A five-axis precast wall panel assembly truss manipulator

Abstract

The present invention relates to the technical field of material picking and placing. The present application discloses a five-axis precast wall panel assembly truss manipulator, which includes a mounting base. An adsorption device is fixedly installed on the top of the mounting base, a stroke frame is fixedly installed on the back of the negative pressure device, a second motor is fixedly installed on the top of the stroke frame, one end of the output shaft of the second motor is fixedly installed with an adjusting screw rod, and a stroke seat is movably sleeved on the outer surface of the adjusting screw rod by means of threaded cooperation. Driven by the thread, the stroke seat moves downward. Under the pushing action of the push rod on the stroke push seat, the telescopic device extends out from the inside of the negative pressure bin, increasing the span between the three adsorption devices in the transportation device, enabling it to adapt to precast wall panels with larger areas, and avoiding the problem that the precast wall panel bends under the influence of its own weight during the process of the transportation device adsorbing and transporting the precast wall panel for installation, resulting in an increase in the installation difficulty, and improving the stability of the device during use.

Description

Technical Field

[0001] This application relates to the technical field of material picking and placing, and particularly to a five-axis precast wall panel assembly truss manipulator. Background Art

[0002] During the installation of wall panels, a five-axis truss manipulator is used. The suction cups on the manipulator are used to adsorb and fix the precast wall panels, and then transfer and transport them to be installed on the beam frame. The positions of the suction cups on the manipulator are fixed, and the suction force often comes from a piston-type negative pressure device. This negative pressure intensity is stable. However, for some relatively large precast wall panels, due to the fixed position of the suction cups and the relatively large distance from the outer frame of the precast wall panel, the precast wall panel will bend under the influence of its own weight, resulting in difficulties during the installation process. In response to this, this application document proposes a five-axis precast wall panel assembly truss manipulator, aiming to solve the problems raised above. Summary of the Invention

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

[0004] To achieve the above object, this application adopts the following technical solution: A five-axis precast wall panel assembly truss manipulator includes a boom. A storage bin is fixedly installed at a position near the bottom on the right side of the boom. A connecting bracket is fixedly installed at the bottom of the storage bin. A rotating arm is movably sleeved at the bottom of the connecting bracket by means of a servo motor connection. An installation plate is fixedly installed at the bottom of the rotating arm. First motors are fixedly installed at positions near both ends on the top of the installation plate. A transport device is fixedly installed at one end of the output shaft of the first motor. A precast wall panel is adsorbed at the bottom of the transport device by negative pressure. The first motor can drive the transport device to rotate, thereby driving the precast wall panel adsorbed by the transport device to adjust its posture.

[0005] Further, the transport device includes a fixing frame, which is fixedly connected to one end of the output shaft of the first motor. An installation frame is fixedly installed at the bottom of the fixing frame. The number of the installation frames is two, and they are arranged in an array along the extending direction of the fixing frame. A negative pressure device is fixedly installed at the bottom of the installation frame. Telescopic devices are movably installed at both ends of the inner cavity of the negative pressure device. After the telescopic devices extend out of the negative pressure device, a cavity will be formed inside the telescopic devices, thereby generating negative pressure.

[0006] Specifically, mounting seats are fixedly installed at positions near the middle on the front side of the negative pressure device and at positions near the outer side on the front side of the telescopic device. 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. One end of the output shaft of the second motor is fixedly installed with an adjustment screw rod. The adjustment screw rod penetrates through the travel frame and extends to the bottom. A travel seat is movably sleeved on the outer surface of the adjustment screw rod by means of threaded cooperation. Push rods are movably sleeved at both ends of the travel seat. A travel push seat is fixedly installed at a position near the outer side on the back side of the telescopic device. One end of the push rod is movably sleeved with the travel push seat through a shaft hole fit. When the second motor rotates, the travel seat can be driven to move downward by means of threaded drive, so that the push rod pushes the travel push seat, thereby driving the telescopic device to extend out 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 plate is fixedly installed at a position near the middle on the inner wall of the negative pressure chamber. A communication hole is opened at one end of the partition plate. The telescopic device is movably installed at positions on both sides of the partition plate inside the negative pressure chamber.

[0008] Furthermore, the telescopic device includes a telescopic seat. A mating groove is arranged at one end of the telescopic seat. The mating groove is mated with the partition plate in the initial state. A first connecting pipe seat is arranged at one end of the telescopic seat. The first connecting pipe seat is connected to the adsorption device through a pipeline. A pressure guiding pipe is arranged inside the telescopic seat cavity. The pressure guiding pipe penetrates through the mating groove and is communicated with the first connecting pipe seat.

