Glass curtain wall grouting and adhesive application robot based on negative pressure adsorption principle

Abstract

This invention discloses a glass curtain wall grouting and adhesive application robot based on the principle of negative pressure adsorption, comprising negative pressure adsorption telescopic legs, an adhesive application execution module, an alternating motion drive module, and a body frame; the body frame is divided into an upper frame and a lower frame, with negative pressure adsorption telescopic legs respectively located on both sides of the two frames; the alternating motion drive module includes a first linear drive module, a second linear drive 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 slider, and... The robot comprises a first guide rail slider; a first linear guide rail is installed on each of the left and right sides of the first I-shaped push plate, and a first guide rail slider is installed on each of the first linear guide rails; a first linear drive module is mounted on the lower frame along the front-rear direction, and its lead screw nut is fixedly connected to the second I-shaped push plate, which has second linear guide rails installed on its front and rear sides, and a second guide rail slider is installed on each of the second linear guide rails; a second linear drive module is mounted on the upper frame along the left-right direction, and its lead screw nut is fixedly connected to the first I-shaped push plate. This robot automates the grouting and adhesive application of glass curtain walls and can traverse protruding obstacles.

Description

Technical Field

[0001] This invention belongs to the field of construction robot technology, specifically a glass curtain wall grouting and adhesive application robot based on the principle of negative pressure adsorption. Background Technology

[0002] The installation of glass curtain walls involves nine steps: measurement and layout, construction of embedded parts, installation of connectors and columns, installation of beams, installation of glass panels, installation of door and window sashes, sealant application, water spray test, and construction inspection. Among these, sealant application plays a crucial role in ensuring the sealing and waterproofing of the glass curtain wall installation. Currently, the caulking and sealing work of glass curtain walls mainly relies on manual high-altitude operations, which is not only inefficient and labor-intensive but also poses a significant safety hazard of falls from heights. Therefore, developing automated robots for glass curtain wall caulking and sealing operations is of great practical significance.

[0003] Existing wall-climbing robots based on the principle of negative pressure adsorption, such as glass curtain wall cleaning robots, are mostly only suitable for flat, unobstructed glass walls. For walls with protruding beams, they cannot overcome the obstacles, making automation difficult. Therefore, this invention proposes a glass curtain wall grouting and adhesive application robot based on the principle of negative pressure adsorption, taking into account the actual working conditions of glass curtain wall grouting and adhesive application. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the technical problem this invention aims to solve is to provide a glass curtain wall grouting and adhesive application robot based on the principle of negative pressure adsorption.

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

[0006] A glass curtain wall grouting and adhesive application robot based on the principle of negative pressure adsorption is characterized in that the robot includes negative pressure adsorption telescopic legs, an adhesive application execution module, an alternating motion drive 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 each frame has multiple negative pressure adsorption telescopic legs on its left and right sides; the alternating motion drive module is connected to the upper frame and the lower frame, driving the upper frame and the lower frame to move alternately;

[0007] The alternating motion drive module includes a first linear drive module, a second linear drive 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 slider, and a first guide rail slider. First linear guide rails are installed on the left and right sides of the first I-shaped push plate, and each of the two first linear guide rails has a first guide rail slider, which is simultaneously fixedly connected to the lower frame. The first linear drive module is installed on the lower frame along the front-rear direction, and the lead screw nut of the first linear drive module is fixedly connected to the second I-shaped push plate. The front and rear sides of the second I-shaped push plate are respectively... The system is equipped with two linear guide rails, each with a slider. These sliders are fixedly connected to the upper frame. A second linear drive module is mounted on the upper frame in the left-right direction, and its lead screw nut is fixedly connected to a first I-shaped push plate. The first linear drive module drives the upper and lower frames to move in the front-back direction, while the second linear drive module drives them in the left-right direction. Together, the first and second linear drive modules drive the upper and lower frames to move diagonally. The robot walks by alternating the movements of the upper and lower frames.

[0008] Furthermore, the glue application module includes a sliding nozzle, a glue bucket, a lifting rod, a lifting servo, a glue bucket mounting component, a Z-shaped connecting plate, a glue dispensing servo, a glue gun wrench, and a glue gun. The glue bucket mounting component is connected to the middle of the lower frame, the glue bucket is fixedly connected to the glue bucket mounting component, the glue dispensing servo is fixed on the Z-shaped connecting plate, the output end of the glue dispensing 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 sliding plate of the sliding nozzle, and the sliding plate of the sliding nozzle is simultaneously slidably connected to the groove at the front end of the glue bucket.

