the travel push seat 703, the telescopic device 74 extends from the inside of the negative pressure bin 732, so that the span between the three adsorption devices 76 in the transportation device 7 is increased, so that it can be adapted to the prefabricated wall panel 8 with a larger area, so that the adsorption position of the adsorption device 76 and the prefabricated wall panel 8 can be closer to the frame of the prefabricated wall panel 8, avoiding the problem that the prefabricated wall panel 8 bends under the influence of its own weight during the transportation and installation process of the transport device 7 adsorbing the prefabricated wall panel 8, thereby increasing the difficulty of installation, thereby improving the stability of the device during use.

[0024] See also Figure 3 and Figure 5 The negative pressure device 73 includes a negative pressure sleeve 731, a negative pressure chamber 732 is arranged inside the negative pressure sleeve 731, a partition 733 is fixedly installed on the inner wall of the negative pressure chamber 732 near the middle, a connecting hole 734 is opened at one end of the partition 733, and the telescopic device 74 is movably installed inside the negative pressure chamber 732 at positions on both sides of the partition 733.

[0025] See also Figure 2 , Figure 6-Figure 7 The telescopic device 74 includes a telescopic seat 741, one end of the telescopic seat 741 is provided with a matching groove 742, the matching groove 742 is matched with the partition 733 in the initial state, one end of the telescopic seat 741 is provided with a first connecting pipe seat 743, the first connecting pipe seat 743 is connected to the adsorption device 76 through a pipeline, and the inner cavity of the telescopic seat 741 is provided with a pressure-conducting pipe 744, the pressure-conducting pipe 744 passes through the matching groove 742 and is connected with the first connecting pipe seat 743.

[0026] See also Figure 1 and Figure 8-Figure 11 The adsorption device 76 includes an adsorption seat 761, and a suction cup 762 is fixedly installed at the bottom of the adsorption seat 761. The negative pressure area formed inside the suction cup 762 will adsorb the prefabricated wall panel 8.

[0027] See also Figure 3 and Figure 8-Figure 11 A limiting ring 763 is fixedly installed on the outer surface of the adsorption seat 761 near the middle position, and the bottom of the limiting ring 763 contacts the top surface of the mounting seat 75, thereby playing a role of fixed limiting.

[0028] See also Figure 6-Figure 11 An annular contact seat 764 is fixedly installed on the inner wall of the adsorption seat 761 at a position above the limiting ring 763, and a second connecting pipe seat 765 is fixedly installed on the front side of the outer surface of the adsorption seat 761 at a position above the limiting ring 763. The first connecting pipe seat 743 is connected to the second connecting pipe seat 765 through a pipeline, so that the negative pressure inside the negative pressure chamber 732 acts on the inside of the adsorption seat 761 through the pressure-conducting pipe 744, the first connecting pipe seat 743, the second connecting pipe seat 765 and the pipeline.

[0029] See also Figure 1 and Figure 8-Figure 11 The second connecting pipe seat 765 passes through the adsorption seat 761 and the annular contact seat 764 and extends to the interior of the adsorption seat 761. A tail pipe 766 is fixedly installed on the back side of the outer surface of the adsorption seat 761 at a position above the limit ring 763. A pressure sensor 767 is fixedly installed on one end of the tail pipe 766. A bypass pipe 768 is arranged inside the annular contact seat 764, and the bypass pipe 768 connects the second connecting pipe seat 765 and the tail pipe 766. A telescopic machine 769 is fixedly installed on the top of the adsorption seat 761.

[0030] When the telescopic seat 741 extends from the inside of the negative pressure bin 732, a low pressure area will be formed inside the negative pressure bin 732, and the negative pressure in this area will act on the surface of the telescopic machine 769 through the first connecting pipe seat 743, the pressure pipe 744, the second connecting pipe seat 765 and the pipeline. When the output shaft of the telescopic machine 769 retracts, the second connecting pipe seat 765 releases the closed state, so that the negative pressure will act on the inside of the adsorption seat 761 and act on the surface of the prefabricated wall panel 8 through the suction cup 762, thereby improving the adsorption force of the suction cup 762 on the prefabricated wall panel 8. At the same time, the larger the area of ​​the prefabricated wall panel 8, the greater the extension of the telescopic device 74, and the higher the negative pressure strength inside the negative pressure bin 732, so that the larger the area of ​​the prefabricated wall panel 8, the higher the degree of improvement of the negative pressure inside the negative pressure bin 732 on the adsorption force of the suction cup 762, so that the adsorption force of the suction cup 762 is proportional to the area of ​​the prefabricated wall panel 8, thereby ensuring the firmness of the adsorption, and at the same time realizing automatic adjustment of the adsorption force, thereby improving the practicality of the device.