[0009] Furthermore, the adsorption device includes an adsorption seat. A suction cup is fixedly installed at the bottom of the adsorption seat. The negative pressure area formed inside the suction cup adsorbs the precast wall panel.

[0010] Specifically, a limiting ring is fixedly installed at a position near the middle on the outer surface of the adsorption seat. The bottom of the limiting ring is in contact with the top surface of the mounting seat, thereby playing a role in fixing and limiting.

[0011] Specifically, an annular contact seat is fixedly installed at a position above the limiting ring on the inner wall of the adsorption seat. A second connecting pipe seat is fixedly installed at a position above the limiting ring on the front surface of the outer surface of the adsorption seat. 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 guiding pipe, the first connecting pipe seat, the second connecting pipe seat and the pipeline.

[0012] Specifically, the second connecting pipe seat penetrates through the adsorption seat and the annular contact seat and extends into the interior of the adsorption seat. A tail pipe is fixedly installed at a position on the back surface of the outer surface of the adsorption seat above the limiting ring. One end of the tail pipe is fixedly installed with a pressure sensor. 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] Further, when the output shaft of the telescopic machine is in the initial state, its outer surface is in contact with 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 change inside the tail pipe.

[0014] The present application has the following beneficial effects.

[0015] The device can adjust the position of the transportation device, so that the adsorption position of the transportation device and the precast wall panel can be closer to the outer frame of the precast wall panel, avoiding the problem that the precast wall panel is difficult to install due to bending deformation caused by its own weight during the adsorption and transportation process. At the same time, after the telescopic device extends out, a negative pressure will be formed inside the negative pressure chamber, and the adsorption force of the adsorption device on the precast wall panel will be supplemented, avoiding the problem that the precast wall panel falls off due to insufficient adsorption force caused by its large self-weight. In addition, the effect of automatic adjustment of the adsorption force is also achieved. Description of the Drawings

[0016] The drawings forming a part of the specification depict the embodiments disclosed in the present application and, together with the specification, are used to explain the principles disclosed in the present application.

[0017] Referring to the drawings, the present disclosure can be more clearly understood from the following detailed description, wherein:

[0018] Figure 1 is a schematic structural diagram of the present invention;

[0019] Figure 2 is a structural transportation device diagram of the present invention;

[0020] Figure 3 is a structural adjustment device diagram of the present invention;

[0021] Figure 4 is a sectional view of the structural adjustment device of the present invention;

[0022] Figure 5 is the structure of the present invention Figure 4 sectional view in the A-A direction;

[0023] Figure 6 is a structural telescopic device diagram of the present invention;

[0024] Figure 7Cross-sectional view of the telescopic device of the structure of the present invention;

[0025] Figure 8 Device diagram of the adsorption device of the structure of the present invention;

[0026] Figure 9 Cross-sectional view of the adsorption device of the structure of the present invention;

[0027] Figure 10 Structure of the present invention Figure 9 Cross-sectional view in the B-B direction in;

[0028] Figure 11 Structure of the present invention Figure 9 Enlarged view at C in.

[0029] In the figure: 1. Boom; 2. Storage bin; 3. Connecting bracket; 4. Rotating arm; 5. Mounting plate; 6. First motor; 7. Transportation device; 71. Fixed frame; 72. Mounting frame; 73. Negative pressure device; 731. Negative pressure sleeve; 732. Negative pressure chamber; 733. Partition; 734. Communication hole; 74. Telescopic device; 741. Telescopic seat; 742. Fitting groove; 743. First connecting pipe seat; 744. Pressure guiding pipe; 75. 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. Stroke frame; 78. Second motor; 79. Adjusting lead screw; 701. Stroke seat; 702. Push rod; 703. Stroke push seat; 8. Prefabricated wall panel. Detailed implementation manners

[0030] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present application.

[0031] A five-axis prefabricated wall panel assembly truss manipulator, please refer to Figure 1, including a large arm 1, a storage bin 2 is fixedly installed at a position near the bottom on the right side of the large arm 1, a connecting bracket 3 is fixedly installed at the bottom of the storage bin 2, a rotating arm 4 is movably sleeved at the bottom of the connecting bracket 3 by means of connection with a servo motor, a mounting plate 5 is fixedly installed at the bottom of the rotating arm 4, first motors 6 are fixedly installed at positions near both ends on the top of the mounting plate 5, a transport device 7 is fixedly installed at one end of the output shaft of the first motor 6, a precast wall panel 8 is adsorbed at 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, so as to drive the attitude adjustment of the precast wall panel 8 adsorbed by the transport device 7.