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

[0010] Furthermore, both the first linear drive module and the second linear drive module include a stepper motor, a motor support, a fixed end bearing housing for the lead screw, a lead screw nut, a lead screw, and a supporting end bearing housing for the lead screw. The lead screw is rotatably mounted on the corresponding frame via the fixed end bearing housing and the supporting end bearing housing, respectively. The fixed end of the lead screw is connected to the output shaft of the stepper motor via a coupling. The stepper motor is mounted on the corresponding frame via the motor support, and the lead screw nut is slidably connected to the lead screw.

[0011] Furthermore, the robot also includes a detection and recognition module; the detection and recognition module includes an offset probe, a return spring, an angle sensor, a depth camera, and a camera bracket; the depth camera is mounted on the front end of the rubber drum via the camera bracket, the angle sensor is fixedly connected to the front end of the skateboard nozzle and inserted into the offset probe, and a return spring is provided between the connecting plate of the offset probe and the skateboard nozzle.

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

[0013] 1. This invention can automate the grouting and adhesive application of glass curtain walls, enabling the application of wall-climbing robots in glass curtain wall grouting and adhesive application operations, which helps to solve the problems of high labor intensity, low efficiency and high risk associated with manual adhesive application.

[0014] 2. This invention employs an alternating adsorption mechanism between the upper and lower frames to enable robot movement. This not only gives the robot the advantage of legged robots, allowing it to traverse protruding obstacles, but also simplifies control and improves motion stability. The upper and lower frames move relative to each other through two linear drive modules, and the linear movements of the two modules can be combined to allow the robot to move in any direction on the glass curtain wall, facilitating rapid adjustment of the robot's trajectory.

[0015] 3. This invention utilizes a vacuum circuit one-way valve and a two-position three-normally closed solenoid valve to achieve vacuum adsorption and vacuum breaking of two sets of vacuum suction cups controlled by a single vacuum pump, saving installation space of the vacuum system and reducing the overall weight of the robot. Attached Figure Description

[0016] Figure 1 This is a perspective view of the present invention;

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

[0018] Figure 3 This is a top view of the present invention;

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

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

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

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

[0023] In the diagram, 100 is the negative pressure adsorption telescopic leg; 200 is the glue application module; 300 is the alternating walking drive module; 400 is the body frame; 500 is the vacuum system; and 600 is the detection and identification module.

[0024] 101-Lead screw motor; 102-Lead screw motor mounting part; 103-Suction cup connector; 104-Vacuum suction cup; 201-Slide plate nozzle; 202-Limit baffle; 203-Glue bucket; 204-Lifting rod; 205-Lifting servo; 206-Glue bucket mounting part; 207-Glue bucket fixing plate; 208-Z-shaped connecting plate; 209-Glue dispensing servo; 210-Glue gun wrench; 211-Glue gun; 301-Stepper motor; 302-Motor support; 303-Coupling; 304-Lead screw fixed end bearing seat; 305-Lead screw nut; 306-Lead screw nut connector; 307-Lead screw; 3 08-Screw support end bearing seat; 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 rail slider; 314-No. 1 guide rail slider; 401-Lower frame; 402-Upper frame; 501-Miniature vacuum pump; 502-Air pipe tee connector; 503-Vacuum circuit 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 Implementation

[0025] Specific embodiments are given below with reference to the accompanying drawings. These specific embodiments are only used to describe the technical solution of the present invention in detail, and are not intended to limit the scope of protection of this application.

[0026] This invention provides a glass curtain wall grouting and adhesive application robot based on the principle of negative pressure adsorption (hereinafter referred to as the robot, see below). Figures 1-7 The robot comprises a negative pressure adsorption telescopic leg 100, an adhesive application execution module 200, an alternating motion drive 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 each frame has multiple negative pressure adsorption telescopic legs 100 on its left and right sides. The alternating motion drive module 300 is connected to both the upper frame 402 and the lower frame 401 to enable the walking of the negative pressure adsorption telescopic legs 100 on the two frames and the alternating adsorption of the glass curtain wall, thereby enabling the robot to walk. The adhesive application execution module 200 is installed on the lower frame 401 for adhesive application and helps to lower the robot's center of gravity.

