Glass curtain wall gap filling and gluing operation robot based on negative pressure adsorption principle

Abstract

The invention discloses a glass curtain wall joint filling and gluing operation robot based on the negative pressure adsorption principle. The robot comprises negative pressure adsorption telescopic legs, a gluing execution module, an alternate motion driving module and a machine body frame. The machine body frame is divided into an upper machine frame and a lower machine frame, and negative pressure adsorption telescopic legs are arranged on the two sides of the two machine frames respectively. The alternate motion driving module comprises a first linear driving module, a second linear driving module, a first I-shaped push plate, a first linear guide rail, a second I-shaped push plate, a second linear guide rail, a second guide rail sliding block and a first guide rail sliding block. First linear guide rails are arranged on the left side and the right side of the first I-shaped push plate correspondingly. First guide rail sliding blocks are arranged on the first linear guide rails. The first linear driving module is installed on the lower rack in the front-back direction, a lead screw nut of the first linear driving module is fixedly connected with a second I-shaped push plate, second linear guide rails are installed on the front side and the rear side of the second I-shaped push plate respectively, and second guide rail sliding blocks are arranged on the second linear guide rails. The second linear driving module is installed on the upper rack in the left-right direction, and a lead screw nut is fixedly connected with the first I-shaped push plate. According to the robot, automation of glass curtain wall gap filling and gluing is achieved, and protruding obstacles can be crossed.

Description

Technical Field

[0001] The invention belongs to the technical field of building robots, and in particular is a glass curtain wall caulking and gluing operation robot based on the negative pressure adsorption principle. Background Art

[0002] The installation of glass curtain walls includes nine steps: measurement and layout, construction of embedded parts, installation of connectors and columns, installation of beams, installation of glass panels, installation of doors and windows, gluing and sealing, water spraying test and construction inspection. Among them, gluing and sealing play an important role in ensuring the sealing and waterproofness of glass curtain wall installation. At present, the caulking and gluing of glass curtain walls mainly rely on manual high-altitude operations, which not only has low gluing efficiency and high work intensity, but also has major safety hazards of falling from high altitude. Therefore, the development of automated robots for caulking and gluing operations of glass curtain walls has great practical significance.

[0003] Existing wall-climbing robots based on the negative pressure adsorption principle that can work on glass curtain walls, such as glass curtain wall cleaning robots, are mostly only suitable for flat and barrier-free glass walls. For walls with raised beams, it is difficult to ensure the automation of the operation because it cannot cross the obstacles. Therefore, the present invention combines the actual working conditions of glass curtain wall caulking and gluing operations to propose a glass curtain wall caulking and gluing operation robot based on the negative pressure adsorption principle. Summary of the invention

[0004] In view of the deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a glass curtain wall caulking and gluing operation robot based on the negative pressure adsorption principle.

[0005] The present invention solves the technical problem by adopting the following technical solution:

[0006] A glass curtain wall caulking and gluing robot based on the negative pressure adsorption principle, characterized in that the robot comprises negative pressure adsorption telescopic legs, a gluing execution module, an alternating motion driving module and a body frame; the body frame is divided into an upper frame and a lower frame, the two frames are independent of each other and a plurality of negative pressure adsorption telescopic legs are respectively arranged on the left and right sides of each frame; the alternating motion driving module is connected to the upper frame and the lower frame to drive the upper frame and the lower frame to move alternately;

[0007] The alternating motion drive module includes a No. 1 linear drive module, a No. 2 linear drive module, a No. 1 I-shaped push plate, a No. 1 linear guide, a No. 2 I-shaped push plate, a No. 2 linear guide, a No. 2 guide slider and a No. 1 guide slider; a No. 1 linear guide is installed on the left and right sides of the No. 1 I-shaped push plate, and a No. 1 guide slider is provided on each of the two No. 1 linear guides, and the No. 1 guide slider is fixedly connected to the lower frame at the same time; the No. 1 linear drive module is installed on the lower frame along the front and rear direction, and the lead screw nut of the No. 1 linear drive module is fixedly connected to the No. 2 I-shaped push plate, and the front and rear sides of the No. 2 I-shaped push plate are respectively A No. 2 linear guide rail is installed, and a No. 2 guide rail slider is provided on each of the two No. 2 linear guide rails, and the No. 2 guide rail slider is fixedly connected to the upper frame; the No. 2 linear drive module is installed on the upper frame along the left-right direction, and the screw nut of the No. 2 linear drive module is fixedly connected to the No. 1 I-shaped push plate; the No. 1 linear drive module drives the upper frame and the lower frame to move along the front-back direction, and the No. 2 linear drive module drives the upper frame and the lower frame to move along the left-right direction, and the No. 1 linear drive module and the No. 2 linear drive module jointly drive the upper frame and the lower frame to move obliquely, and the robot walking is realized through the alternating movement of the upper and lower frames.