[0032] Please refer to Figures 2 - 4 , the transport device 7 includes a fixed frame 71, the fixed frame 71 is fixedly connected with 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 distributed in an array along the extending 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 devices 74 extend out of the negative pressure device 73, cavities will be formed inside the telescopic devices 74, thereby generating negative pressure.

[0033] Please refer to Figures 2 - 4 , mounting seats 75 are fixedly installed at positions near the middle on the front surface of the negative pressure device 73 and at positions near the outside on the front surface of the telescopic device 74, an adsorption device 76 is fixedly installed at the top of the mounting seat 75, a stroke frame 77 is fixedly installed at the back of the negative pressure device 73, a second motor 78 is fixedly installed at the top of the stroke frame 77, a regulating lead screw 79 is fixedly installed at one end of the output shaft of the second motor 78, the regulating lead screw 79 penetrates through the stroke frame 77 and extends to the bottom, a stroke seat 701 is movably sleeved on the outer surface of the regulating lead screw 79 by means of thread fit, push rods 702 are movably sleeved at both ends of the stroke seat 701, a stroke push seat 703 is fixedly installed at a position near the outside on the back surface of the telescopic device 74, one end of the push rod 702 is movably sleeved with the stroke push seat 703 by means of hole-shaft fit, when the second motor 78 rotates, it can drive the stroke seat 701 to move downward by means of thread drive, so that the push rod 702 pushes the stroke push seat 703, thereby driving the telescopic device 74 to extend out of the negative pressure device 73.

[0034] When it is necessary to install the precast wall panel 8 with a large area, the second motor 78 can be driven to rotate the adjusting screw rod 79. Under the action of screw drive, the stroke seat 701 moves downward. Under the pushing action of the push rod 702 on the stroke push seat 703, the telescopic device 74 extends out from the inside of the negative pressure bin 732, increasing the span between the three adsorption devices 76 in the transportation device 7, enabling it to adapt to the precast wall panel 8 with a large area, and making the adsorption position of the adsorption device 76 and the precast wall panel 8 closer to the frame of the precast wall panel 8. This avoids the problem that the precast wall panel 8 bends under its own weight during the transportation and installation process of the transportation device 7 adsorbing the precast wall panel 8, resulting in increased installation difficulty, and improves the stability of the device during use.

[0035] Please refer to Figure 3 and Figure 5 , the negative pressure device 73 includes a negative pressure sleeve 731. A negative pressure bin 732 is arranged inside the negative pressure sleeve 731. A partition plate 733 is fixedly installed at a position near the middle of the inner wall of the negative pressure bin 732. A communication hole 734 is opened at one end of the partition plate 733. The telescopic device 74 is movably installed at positions on both sides of the partition plate 733 inside the negative pressure bin 732.

[0036] Please refer to Figure 2 , Figures 6 - 7 , the telescopic device 74 includes a telescopic seat 741. A mating groove 742 is arranged at one end of the telescopic seat 741. The mating groove 742 is in cooperation with the partition plate 733 in the initial state. A first connecting pipe seat 743 is arranged at one end of the telescopic seat 741. The first connecting pipe seat 743 is connected to the adsorption device 76 through a pipeline. A pressure guiding pipe 744 is arranged inside the telescopic seat 741. The pressure guiding pipe 744 passes through the mating groove 742 and is communicated with the first connecting pipe seat 743.

[0037] Please refer to Figure 1 and Figures 8 - 11 , the adsorption device 76 includes an adsorption seat 761. 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 adsorbs the precast wall panel 8.

[0038] Please refer to Figure 3 and Figures 8 - 11 , a limiting ring 763 is fixedly installed at a position near the middle of the outer surface of the adsorption seat 761. The bottom of the limiting ring 763 is in contact with the top surface of the mounting seat 75, thus playing a role of fixing and limiting.

[0039] Please refer to Figures 6 - 11, an annular contact seat 764 is fixedly installed at a position on the inner wall of the adsorption seat 761 above the limit ring 763. A second connecting pipe seat 765 is fixedly installed at a position on the front surface of the outer surface of the adsorption seat 761 above the limit 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 guiding pipe 744, the first connecting pipe seat 743, the second connecting pipe seat 765 and the pipeline.

[0040] Please refer to Figure 1 and Figures 8 - 11 , the second connecting pipe seat 765 penetrates through the adsorption seat 761 and the annular contact seat 764 and extends to the inside of the adsorption seat 761. A tail pipe 766 is fixedly installed at a position on the back surface of the outer surface of the adsorption seat 761 above the limit ring 763. A pressure sensor 767 is fixedly installed at 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 at the top of the adsorption seat 761.