[0027] The alternating motion drive module 300 includes a first linear drive module, a second linear drive module, a first I-shaped push plate 309, a first linear guide rail 310, a second I-shaped push plate 311, a second linear guide rail 312, a second guide rail slider 313, and a first guide rail slider 314. The first I-shaped push plate 309 has first linear guide rails 310 mounted on its left and right sides at its bottom, and each of the two first linear guide rails 310 has a first guide rail slider 314. The first guide rail sliders 314 are simultaneously fixed to the lower frame 401, allowing the first I-shaped push plate 309 to slide back and forth on the lower frame 401. The first linear drive module moves forward... The linear drive module is mounted on the lower frame 401 in the rear direction. The lead screw nut of the first linear drive module is fixedly connected to the second I-shaped push plate 311 through the lead screw nut connector. The second linear guide rail 312 is mounted on the front and rear sides of the second I-shaped push plate 311, and the two second linear guide rails 312 are respectively equipped with second guide rail sliders 313. The second guide rail sliders 313 are fixedly connected to the upper frame 402, so that the second I-shaped push plate 311 can slide back and forth relative to the upper frame 402 in the left and right direction. The second linear drive module is mounted on the upper frame 402 in the left and right direction, and the lead screw nut of the second linear drive module is fixedly connected to the first I-shaped push plate 309 through the lead screw nut connector.

[0028] The first linear drive module enables the upper frame 402 and lower frame 401 to move in the front-to-back direction, while the second linear drive module enables them to move in the left-to-right direction. Simultaneous operation of both modules enables diagonal movement of the upper and lower frames 402 and 401. When the negative pressure suction telescopic legs 100 on both sides of the upper frame 402 are not adhering to the glass curtain wall, and the negative pressure suction telescopic legs 100 on both sides of the lower frame 401 are adhering to the glass curtain wall, it is equivalent to the upper frame 402 being suspended and the lower frame 401 being fixed to the glass curtain wall. Activating the first linear drive module causes the lead screw nut to slide on the lead screw, causing the second I-shaped push plate 311 to move in the front-to-back direction on the lower frame 401, thus enabling the upper frame 402 to move in the front-to-back direction. Activating the second linear drive module keeps the lead screw nut stationary, while the lead screw slides relative to the lead screw nut, driving... The upper frame 402 moves in the left-right direction; simultaneously, the first and second linear drive modules are activated, and the movement of the lead screws and nuts of the two linear drive modules is coupled to achieve the oblique movement of the upper frame 402; when the negative pressure adsorption telescopic legs 100 on both sides of the lower frame 401 are not adsorbed onto the glass curtain wall, and the negative pressure adsorption telescopic legs 100 on both sides of the upper frame 402 are adsorbed onto the glass curtain wall, it is equivalent to the lower frame 401 being suspended in the air, and the upper frame 402 being fixed to the glass curtain wall. The first linear drive module is activated, and the lead screw and nut of the first linear drive module remain stationary, while the lead screw slides relative to the lead screw and nut, driving the lower frame 401 to move in the front-back direction; the second linear drive module is activated, driving the lead screw and nut of the second linear drive module to slide on the lead screw, and the lower frame 401 moves together with the lead screw and nut, achieving the left-right movement of the lower frame 401; simultaneously, the first and second linear drive modules are activated to achieve the oblique movement of the lower frame 401.

[0029] The No. 1 linear drive module and the No. 2 linear drive module have the same structure, both including a stepper motor 301, a motor support 302, a coupling 303, a lead screw fixed end bearing seat 304, a lead screw nut 305, a lead screw nut connector 306, a lead screw 307, and a lead screw support end bearing seat 308. The fixed end and support end of the lead screw 307 are rotatably mounted on the corresponding frame through the lead screw fixed end bearing seat 304 and the lead screw support end bearing seat 308, respectively. The fixed end of the lead 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 lead screw nut 305 is slidably connected to the lead screw 307, and the lead screw nut connector 306 is fixedly connected to the lead screw nut 305. The stepper motor 301 drives the lead screw 307 to rotate, causing the lead screw nut 305 to slide back and forth on the lead screw 307.