[0008] Furthermore, the glue application execution module includes a skateboard glue nozzle, a glue barrel, a lifting rod, a lifting servo, a glue barrel mounting part, a Z-shaped connecting plate, a glue servo, a glue gun wrench and a glue gun; the glue barrel mounting part is connected to the middle part of the lower frame, the glue barrel is fixedly connected to the glue barrel mounting part, the glue servo is fixed on the Z-shaped connecting plate, the output end of the glue servo is fixedly connected to the upper end of the glue gun wrench, and the lower end of the glue gun wrench is in close contact with the push rod of the glue gun; the lifting servo is located at the front end of the lower frame, the output shaft of the lifting servo is connected to one end of the lifting rod, the other end of the lifting rod is hinged to the upper end of the skateboard of the skateboard glue nozzle, and the skateboard of the skateboard glue nozzle is simultaneously slidably connected to the slide groove at the front end of the glue barrel.

[0009] Furthermore, the negative pressure adsorption telescopic leg includes a screw motor, a motor mounting part, a suction cup connecting part and a vacuum suction cup; the screw motor is fixedly connected to the corresponding frame through the motor mounting part, the middle part of the suction cup connecting part is slidably connected to the output shaft of the screw motor, and the vacuum suction cup is installed on one side of the suction cup connecting part.

[0010] Furthermore, the linear drive module No. 1 and the linear drive module No. 2 both include a stepper motor, a motor support, a bearing seat at the fixed end of the screw, a screw nut, a screw and a bearing seat at the supporting end of the screw; the screw is rotatably mounted on the corresponding frame through the bearing seat at the fixed end of the screw and the bearing seat at the supporting end of the screw, respectively, the fixed end of the screw is connected to the output shaft of the stepper motor through a coupling, the stepper motor is mounted on the corresponding frame through the motor support, and the screw nut is slidably connected to the screw.

[0011] Furthermore, the robot also includes a detection and identification module; the detection and identification module includes an offset probe, a return spring, an angle sensor, a depth camera and a camera bracket; the depth camera is installed at the front end of the glue barrel through the camera bracket, the angle sensor is fixedly connected to the front end of the skateboard glue nozzle and inserted into the offset probe, and a return spring is provided between the connecting plate of the offset probe and the skateboard glue nozzle.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. The present invention can realize the automation of glass curtain wall caulking and gluing, and realize the application of wall-climbing robots in glass curtain wall caulking and gluing operations, which is conducive to solving the problems of high work intensity, low efficiency and high risk factor existing in manual gluing.

[0014] 2. The present invention uses the upper and lower frames to alternately adsorb each other to realize the robot walking, which not only makes the robot have the advantage of a foot-type robot that can cross raised obstacles, but also makes the control simpler and the movement more stable. The upper and lower frames respectively realize relative movement through two linear drive modules, and the linear motion of the two linear drive modules can be synthesized to realize the movement of the robot in any direction on the glass curtain wall, which is conducive to quickly adjusting the movement trajectory of the robot.

