Cutting and mounting method and device with self-adaptive operation capability

Abstract

The invention discloses a cutting and mounting method and device with the self-adaptive operation capacity. The device comprises a bearing mechanism, a cutting mechanism, a mounting mechanism, a comprehensive steering mechanism and a control mechanism. The cutting mechanism is fixed to the inner portion and the outer side vertical face of the bearing mechanism. The mounting mechanism fixes the top of the bearing mechanism; and the comprehensive steering mechanism is arranged on the top of the bearing mechanism and the mounting mechanism. According to the method, the self-adaptive operation capability for processing different operation tasks, different operation environments and abnormal conditions is realized through a self-adaptive control strategy.

Description

Technical Field

[0001] The present invention relates to the field of cutting and installation technology, and in particular to a cutting and installation method and a device with adaptive operation capability. Background Art

[0002] With the continuous development of science and technology, robotics technology is becoming more and more perfect. Its high degree of automation and intelligence has brought about significantly improved production capacity and significantly improved quality, which has become more and more prominent. At the same time, various types of robots have begun to be used in various industries in society, replacing manual labor to complete various tasks with high repetitiveness, high safety risks, fast physical exertion and strict quality requirements.

[0003] With the advancement of industrial technology, the refined development of the manufacturing industry, and the requirements of customers for the appearance and texture of the final product, the quality and precision requirements for cutting are constantly increasing, and the requirements for improving production efficiency and reducing production costs are becoming increasingly strong. Some traditional cutting equipment already meet the requirements for cutting accuracy, but only a few traditional cutting equipment can cut special-shaped workpieces with multiple curved surfaces or multiple bending surfaces, and manual cooperation with the machine is required to complete the cutting. At the same time, the positioning accuracy and cutting accuracy of traditional cutting equipment when cutting special-shaped workpieces with multiple curved surfaces or multiple bending surfaces are relatively low, which to a certain extent reduces the efficiency and cutting quality of cutting special-shaped workpieces with multiple curved surfaces or multiple bending surfaces.

[0004] Nowadays, many buildings’ exterior walls and interior decorations use multi-curved or multi-bend shapes, but multi-curved or multi-bend shapes objectively increase the difficulty of construction of such projects. Many panels need to be rechecked after processing in the factory and transported to the construction site, and then manually cut with tools such as angle grinders before they can be installed. However, manual cutting has large errors, and the main method of dimensional measurement is still manual measurement, which leads to quality problems such as gaps or holes in the finished product after installation that affect the appearance.

[0005] Traditionally, the installation of ceiling shapes, exterior walls, and interior wall decorations is mainly done manually. Scaffolding is required indoors with limited working space, and hanging baskets or cranes are required outdoors. The quality of installation is completely dependent on the workers' technical level and sense of responsibility, and is also affected by the workers' mood and health status, resulting in uneven installation quality and even material scrapping. In addition, for large or heavy panels, it requires the cooperation of multiple construction workers to complete. For large panels or heavy weights, professional lifting equipment is also required to collaborate and ensure the safety of operators. Summary of the invention

[0006] In view of the above problems, the present invention provides a cutting and installation method and a device thereof with adaptive operation capability to solve the problems existing in the background technology.

[0007] The objective of the present invention is achieved through the following technical solutions:

[0008] A cutting and installation method and device with adaptive operation capability, the device comprises a bearing mechanism, a cutting mechanism, an installation mechanism, a comprehensive steering mechanism, and a control mechanism; the cutting mechanism is fixed on the inner and outer facades of the bearing mechanism; the installation mechanism fixes the top of the bearing mechanism; the comprehensive steering mechanism is arranged on the top of the bearing mechanism and the installation mechanism. The present invention realizes adaptive operation capability for different operation tasks, different operation environments and abnormal conditions through adaptive control strategies.

[0009] Furthermore, in the present invention, the above-mentioned carrying mechanism includes a carrying frame, a storage cavity, a fixed structure, a driving wheel, and a lifting mechanism; the above-mentioned fixed structure is used to fix the lifting rod of the material supporting mechanism; the above-mentioned storage cavity is fixed inside the carrying frame; a detachable charging power supply and a controller of the control mechanism are arranged in the above-mentioned storage cavity; one end of the above-mentioned lifting mechanism is fixed to the bottom of the carrying frame, and the other end is rotatably connected to the driving wheel.