[0030] The glue application module 200 includes a sliding glue nozzle 201, a limiting baffle 202, a glue bucket 203, a lifting rod 204, a lifting servo motor 205, a glue bucket mounting component 206, a glue bucket fixing plate 207, a Z-shaped connecting plate 208, a glue application servo motor 209, a glue gun wrench 210, and a glue gun 211. The glue bucket mounting component 206 is connected to the middle of the lower frame 401, the glue bucket fixing plate 207 is fixedly connected to the glue bucket mounting component 206, and the front and rear ends of the glue bucket 203 are fixedly connected to the glue bucket fixing plate 207 via saddle-shaped clamps. One end of the Z-shaped connecting plate 208 is fixedly connected to the tail end of the glue bucket fixing plate 207, the glue application servo motor 209 is fixedly installed at the other end of the Z-shaped connecting plate 208, the output end of the glue application servo motor 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, and the other end of the lifting rod 204 is hinged to the upper end of the sliding plate of the sliding nozzle 201. The sliding plate of the sliding nozzle 201 is simultaneously slidably connected to the sliding groove at the front end of the glue tank 203. The limiting baffle 202 is installed in the sliding groove at the front end of the glue tank 203 to limit the sliding stroke of the sliding nozzle 201; the glue dispensing 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 achieve glue pressing, so that the glue is squeezed out from the sliding nozzle 201 to fill the gaps in the glass curtain wall; the lifting servo 205 drives the lifting rod 204 to move, thereby lifting the sliding nozzle 201 and preventing the nozzle from colliding with protruding obstacles on the glass curtain wall.

[0031] The negative pressure adsorption telescopic leg 100 includes a lead screw motor 101, a motor mounting part 102, a suction cup connector 103, and a vacuum suction cup 104. The lead 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 lead screw motor 101. A vacuum suction cup 104 is provided on one side of the suction cup connector 103. The vacuum suction cup 104 is moved up and down by driving the suction cup connector 103 to slide back and forth.

[0032] The vacuum system 500 includes a miniature vacuum pump 501, a tee connector 502, a vacuum circuit check valve 503, air guide pipes 504, a manifold 505, and a two-position three-way normally closed solenoid valve 506. The miniature vacuum pump 501 is fixed to the upper frame 402. The suction port of the miniature vacuum pump 501 is connected to two air guide pipes 504 via the tee connector 502. Each of the two air guide pipes 504 is equipped with a vacuum circuit check valve 503. The ends of each of the two air guide pipes 504 are connected to a manifold 505. Each of the two manifolds 505 is equipped with a two-position three-way normally closed solenoid valve 506. Normally, the upper air inlet of the 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 via the air guide pipe 504. The upper air inlet of another two-position three-way 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 via the air guide pipe 504. The vacuum adsorption and vacuum breaking of the two sets of vacuum suction cups are controlled by a micro vacuum pump 501. The vacuum circuit check valve 503 can prevent the air in the set of vacuum suction cups that has not been discharged after the two-position three-way normally closed solenoid valve 506 is in operation from entering the vacuum suction cups that have been discharged.

[0033] The robot also includes a detection and recognition module 600; the detection and recognition 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 mounted on the front end of the glue bucket fixing plate 207 via the camera bracket 605, the angle sensor 603 is fixedly connected to the front end of the sliding glue nozzle 201 and 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 sliding glue nozzle 201; the robot identifies glue seams and protruding 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 this invention are as follows:

[0035] Align the skateboard nozzle 201 with the gap in the glass curtain wall and adjust the distance between the skateboard nozzle 201 and the gap; place the robot on the glass curtain wall and start the micro vacuum pump 501 to expel the air from the vacuum suction cup, so that the robot can adhere to the glass curtain wall.

[0036] The depth camera 604 scans and acquires the path information of the gap. When the negative pressure adsorption telescopic legs 100 on both sides of the upper frame 402 are not adsorbing the glass curtain wall, and the negative pressure adsorption telescopic legs 100 on both sides of the lower frame 401 are adsorbing the glass curtain wall, the first and second linear drive modules are controlled to drive the upper frame 402 to take a step forward. After the upper frame 402 completes the step, the lead screw motors 101 of the negative pressure adsorption telescopic legs 100 on both sides of the upper frame 402 are 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-position normally closed solenoid valve 506 connected to the vacuum suction cup 104 is energized, and the micro vacuum pump 501 starts to work, expelling the air in the vacuum suction cup 104, so that the vacuum suction cup 104 is completely adsorbed to the glass curtain wall, realizing the negative pressure adsorption telescopic legs on both sides of the upper frame 402. The legs 100 adhere to the glass curtain wall; then, another two-position three-way normally closed solenoid valve 506 is de-energized, and the vacuum of the negative pressure adsorption telescopic legs 100 on both sides of the lower frame 401 is broken. The screw motor 101 of the negative pressure adsorption telescopic legs 100 drives the corresponding vacuum suction cup 104 to move upward, so that the negative pressure adsorption telescopic legs 100 retract and completely detach from the glass curtain wall; then, the first linear drive module and the second linear drive module are controlled to drive the lower frame 401 to take a step forward. After the lower frame 401 completes the step, the negative pressure adsorption telescopic legs 100 on both sides of the lower frame 401 adhere to 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 adhere to the glass curtain wall, so that the robot can walk on the glass curtain wall, and thus the sliding plate nozzle 201 moves along the path of the gap;