[0015] 3. The present invention utilizes a vacuum air circuit one-way valve and a two-position three-way normally closed electromagnetic valve to control the vacuum adsorption and vacuum breaking of two groups of vacuum suction cups with one vacuum pump, thereby saving the installation space of the vacuum system and reducing the overall weight of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A perspective view of the present invention;

[0017] Figure 2 is a side view of the present invention;

[0018] Figure 3 A top view of the present invention;

[0019] Figure 4 It is a structural schematic diagram of the alternating adsorption driving module of the present invention;

[0020] Figure 5 It is a structural schematic diagram of the upper frame of the present invention;

[0021] Figure 6 It is a structural schematic diagram of the lower frame of the present invention;

[0022] Figure 7 It is a schematic structural diagram of the skateboard nozzle of the present invention;

[0023] In the figure, 100-negative pressure adsorption telescopic leg; 200-glue coating execution module; 300-alternating walking drive module; 400-body frame; 500-vacuum system; 600-detection and identification module;

[0024] 101-screw motor; 102-screw motor mounting; 103-suction cup connector; 104-vacuum suction cup; 201-skateboard glue nozzle; 202-limit baffle; 203-glue barrel; 204-lifting rod; 205-lifting servo; 206-glue barrel mounting; 207-glue barrel fixing plate; 208-Z-shaped connecting plate; 209-glue servo; 210-glue gun wrench; 211-glue gun; 301-stepping motor; 302-motor support; 303-coupling; 304-screw fixed end bearing seat; 305-screw nut; 306-screw nut connector; 307-screw; 3 08-bearing seat at the support end of the screw; 309-No. 1 I-shaped push plate; 310-No. 1 linear guide; 311-No. 2 I-shaped push plate; 312-No. 2 linear guide; 313-No. 2 guide slider; 314-No. 1 guide slider; 401-lower frame; 402-upper frame; 501-micro vacuum pump; 502-air pipe three-way connector; 503-vacuum airway one-way valve; 504-air guide pipe; 505-manifold; 506-two-position three-way normally closed solenoid valve; 601-offset probe; 602-return spring; 603-angle sensor; 604-depth camera; 605-camera bracket. DETAILED DESCRIPTION

[0025] Specific embodiments are given below in conjunction with the accompanying drawings. The specific embodiments are only used to introduce the technical solutions of the present invention in detail and are not intended to limit the protection scope of the present application.

[0026] The present invention provides a glass curtain wall caulking and gluing operation robot based on the negative pressure adsorption principle (referred to as robot, see Figures 1 to 7 ), including negative pressure adsorption telescopic legs 100, a gluing execution module 200, an alternating motion driving module 300 and a body frame 400; the body frame 400 is divided into an upper frame 402 and a lower frame 401, the two frames are independent of each other and a plurality of negative pressure adsorption telescopic legs 100 are respectively arranged on the left and right sides of each frame, the alternating motion driving module 300 is simultaneously connected to the upper frame 402 and the lower frame 401, to realize the walking of the negative pressure adsorption telescopic legs 100 on the two frames and the alternating adsorption of the glass curtain wall, thereby realizing the walking of the robot; the gluing execution module 200 is installed on the lower frame 401, for gluing operation, and is beneficial to lowering the center of gravity of the robot.

[0027] The alternating motion drive module 300 includes a No. 1 linear drive module, a No. 2 linear drive module, a No. 1 I-shaped push plate 309, a No. 1 linear guide rail 310, a No. 2 I-shaped push plate 311, a No. 2 linear guide rail 312, a No. 2 guide rail slider 313 and a No. 1 guide rail slider 314; wherein, No. 1 linear guide rails 310 are respectively installed on the left and right sides of the bottom of the No. 1 I-shaped push plate 309, and No. 1 guide rail sliders 314 are respectively provided on the two No. 1 linear guide rails 310, and the No. 1 guide rail sliders 314 are fixedly connected to the lower frame 401 at the same time, so that the No. 1 I-shaped push plate 309 can slide back and forth on the lower frame 401 in the front and rear directions; the No. 1 linear drive module is installed along the front The rear direction is installed on the lower frame 401, the screw nut of the No. 1 linear drive module is fixedly connected to the No. 2 I-shaped push plate 311 through a screw nut connector, and the No. 2 linear guide rails 312 are respectively installed on the front and rear sides of the No. 2 I-shaped push plate 311, and the two No. 2 linear guide rails 312 are respectively provided with No. 2 guide rail sliders 313, and the No. 2 guide rail sliders 313 are fixedly connected to the upper frame 402 at the same time, so that the No. 2 I-shaped push plate 311 can reciprocate in the left and right directions relative to the upper frame 402; the No. 2 linear drive module is installed on the upper frame 402 along the left and right directions, and the screw nut of the No. 2 linear drive module is fixedly connected to the No. 1 I-shaped push plate 309 through a screw nut connector;