[0010] Furthermore, in the present invention, the above-mentioned cutting mechanism includes a cutting actuator, a dust recovery mechanism, a first moving mechanism, and a material support mechanism; one end of the above-mentioned cutting actuator is fixed to one end of the first moving mechanism; the other end of the above-mentioned first moving mechanism is fixed to the outer facade of the supporting mechanism; the above-mentioned dust recovery mechanism is folded inside the base of the cutting actuator; and the bottom of the above-mentioned material support mechanism is fixedly connected to the bottom of the supporting frame.

[0011] Furthermore, in the present invention, the above-mentioned cutting actuator includes a cutter, a base, an electric wrench, a spare cutter, and an integrated steering mechanism; the above-mentioned dust recovery mechanism includes a dust recovery box, a self-locking chain, a chain motor, a first gear, a dust temporary storage box, and an integrated steering mechanism; the above-mentioned first moving mechanism includes a first linear guide rail, a first guide rail slider, a rack, a second gear, a second gear motor, and a guide rail steering mechanism; the above-mentioned material support mechanism includes a suction cup and a lifting rod.

[0012] Furthermore, in the present invention, the above-mentioned installation mechanism includes an installation actuator, a lifting mechanism, and a material extraction mechanism; one end of the above-mentioned installation actuator is fixed on the telescopic rod frame of the lifting mechanism; one end of the above-mentioned lifting mechanism is rotationally connected to the top of the supporting frame through a horizontal steering mechanism, and the other end is connected to the displacement mechanism fixed frame of the material extraction mechanism through the telescopic rod frame.

[0013] Furthermore, in the present invention, the above-mentioned installation actuator includes a first installation tool, a second installation tool, and an integrated steering mechanism; the above-mentioned lifting mechanism includes a first telescopic rod, a second telescopic rod, a third telescopic rod, a horizontal steering mechanism, a counterweight, a telescopic rod connector, a connector steering mechanism, and a third telescopic rod frame; the above-mentioned material extraction mechanism includes a suction cup, a suction cup displacement mechanism, a displacement mechanism fixed frame, and a fixed frame connector.

[0014] Further, in the present invention, the above-mentioned integrated steering mechanism includes a first steering joint, a second steering joint, a third steering joint, a fourth steering joint, a fifth steering joint, and an Nth steering joint; the above-mentioned first steering joint is a horizontal steering joint, and the remaining joints are vertical steering joints; one end of the above-mentioned first joint is fixed to the top of the bearing mechanism or the third telescopic rod frame of the mounting mechanism, and the other end of the above-mentioned first joint is rotatably connected to one end of the second steering joint.

[0015] Furthermore, in the present invention, the control mechanism includes a controller, a laser radar, a camera, a rotating telescopic rod, an accelerometer, and a gyroscope; the controller includes a processor including a CPU and a GPU, a cutting control module, an installation control module, a motion control module, and a sensor module; the processor can run one or several neural networks at the same time and perform adaptive control through one or several algorithms; the bottom of the laser radar is fixed to the top of the rotating telescopic rod; the camera is arranged on the sides of the supporting frame and on the installation tool and cutter of the installation actuator.

[0016] Further, in the present invention, the suction cup is arranged in the material clamping mechanism; the material clamping mechanism includes a suction cup, a suction cup advance and retreat mechanism, an advance and retreat mechanism fixing part, a fixing part opening and closing mechanism, a fixing part quick locking mechanism, and a fixing part connecting part; further, in the present invention, the first moving mechanism of the cutting device is replaced with a second moving mechanism; the second moving mechanism includes a second linear guide rail, a second guide rail slider, a third linear guide rail, a third guide rail slider, and a guide rail module; further, in the present invention, the first installation tool and the second installation tool of the installation actuator of the installation device are replaced with a third installation tool and a fourth installation tool respectively; further, in the present invention, the suction cup of the material extraction mechanism of the installation device is arranged in the material clamping mechanism; one end of the fixing part connecting part of the material clamping mechanism is fixedly connected to one end of the suction cup displacement mechanism; the suction cup displacement mechanism is rotatably connected to the displacement mechanism fixed frame through the displacement mechanism steering gear; the displacement mechanism fixed frame is one piece; the displacement mechanism fixed frame is not provided with a frame connecting part.