[0041] When the telescopic seat 741 extends out 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 guiding 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 is released from 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 precast wall panel 8 through the suction cup 762, thereby increasing the adsorption force of the suction cup 762 on the precast wall panel 8. At the same time, when the area of the precast wall panel 8 is larger, the extension amount of the telescopic device 74 is larger, and the negative pressure intensity inside the negative pressure chamber 732 is higher, so that the larger the area of the precast wall panel 8, the higher the degree of increase in the adsorption force of the negative pressure inside the negative pressure chamber 732 on the suction cup 762, making the adsorption force of the suction cup 762 proportional to the area of the precast wall panel 8, ensuring the firmness of adsorption, and at the same time realizing the automatic adjustment of the adsorption force, improving the practicability of the device.

[0042] Please refer to Figure 5 and Figures 8 - 11 , when the output shaft of the telescopic machine 769 is in the initial state, its outer surface is in contact with 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 in 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 change inside the tail pipe 766.

[0043] After the telescopic device 74 extends, since the outer surface of the output shaft of the telescopic machine 769 is in contact with the inner wall of the annular contact seat 764 when it is in the initial state, and the second connecting pipe seat 765 is in a closed state, 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 tightly sealed and external gas enters the interior, resulting in a decrease in the negative pressure intensity, the operator can timely learn about the current situation through the value sensed by the pressure sensor 767, avoiding the problem that the precast wall panel 8 falls off due to insufficient adsorption caused by external gas entering after the telescopic machine 769 retracts and adsorbs the precast wall panel 8, thus improving the reliability of the device.

[0044] The usage method of the present invention is as follows:

[0045] During the use process, when it is necessary to install a precast wall panel 8 with a large area, the second motor 78 can be driven to drive the adjusting screw rod 79 to rotate. Under the action of screw drive, the travel seat 701 moves downward. 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 chamber 732, increasing the span between the three adsorption devices 76 in the transportation device 7, enabling it to adapt to the precast wall panel 8 with a large area, and making the adsorption position of the suction cup 762 closer to the frame of the precast wall panel 8. After 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 guiding 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 is released from the closed state, so that the negative pressure acts inside the adsorption seat 761 and acts on the surface of the precast wall panel 8 through the suction cup 762, thereby increasing the adsorption force of the suction cup 762 on the precast wall panel 8. At the same time, when the area of the precast wall panel 8 is larger, the extension amount of the telescopic device 74 is larger, and the negative pressure intensity inside the negative pressure chamber 732 is higher, so that the larger the area of the precast wall panel 8, the higher the degree of improvement of the adsorption force of the negative pressure inside the negative pressure chamber 732 on the suction cup 762, making the adsorption force of the suction cup 762 proportional to the area of the precast wall panel 8, ensuring the firmness of adsorption and realizing the automatic adjustment of the adsorption force. After the telescopic device 74 extends, since the outer surface of the output shaft of the telescopic machine 769 is in contact with the inner wall of the annular contact seat 764 when it is in the initial state, and the second connecting pipe seat 765 is in a closed state, 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 tightly sealed and external gas enters the interior, resulting in a decrease in the negative pressure intensity, the operator can timely learn about 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; 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 at both ends of the inner cavity of the negative pressure device (73), and mounting seats being fixedly mounted on a front portion of the negative pressure device (73) near the middle and on a front portion of the telescopic device (74) near the outer side. (75), an adsorption device (76) is 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, the outer surface of the adjusting screw (79) is movably sleeved with a travel seat (701) by means of threaded engagement, and push rods (702) are movably sleeved on both ends of the travel seat (701), the telescopic device A travel push seat (703) is fixedly installed at a position close to the outer side of the back side of the housing (74), and one end of the push rod (702) is movably sleeved with the travel push seat (703) by means of a shaft hole. The negative pressure device (73) comprises a negative pressure sleeve (731), a negative pressure bin (732) is arranged inside the negative pressure sleeve (731), a partition (733) is fixedly installed at a position close to the middle of the inner wall of the negative pressure bin (732), 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 bin (732) at positions on both sides of the partition (733).

2. A five-axis prefabricated wall panel assembly truss robot according to claim 1, 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).

3. A five-axis prefabricated wall panel assembly truss robot according to claim 2, 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).

4. A five-axis prefabricated wall panel assembly truss robot according to claim 3, 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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