[0031] See also Figure 5 and Figure 8-Figure 11 When the output shaft of the telescopic machine 769 is in the initial state, its outer surface contacts the inner wall of the annular contact seat 764. At this time, the second connecting pipe seat 765 is in a closed state, so that the negative pressure of the negative pressure chamber 732 will first act on the inside of the tail pipe 766 through the bypass pipe 768. At this time, the pressure sensor 767 can sense the pressure changes inside the tail pipe 766.

[0032] When the telescopic device 74 is extended, since the output shaft of the telescopic machine 769 is in the initial state, its outer surface contacts the inner wall of the annular contact seat 764, and the second connecting pipe seat 765 is in a closed state, so that the negative pressure will first act on the surface of the pressure sensor 767 through the bypass pipe 768 and the tail pipe 766, so that the pressure sensor 767 senses the negative pressure strength. When the adsorption device 76 is not sealed tightly and external gas enters the interior to reduce the negative pressure strength, the operator can timely learn about the current situation through the value sensed by the pressure sensor 767, thereby avoiding the problem of the prefabricated wall panel 8 falling off due to the poor adsorption caused by the entry of external gas after the telescopic machine 769 retracts to adsorb the prefabricated wall panel 8, thereby improving the reliability of the device.

[0033] The method of use of the present invention is as follows: During use, when it is necessary to install a prefabricated wall panel 8 with a larger area, the second motor 78 can be used to drive the adjusting screw 79 to rotate, and the travel seat 701 can be driven downward by the screw drive. Under the pushing action of the push rod 702 on the travel push seat 703, the telescopic device 74 extends from the inside of the negative pressure bin 732, so that the span between the three adsorption devices 76 in the transport device 7 is increased, so that it can adapt to the prefabricated wall panel 8 with a larger area, so that the suction cup 762 and the adsorption of the prefabricated wall panel 8 are closely connected. The position can be closer to the frame of the prefabricated wall panel 8. When the telescopic seat 741 extends from the inside of the negative pressure chamber 732, a low-pressure area will be formed inside the negative pressure chamber 732, and the negative pressure in this area will act on the surface of the telescopic machine 769 through the first connecting pipe seat 743, the pressure pipe 744, the second connecting pipe seat 765 and the pipeline. When the output shaft of the telescopic machine 769 retracts, the second connecting pipe seat 765 releases the closed state, so that the negative pressure will act on the inside of the adsorption seat 761 and interact with the prefabricated wall panel 8 through the suction cup 762. The surface of the suction cup 762 is increased, thereby improving the adsorption force of the suction cup 762 on the prefabricated wall panel 8. At the same time, the larger the area of ​​the prefabricated wall panel 8, the greater the extension of the telescopic device 74, and the higher the negative pressure strength inside the negative pressure bin 732, so that the larger the area of ​​the prefabricated wall panel 8, the higher the degree of improvement of the adsorption force of the suction cup 762 by the negative pressure inside the negative pressure bin 732, so that the adsorption force of the suction cup 762 is proportional to the area of ​​the prefabricated wall panel 8, ensuring the firmness of the adsorption, and also realizing the automatic adjustment of the adsorption force. When the telescopic device 74 is extended, Since the output shaft of the telescopic machine 769 is in the initial state at this time, its outer surface is in contact with the inner wall of the annular contact seat 764, and the second connecting pipe seat 765 is in a closed state, so that the negative pressure will first act on the surface of the pressure sensor 767 through the bypass pipe 768 and the tail pipe 766, so that the pressure sensor 767 senses the negative pressure intensity. When the adsorption device 76 is not sealed tightly, causing external gas to enter the interior and reduce the negative pressure intensity, the operator can promptly learn the current situation through the value sensed by the pressure sensor 767.

Claims

1. A five-axis prefabricated wall panel assembly truss robot, characterized in that: The invention comprises a large arm (1), a storage bin (2) is fixedly mounted on the right side of the large arm (1) near the bottom, a connecting bracket (3) is fixedly mounted on the bottom of the storage bin (2), a rotating arm (4) is movably sleeved on the bottom of the connecting bracket (3) by means of a servo motor connection, a mounting plate (5) is fixedly mounted on the bottom of the rotating arm (4), a first motor (6) is fixedly mounted on the top of the mounting plate (5) near both ends, a transport device (7) is fixedly mounted on one end of the output shaft of the first motor (6), and a prefabricated wall panel (8) is adsorbed on the bottom of the transport device (7) by means of negative pressure.