[0017] Furthermore, in the present invention, the above-mentioned cutting actuator and the installation actuator are fixed on the same load-bearing frame, and the material supporting mechanism is eliminated; the above-mentioned driving wheel is one, and four driven wheels are added; the first installation tool and the second installation tool of the above-mentioned installation actuator are respectively replaced with the fifth installation tool and the sixth installation tool; the first telescopic rod, the second telescopic rod, the horizontal steering mechanism, and the counterweight of the above-mentioned lifting mechanism are replaced together with a comprehensive steering mechanism; the above-mentioned third telescopic rod is replaced by two pieces that telescope from four corners to the center; and the displacement mechanism fixing frame of the above-mentioned material extraction mechanism is set to two pieces or one piece instead of several pieces.

[0018] The cutter equipped with an integrated steering mechanism reciprocates on the first linear guide rail, so that the device can cut materials with complex shapes, multiple curved surfaces or multiple bent surfaces, and can also cut from any angle and any position, and can even cut from the bottom of the material, thereby improving the cutting capacity and cutting efficiency.

[0019] The suction cup displacement mechanism arranged in a multi-point matrix allows the device to extract materials with complex shapes, multiple curved surfaces or multiple bent surfaces; the telescopic rods of the lifting mechanism can be extended and retracted to allow the device to deliver materials to installation positions at different heights and directions; the telescopic rod connector equipped with a steering mechanism allows the device to achieve fine-tuning of installation accuracy at multiple angles.

[0020] Through adaptive control strategies, autonomous operations of different tasks, autonomous operations that adapt to different environments, and autonomous identification, analysis, decision-making and processing of abnormal conditions are achieved, which improves operational capabilities and production efficiency.

[0021] Through the mechanism of autonomous operation, the device can complete cutting and installation tasks without human intervention, reducing the occurrence of human errors, rework, idle work and other incidents caused by manual operations, while reducing the safety risks of the operators themselves due to manual operations.

[0022] By equipping the device with laser radar, camera and sensor modules, it is ensured that the device can operate normally regardless of day or night, so that the device can operate continuously for 24 hours. Its operating capacity is three times or even more than that of manual operation, which greatly improves production efficiency and reduces production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A side view schematic diagram of the cutting device of the present invention

[0025] Figure 2 A schematic top view of the cutting device of the present invention

[0026] Figure 3 A schematic side view of the cutting device of the present invention when the cutter cuts from below to above

[0027] Figure 4 A side view schematic diagram of the installation device of the present invention

[0028] Figure 5 A schematic top view of the material extraction mechanism of the installation device of the present invention

[0029] Figure 6 The adaptive control flow chart of the cutting and installation operation of the present invention

[0030] Figure 7 A side view schematic diagram of a cutting device according to an embodiment of the present invention

[0031] Figure 8 A schematic top view of a cutting device according to a first embodiment of the present invention

[0032] Fig. 9 Schematic diagram of the front view and the side view of the material clamping mechanism of the cutting device of the first embodiment of the present invention

[0033] Fig.10 A side view schematic diagram of an installation device according to a first embodiment of the present invention

[0034] Fig.11 A schematic top view of a material extraction mechanism of an installation device according to an embodiment of the present invention

[0035] Fig.12 A side view schematic diagram of embodiment 2 of the present invention

[0036] Fig.13 A schematic top view of a material extraction mechanism of an installation device of Embodiment 2 of the present invention

[0037] In the figure: 1. bearing mechanism; 10. bearing frame; 11. storage cavity; 12. fixing structure; 13. driving wheel; 14. lifting mechanism; 15. driven wheel; 2. cutting mechanism; 20. cutting actuator; 200. cutter; 201. base; 202. electric wrench; 203. spare cutter; 21. dust recovery mechanism; 210. dust recovery box; 211. self-locking chain; 212. chain motor; 213. first gear; 214. dust temporary storage box; 22. first moving mechanism; 220. first linear guide; 221. first a guide rail slider; 222, rack; 223, second gear; 224, second gear motor; 225, guide rail steering mechanism; 23, material support mechanism; 230, suction cup; 231, lifting rod; 24, material clamping mechanism; 240, suction cup advance and retreat mechanism; 241, advance and retreat mechanism fixing member; 242, fixing member opening and closing mechanism; 243, fixing member quick lock mechanism; 244, fixing member connecting member; 25, second moving mechanism; 250, second linear guide; 251, second guide rail slider; 252, third linear guide; 253, third guide rail slider block; 254, guide rail module; 26, material loading and unloading mechanism; 3, installation mechanism; 30, installation actuator; 300, first installation tool; 301, second installation tool; 302, third installation tool; 303, fourth installation tool; 304, fifth installation tool; 305, second and sixth installation tools; 31, lifting mechanism; 310, first telescopic rod; 311, second telescopic rod; 312, third telescopic rod; 313, horizontal steering mechanism; 314, counterweight; 315, telescopic rod connector; 316, connector steering mechanism; 317 , the third telescopic rod frame; 32, the material extraction mechanism; 320, the suction cup displacement mechanism; 321, the displacement mechanism fixed frame; 322, the fixed frame connecting piece; 323, the displacement mechanism steering gear; 4, the integrated steering mechanism; 40, the first steering joint; 41, the second steering joint; 42, the third steering joint; 43, the fourth steering joint; 44, the fifth steering joint; 45, the Nth steering joint; 5, the control mechanism; 50, the controller; 51, the laser radar; 52, the camera; 53, the rotating telescopic rod; 54, the accelerometer; 55, the gyroscope. DETAILED DESCRIPTION