[0028] The upper frame 402 and the lower frame 401 are moved in the front-to-back direction by the No. 1 linear drive module, and the upper frame 402 and the lower frame 401 are moved in the left-to-right direction by the No. 2 linear drive module. The No. 1 linear drive module and the No. 2 linear drive module work simultaneously to realize the oblique movement of the upper frame 402 and the lower frame 401. When the negative pressure adsorption telescopic legs 100 on both sides of the upper frame 402 do not adsorb the glass curtain wall, and the negative pressure adsorption telescopic legs 100 on both sides of the lower frame 401 are adsorbed on the glass curtain wall, it is equivalent to that the upper frame 402 is suspended in the air and the lower frame 401 is fixedly connected to the glass curtain wall. The No. 1 linear drive module is started to drive the lead screw nut of the No. 1 linear drive module to slide on the lead screw, so that the No. 2 I-shaped push plate 311 moves in the front-to-back direction on the lower frame 401, so as to realize the movement of the upper frame 402 in the front-to-back direction. The No. 2 linear drive module is started, and the lead screw nut of the No. 2 linear drive module remains stationary, and the lead screw slides relative to the lead screw nut, driving The upper frame 402 moves in the left and right directions; the No. 1 linear drive module and the No. 2 linear drive module are started at the same time, and the motion coupling of the lead screw nuts of the two linear drive modules realizes the oblique motion of the upper frame 402; when the negative pressure adsorption telescopic legs 100 on both sides of the lower frame 401 do not adsorb the glass curtain wall, and the negative pressure adsorption telescopic legs 100 on both sides of the upper frame 402 are adsorbed on the glass curtain wall, it is equivalent to that the lower frame 401 is suspended in the air, and the upper frame 402 is fixedly connected to the glass curtain wall, and the No. 1 linear drive module is started, and the lead screw nut of the No. 1 linear drive module remains stationary, and the lead screw slides relative to the lead screw nut, driving the lower frame 401 to move in the front and rear directions; the No. 2 linear drive module is started, and the lead screw nut of the No. 2 linear drive module is driven to slide on the lead screw, and the lower frame 401 moves together with the lead screw nut, so that the lower frame 401 moves in the left and right directions; the No. 1 linear drive module and the No. 2 linear drive module are started at the same time to realize the oblique motion of the lower frame 401.

[0029] The structures of the linear drive module No. 1 and the linear drive module No. 2 are the same, both of which include a stepper motor 301, a motor support 302, a coupling 303, a bearing seat 304 at the fixed end of the screw, a screw nut 305, a screw nut connecting piece 306, a screw 307 and a bearing seat 308 at the supporting end of the screw; the fixed end and the supporting end of the screw 307 are rotatably mounted on the corresponding frame through the bearing seat 304 at the fixed end of the screw and the bearing seat 308 at the supporting end of the screw, respectively, the fixed end of the screw 307 is connected to the output shaft of the stepper motor 301 through the coupling 303, the stepper motor 301 is mounted on the corresponding frame through the motor support 302, the screw nut 305 is slidably connected to the screw 307, and the screw nut connecting piece 306 is fixedly connected to the screw nut 305; the screw 307 is driven to rotate by the stepper motor 301, so that the screw nut 305 slides back and forth on the screw 307.