2. A five-axis prefabricated wall panel assembly truss robot according to claim 1, characterized in that: The transport device (7) comprises a fixed frame (71), the fixed frame (71) being fixedly connected to one end of the output shaft of the first motor (6), a mounting frame (72) being fixedly mounted on the bottom of the fixed frame (71), the number of the mounting frames (72) being two and being arranged in an array in the extension direction of the fixed frame (71), a negative pressure device (73) being fixedly mounted on the bottom of the mounting frame (72), telescopic devices (74) being movably mounted on both ends of the inner cavity of the negative pressure device (73), a mounting seat (75) being fixedly mounted on a front side near the middle of the negative pressure device (73) and a front side near the outer side of the telescopic device (74), and an adsorption device (76) being fixedly mounted on the top of the mounting seat (75), A travel frame (77) is fixedly mounted on the back of the negative pressure device (73), a second motor (78) is fixedly mounted on the top of the travel frame (77), an adjusting screw (79) is fixedly mounted on one end of the output shaft of the second motor (78), the adjusting screw (79) passes through the travel frame (77) and extends to the bottom, a travel seat (701) is movably sleeved on the outer surface of the adjusting screw (79) by means of threaded engagement, push rods (702) are movably sleeved on both ends of the travel seat (701), a travel push seat (703) is fixedly mounted on the back of the telescopic device (74) near the outer side, and one end of the push rod (702) is movably sleeved on the travel push seat (703) by means of shaft hole engagement.

3. A five-axis prefabricated wall panel assembly truss robot according to claim 2, characterized in that: The negative pressure device (73) comprises a negative pressure sleeve (731), a negative pressure chamber (732) being arranged inside the negative pressure sleeve (731), a partition (733) being fixedly mounted on an inner wall of the negative pressure chamber (732) near the middle, a connecting hole (734) being provided at one end of the partition (733), and the telescopic device (74) being movably mounted on positions on both sides of the partition (733) inside the negative pressure chamber (732).

4. A five-axis prefabricated wall panel assembly truss robot according to claim 3, characterized in that: The telescopic device (74) comprises a telescopic seat (741), one end of the telescopic seat (741) is provided with a matching groove (742), the matching groove (742) matches with the partition (733) in an initial state, one end of the telescopic seat (741) is provided with a first connecting pipe seat (743), the first connecting pipe seat (743) is connected to the adsorption device (76) through a pipeline, and the inner cavity of the telescopic seat (741) is provided with a pressure-conducting pipe (744), the pressure-conducting pipe (744) passes through the matching groove (742) and is connected to the first connecting pipe seat (743).

5. A five-axis prefabricated wall panel assembly truss robot according to claim 4, characterized in that: The adsorption device (76) comprises an adsorption seat (761), a suction cup (762) is fixedly mounted on the bottom of the adsorption seat (761), a limiting ring (763) is fixedly mounted on the outer surface of the adsorption seat (761) near the middle, the bottom of the limiting ring (763) is in contact with the top surface of the mounting seat (75), an annular contact seat (764) is fixedly mounted on the inner wall of the adsorption seat (761) at a position above the limiting ring (763), a second connecting pipe seat (765) is fixedly mounted on the front side of the outer surface of the adsorption seat (761) at a position above the limiting ring (763), and the first connecting pipe seat (743) is connected to the second connecting pipe seat (743) through a pipeline. The second connecting pipe seat (765) is connected to the adsorption seat (761), the second connecting pipe seat (765) penetrates the adsorption seat (761) and the annular contact seat (764) and extends to the interior of the adsorption seat (761), a tail pipe (766) is fixedly installed on the back of the outer surface of the adsorption seat (761) at a position above the limit ring (763), a pressure sensor (767) is fixedly installed on one end of the tail pipe (766), a bypass pipe (768) is arranged inside the annular contact seat (764), and the bypass pipe (768) connects the second connecting pipe seat (765) and the tail pipe (766), and a telescopic machine (769) is fixedly installed on the top of the adsorption seat (761).

6. A five-axis prefabricated wall panel assembly truss robot according to claim 5, characterized in that: When the output shaft of the telescopic machine (769) is in an initial state, its outer surface contacts the inner wall of the annular contact seat (764), and at this time, the second connecting pipe seat (765) is in a closed state.

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