[0038] The following is a clear and complete description of a cutting and installation method and a device thereof with adaptive operation capabilities provided by the present invention in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are only partial embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. For some well-known technologies, those skilled in the art may also adopt other alternatives to implement them, and are not intended to specifically limit the present invention. When describing specific features, structures or characteristics in conjunction with embodiments, the realization of such features, structures or characteristics in conjunction with other embodiments (whether or not explicitly described) should be within the scope of protection of the present invention. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by technicians in the technical field of the present invention, and the terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention.

[0039] Unless otherwise clearly specified and limited, the terms "disposed", "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium or the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] If there is a description of the direction (up, down, left, right, front, back, bottom, top) or other indications of the position or location relationship, it is based on the attached Figure 1 and attached Figure 2 The orientation or positional relationship shown is only for the convenience of describing the technical solution of the present invention, and does not indicate or imply that the technical features referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it should not be understood as a limitation of the present invention.

[0041] The terms "first", "second", "third" and similar terms used in the description of this application are used only for descriptive purposes to distinguish different components, and should not be understood as indicating or implying relative importance. The terms "one", "an" or "the" and similar terms used in the description of this application should not be understood as an absolute limitation on quantity, but should be understood as the existence of at least one. The terms "including" or "comprising" and similar terms used in the description of this application mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0042] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may be another intermediate component through which it is fixed. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be another intermediate component at the same time. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be another intermediate component at the same time.

[0043] See also Figures 1 to 13 In an embodiment of the present invention, a cutting and installation method and device with adaptive operation capability are provided:

[0044] like Figure 1 to Figure 3 As shown, a cutting and installation method and device with adaptive operation capability, the device comprises: a carrying mechanism 1, a cutting mechanism 2, an installation mechanism 3, an integrated steering mechanism 4, and a control mechanism 5; the cutting mechanism 2 is fixed on the inner and outer facades of the carrying mechanism 1; the installation mechanism 3 fixes the top of the carrying mechanism 1; the integrated steering mechanism 4 is arranged on the top of the carrying mechanism 1 and the installation mechanism 3. The present invention realizes the adaptive operation capability of handling different operation tasks, different operation environments and abnormal conditions through an adaptive control strategy.

[0045] The carrying mechanism 1 includes a carrying frame 10, a storage cavity 11, a fixed structure 12, a driving wheel 13, and a lifting mechanism 14; the fixed structure 12 is used to fix the lifting rod 231 of the material supporting mechanism 23; the storage cavity 11 is fixed inside the carrying frame 10; a detachable charging power supply and a controller 50 of the control mechanism 5 are arranged in the storage cavity 11; one end of the lifting mechanism 14 is fixed to the bottom of the carrying frame 10, and the other end is rotatably connected to the driving wheel 13.

[0046] The driving wheel 13 is a self-driving wheel with independent steering; the lifting mechanism 14 is an electric mechanical jack; the independent steering setting allows the device to turn and pass in a small space with a minimum turning radius, or even turn around on the spot, so as to ensure the device's adaptive ability to pass in different environments; by controlling and adjusting the lifting mechanism 14 on a single driving wheel 13, the device can maintain normal operation when it is on an uneven surface.

[0047] It should be noted that the detachable charging power supply in the cutting mechanism device is mainly used when the cutting mechanism is moving, and the power supply for the cutter 200 during operation depends on the type of cutter selected. Some can directly use the detachable charging power supply in the device to complete the operation, while others require an external power supply.