[0030] The glue application execution module 200 includes a skateboard glue nozzle 201, a limit baffle 202, a glue barrel 203, a lifting rod 204, a lifting servo 205, a glue barrel mounting part 206, a glue barrel fixing plate 207, a Z-shaped connecting plate 208, a glue application servo 209, a glue gun wrench 210 and a glue gun 211; wherein, the glue barrel mounting part 206 is connected to the middle part of the lower frame 401, the glue barrel fixing plate 207 is fixedly connected to the glue barrel mounting part 206, and the front and rear ends of the glue barrel 203 are fixedly connected to the glue barrel fixing plate 207 through a saddle hoop; one end of the Z-shaped connecting plate 208 is fixedly connected to the tail end of the glue barrel fixing plate 207, the glue application servo 209 is fixedly installed on the other end of the Z-shaped connecting plate 208, the output end of the glue application servo 209 is fixedly connected to the upper end of the glue gun wrench 210, and the lower end of the glue gun wrench 210 is connected to the push rod of the glue gun 211. Close contact; the lifting servo 205 is installed at the front end of the lower frame 401, the output shaft of the lifting servo 205 is connected to one end of the lifting rod 204, the other end of the lifting rod 204 is hinged to the upper end of the skateboard of the skateboard glue nozzle 201, and the skateboard of the skateboard glue nozzle 201 is also slidably connected with the slide groove at the front end of the glue barrel 203, and the limit baffle 202 is installed in the slide groove at the front end of the glue barrel 203 to limit the sliding stroke of the skateboard glue nozzle 201; the glue servo 209 drives the glue gun wrench 210 to rotate, so that the glue gun wrench 210 pushes the push rod of the glue gun 211 to move to achieve glue pressing, so that the glue is squeezed out from the skateboard glue nozzle 201 to fill the gap of the glass curtain wall; the lifting servo 205 drives the lifting rod 204 to move, realize the lifting of the skateboard glue nozzle 201, and avoid the glue nozzle from colliding with the raised obstacles on the glass curtain wall.

[0031] The negative pressure adsorption telescopic leg 100 includes a screw motor 101, a motor mounting part 102, a suction cup connector 103 and a vacuum suction cup 104; the screw motor 101 is fixedly connected to the corresponding frame through the motor mounting part 102, the middle part of the suction cup connector 103 is slidably connected to the output shaft of the screw motor 101, and a vacuum suction cup 104 is provided on one side of the suction cup connector 103; the suction cup connector 103 is driven by the screw motor 101 to slide reciprocatingly up and down, thereby realizing the up and down movement of the vacuum suction cup 104.

[0032] The vacuum system 500 includes a micro vacuum pump 501, a three-way trachea joint 502, a vacuum air circuit check valve 503, an air guide tube 504, a manifold 505, and a two-position, three-way normally closed electromagnetic valve 506; wherein the micro vacuum pump 501 is fixed on the upper frame 402, the air inlet of the micro vacuum pump 501 is connected to two air guide tubes 504 through a three-way trachea joint 502, the two air guide tubes 504 are respectively provided with a vacuum air circuit check valve 503, the ends of the two air guide tubes 504 are respectively connected to a manifold 505, the two manifolds 505 are respectively provided with a two-position, three-way normally closed electromagnetic valve 506, a two-position, three-way normally closed electromagnetic valve 506, and a two-position, three-way normally closed electromagnetic valve 506. The upper air inlet of the normally closed solenoid valve 506 is connected to the vacuum suction cups 104 of all the negative pressure adsorption telescopic legs 100 of the upper frame 402 through the air duct 504, and the upper air inlet of another two-position three-position normally closed solenoid valve 506 is connected to the vacuum suction cups 104 of all the negative pressure adsorption telescopic legs 100 of the lower frame 401 through the air duct 504; the vacuum adsorption and vacuum breaking of the two groups of vacuum suction cups are controlled by a miniature vacuum pump 501, and the vacuum air path one-way valve 503 can prevent the air in a group of vacuum suction cups that has not been exhausted after the two-position three-position normally closed solenoid valve 506 is opened from entering the vacuum suction cups that have been exhausted.

[0033] The robot also includes a detection and identification module 600; the detection and identification module 600 includes an offset probe 601, a return spring 602, an angle sensor 603, a depth camera 604 and a camera bracket 605; wherein the depth camera 604 is installed at the front end of the glue barrel fixing plate 207 through the camera bracket 605, the angle sensor 603 is fixedly connected to the front end of the skateboard glue nozzle 201, and is inserted into the offset probe 601, and a return spring 602 for resetting the angle sensor 603 is provided between the connecting plate of the offset probe 601 and the skateboard glue nozzle 201; the robot identifies glue seams and raised obstacles through the depth camera 604, and detects the offset direction and offset angle of the glue nozzle through the offset probe 601 and the angle sensor 603.