[0037] During the movement of the sliding nozzle 201, the glue dispensing servo 209 drives the glue gun wrench 210 to rotate, causing the glue gun wrench 210 to push the push rod of the glue gun 211 to achieve glue pressing, so that the glue is squeezed out from the sliding nozzle 201 to fill the gaps in the glass curtain wall; the offset probe 601 and the angle sensor 603 detect the offset direction and offset angle of the nozzle.

[0038] When the depth camera 604 detects a protruding obstacle, the glue application servo 209 stops rotating and the lifting servo 205 is activated to drive the lifting rod 204 to move, thereby lifting the sliding glue nozzle 201 and the offset probe 601 to avoid collisions between the sliding glue nozzle 201 and the offset probe 601 and the protruding obstacle. After the robot has completely crossed the protruding obstacle, the lifting servo 205 drives the sliding glue nozzle 201 to reset, and the glue application servo 209 resumes rotation to continue the caulking and glue application operation.

[0039] Any aspects not covered in this invention are applicable to existing technologies.

Claims

1. A glass curtain wall grouting and adhesive application robot based on the principle of negative pressure adsorption, characterized in that, The robot includes negative pressure adsorption telescopic legs, an adhesive application module, an alternating motion drive module, and a body frame. The body frame is divided into an upper frame and a lower frame, which are independent of each other. Each frame has multiple negative pressure adsorption telescopic legs on its left and right sides. The alternating motion drive module is connected to the upper frame and the lower frame and drives the upper frame and the lower frame to move alternately. The alternating motion drive module includes a first linear drive module, a second linear drive 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 slider, and a first guide rail slider. First linear guide rails are installed on the left and right sides of the first I-shaped push plate, and each of the two first linear guide rails has a first guide rail slider, which is simultaneously fixedly connected to the lower frame. The first linear drive module is installed on the lower frame along the front-rear direction, and the lead screw nut of the first linear drive module is fixedly connected to the second I-shaped push plate. The front and rear sides of the second I-shaped push plate are respectively... The system is equipped with two linear guide rails, each with a slider. The sliders are fixedly connected to the upper frame. The linear drive module is mounted on the upper frame in the left-right direction, and its lead screw nut is fixedly connected to the I-shaped push plate. The linear drive module drives the upper and lower frames to move in the front-back direction, while the linear drive module drives them in the left-right direction. The linear drive modules work together to drive the upper and lower frames to move diagonally, and the robot walks by alternating the movement of the upper and lower frames. The glue application module includes a sliding nozzle, a glue bucket, a lifting rod, a lifting servo, a glue bucket mounting component, a Z-shaped connecting plate, a glue dispensing servo, a glue gun wrench, and a glue gun. The glue bucket mounting component is connected to the middle of the lower frame, the glue bucket is fixedly connected to the glue bucket mounting component, the glue dispensing servo is fixed to the Z-shaped connecting plate, the output end of the glue dispensing 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 sliding plate of the sliding nozzle, and the sliding plate of the sliding nozzle is simultaneously slidably connected to the groove at the front end of the glue bucket.

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

3. The glass curtain wall grouting and adhesive application robot based on the negative pressure adsorption principle according to claim 1, characterized in that, Both the first and second linear drive modules include a stepper motor, a motor support, a fixed end bearing housing for the lead screw, a lead screw nut, a lead screw, and a supporting end bearing housing for the lead screw. The lead screw is rotatably mounted on the corresponding frame via the fixed end bearing housing and the supporting end bearing housing, respectively. The fixed end of the lead screw is connected to the output shaft of the stepper motor via a coupling. The stepper motor is mounted on the corresponding frame via the motor support, and the lead screw nut is slidably connected to the lead screw.

4. The glass curtain wall grouting and adhesive application robot based on the negative pressure adsorption principle according to claim 1 or 3, characterized in that, The robot also includes a detection and recognition module; the detection and recognition module includes an offset probe, a return spring, an angle sensor, a depth camera and a camera bracket; the depth camera is mounted on the front end of the rubber barrel through the camera bracket, the angle sensor is fixed to the front end of the slide plate nozzle and inserted into the offset probe, and a return spring is provided between the connecting plate of the offset probe and the slide plate nozzle.

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