[0034] The working principle and workflow of the present invention are as follows:

[0035] Aim the skateboard glue nozzle 201 at the gap of the glass curtain wall, and adjust the distance between the skateboard glue nozzle 201 and the gap; place the robot on the glass curtain wall and start the micro vacuum pump 501 to exhaust the air in the vacuum suction cup, so that the robot is attached to the glass curtain wall;

[0036] The depth camera 604 scans and obtains the path information of the gap. When the negative pressure adsorption telescopic legs 100 on both sides of the upper frame 402 do not adsorb the glass curtain wall, and the negative pressure adsorption telescopic legs 100 on both sides of the lower frame 401 adsorb on the glass curtain wall, the No. 1 linear drive module and the No. 2 linear drive module are controlled to drive the upper frame 402 to take a step forward. After the upper frame 402 completes the leap, the screw motor 101 of the negative pressure adsorption telescopic legs 100 on both sides of the upper frame 402 is started to drive the vacuum suction cup 104 to move downward. After the vacuum suction cup 104 contacts the glass curtain wall, the two-position three-way normally closed solenoid valve 506 connected to the vacuum suction cup 104 is energized, and the micro vacuum pump 501 starts to work to discharge the air in the vacuum suction cup 104, so that the vacuum suction cup 104 is completely adsorbed to the glass curtain wall, and the negative pressure adsorption telescopic legs 104 on both sides of the upper frame 402 are completely adsorbed. The legs 100 are adsorbed on the glass curtain wall; then, another two-position three-way normally closed solenoid valve 506 is powered off, and the negative pressure adsorption telescopic legs 100 on both sides of the lower frame 401 break the vacuum, and the screw motor 101 of the group of negative pressure adsorption telescopic legs 100 drives the corresponding vacuum suction cups 104 to move upward, so that the group of negative pressure adsorption telescopic legs 100 shrinks and completely separates from the glass curtain wall; then, the No. 1 linear drive module and the No. 2 linear drive module are controlled to drive the lower frame 401 to take a step forward, and after the lower frame 401 completes the leap, the negative pressure adsorption telescopic legs 100 on both sides of the lower frame 401 adsorb the glass curtain wall; repeat the above process, so that the negative pressure adsorption telescopic legs 100 on the upper frame 402 and the lower frame 401 alternately adsorb the glass curtain wall, so that the robot can walk on the glass curtain wall, and then the skateboard nozzle 201 moves along the path of the gap;

[0037] During the movement of the skateboard glue nozzle 201, the glue servo 209 is driven to drive the glue gun wrench 210 to rotate, so that the glue gun wrench 210 pushes the push rod of the glue gun 211 to move to achieve glue pressing, so that the glue is squeezed out from the skateboard glue nozzle 201 to fill the gap of the glass curtain wall; the offset direction and offset angle of the glue nozzle are detected by the offset probe 601 and the angle sensor 603;

[0038] When the depth camera 604 identifies a raised obstacle, the gluing servo 209 stops rotating and the lifting servo 205 is started to drive the lifting rod 204 to move, thereby lifting the skateboard glue nozzle 201 and the offset probe 601 to prevent the skateboard glue nozzle 201 and the offset probe 601 from colliding with the raised obstacle. After the robot completely crosses the raised obstacle, the lifting servo 205 drives the skateboard glue nozzle 201 to reset, and the gluing servo 209 resumes rotating to continue the caulking and gluing operation.

[0039] Any matters not described in the present invention are applicable to the prior art.

Claims

1. A glass curtain wall caulking and gluing robot based on the negative pressure adsorption principle, characterized in that: The robot comprises a negative pressure adsorption telescopic leg, a glue application execution module, an alternating motion driving module and a body frame; the body frame is divided into an upper frame and a lower frame, the two frames are independent of each other and a plurality of negative pressure adsorption telescopic legs are respectively arranged on the left and right sides of each frame; the alternating motion driving module is connected with the upper frame and the lower frame to drive the upper frame and the lower frame to move alternately; The alternating motion drive module includes a No. 1 linear drive module, a No. 2 linear drive module, a No. 1 I-shaped push plate, a No. 1 linear guide, a No. 2 I-shaped push plate, a No. 2 linear guide, a No. 2 guide slider and a No. 1 guide slider; a No. 1 linear guide is installed on the left and right sides of the No. 1 I-shaped push plate, and a No. 1 guide slider is provided on each of the two No. 1 linear guides, and the No. 1 guide slider is fixedly connected to the lower frame at the same time; the No. 1 linear drive module is installed on the lower frame along the front and rear direction, and the lead screw nut of the No. 1 linear drive module is fixedly connected to the No. 2 I-shaped push plate, and the front and rear sides of the No. 2 I-shaped push plate are respectively A No. 2 linear guide rail is installed, and a No. 2 guide rail slider is provided on each of the two No. 2 linear guide rails, and the No. 2 guide rail slider is fixedly connected to the upper frame; the No. 2 linear drive module is installed on the upper frame along the left-right direction, and the screw nut of the No. 2 linear drive module is fixedly connected to the No. 1 I-shaped push plate; the No. 1 linear drive module drives the upper frame and the lower frame to move along the front-back direction, and the No. 2 linear drive module drives the upper frame and the lower frame to move along the left-right direction, and the No. 1 linear drive module and the No. 2 linear drive module jointly drive the upper frame and the lower frame to move obliquely, and the robot walking is realized through the alternating movement of the upper and lower frames.

2. The glass curtain wall caulking and gluing robot based on the negative pressure adsorption principle according to claim 1 is characterized in that: The glue application execution module includes a skateboard glue nozzle, a glue barrel, a lifting rod, a lifting servo, a glue barrel mounting part, a Z-shaped connecting plate, a glue application servo, a glue gun wrench and a glue gun; the glue barrel mounting part is connected to the middle part of the lower frame, the glue barrel is fixedly connected to the glue barrel mounting part, the glue application servo is fixed on the Z-shaped connecting plate, the output end of the glue application servo is fixedly connected to the upper end of the glue gun wrench, and the lower end of the glue gun wrench is in close contact with the push rod of the glue gun; the lifting servo is located at the front end of the lower frame, the output shaft of the lifting servo is connected to one end of the lifting rod, the other end of the lifting rod is hinged to the upper end of the skateboard of the skateboard glue nozzle, and the skateboard of the skateboard glue nozzle is simultaneously slidably connected to the slide groove at the front end of the glue barrel.

3. The glass curtain wall caulking and gluing robot based on the negative pressure adsorption principle according to claim 1 or 2, characterized in that: The negative pressure adsorption telescopic leg includes a screw motor, a motor mounting part, a suction cup connecting part and a vacuum suction cup; the screw motor is fixedly connected to the corresponding frame through the motor mounting part, the middle part of the suction cup connecting part is slidably connected to the output shaft of the screw motor, and the vacuum suction cup is installed on one side of the suction cup connecting part.

4. The glass curtain wall caulking and gluing robot based on the negative pressure adsorption principle according to claim 1 is characterized in that: The No. 1 linear drive module and the No. 2 linear drive module both include a stepper motor, a motor support, a bearing seat at the fixed end of the screw, a screw nut, a screw and a bearing seat at the supporting end of the screw; the screw is rotatably mounted on the corresponding frame through the bearing seat at the fixed end of the screw and the bearing seat at the supporting end of the screw, respectively, the fixed end of the screw is connected to the output shaft of the stepper motor through a coupling, the stepper motor is mounted on the corresponding frame through the motor support, and the screw nut is slidably connected to the screw.

5. The glass curtain wall caulking and gluing robot based on the negative pressure adsorption principle according to claim 1 or 4, characterized in that: The robot also includes a detection and identification module; the detection and identification module includes an offset probe, a return spring, an angle sensor, a depth camera and a camera bracket; the depth camera is installed at the front end of the glue barrel through the camera bracket, the angle sensor is fixedly connected to the front end of the skateboard glue nozzle and inserted into the offset probe, and a return spring is provided between the connecting plate of the offset probe and the skateboard glue nozzle.

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