[0048] According to different application scenarios and working conditions, the driving wheel 13 can also adopt combined steering and driving in a differential manner to adapt to operations in different scenarios and working conditions; the lifting mechanism 14 can also be one or more of an electric hydraulic jack, a scissor support frame, a linear guide, a rigid self-locking chain or other mechanisms with lifting functions and their combination.

[0049] The cutting mechanism 2 includes a cutting actuator 20, a dust recovery mechanism 21, a first moving mechanism 22, and a material support mechanism 23; one end of the cutting actuator 20 is fixed to one end of the first moving mechanism 22; the other end of the first moving mechanism 22 is fixed to the outer facade of the supporting mechanism 1; the dust recovery mechanism 21 is folded inside the base 201 of the cutting actuator 20; the bottom of the material support mechanism 23 is fixedly connected to the bottom of the supporting frame 10.

[0050] The cutting actuator 20 includes a cutter 200, a base 201, an electric wrench 202, a spare cutter 203, and an integrated steering mechanism 4; one end of the cutter 200 is rotatably connected to one end of the integrated steering mechanism 4; the other end of the integrated steering mechanism 4 is fixedly connected to the top of the base 201; the base 201 is also fixedly connected to the first guide rail slider 221 of the first moving mechanism 22; the electric wrench 202 firmly fixes the base 201 on the outer facade of the supporting frame 10 through a screw when the cutter 200 is working, and nuts matching the screw are arranged on the outer facade of the supporting frame 10 according to certain rules and distances; the spare cutter 203 is stored on one side of the top of the base 201.

[0051] The spare cutter 203 is a cutting head accessory of a certain type of cutter, and the cutting head accessories are interchangeable with each other through a quick-release plug; the replacement of different types of cutters requires the cooperation of an installation mechanism or other devices, and some even require manual operation to complete.

[0052] The cutter 200 is one of a laser cutter, a plasma cutter, a water cutter, a flame cutter, and a cold cutter; the cutter 200 marked in the figure is the position of the cutting head of the cutter, and the power device of the cutter is arranged in different ways according to the type of cutter selected. For example, when a laser cutter is selected, a complete set of laser cutting power devices needs to be arranged near the device. If a plasma cutter is selected, the plasma cutting power device can be hung on the base 201. If a cold cutter (such as an angle grinder) is selected, the angle grinder can be directly tied to the position of the cutting head.

[0053] It should be noted that different cutters and different cutting parameters correspond to different materials and thicknesses of cutting materials. The size of the cutter and different types of cutters may need to be adapted to the shape of the material. For example, the cutting head of a larger cutter cannot enter a very small bending gap for cutting. For example, when using a cold cutter such as an angle grinder, it is not possible to cut a very smooth arc, etc.

[0054] At the same time, the control mechanism will generate the optimal cutting plan based on certain rules and the material, thickness and design drawings of the material used for the material and other process parameters.

[0055] Due to the multi-curved or multi-bending surface shape, the cutting head may not be able to reach a very small part of the material during cutting, so the cutting cannot be completed. Therefore, the device has the ability to cut from the bottom of the material from bottom to top to solve the shortcomings of such technology and ensure that the device can complete the adaptive cutting of various types of multi-curved or multi-bending surface shape materials.

[0056] In order to reduce the pressure of the cutting actuator 20 and the dust recovery mechanism 21's own weight on the first guide rail slider 221 of the first moving mechanism 22, which causes increased wear and gap between the first linear guide 220 and the first guide rail slider 221, an electric wrench 202 and a matching screw nut are provided on the base 201; it should be noted that, depending on the type of cutter selected and the material of the cutting actuator 20 and the dust recovery mechanism 21, it may not be necessary to provide the electric wrench 202 and the matching screw nut.

[0057] The dust recovery mechanism 21 includes a dust recovery box 210, a self-locking chain 211, a chain motor 212, a first gear 213, a dust temporary storage box 214, and an integrated steering mechanism 4; one end of the dust recovery box 210 is rotatably connected to one end of the integrated steering mechanism 4; the other end of the integrated steering mechanism 4 is rotatably connected to one end of the self-locking chain 211; the other end of the self-locking chain 211 is rotatably connected to the chain motor 212 through the first gear 213; the chain motor 212 is fixed on the inner wall of the base 201; the dust temporary storage box 214 is placed at the bottom of the base 201.

[0058] It should be noted that when the cutting actuator 20 cuts upward from the bottom of the material, the self-locking chain 211 together with the integrated steering mechanism 4 and the dust recovery box 210 will be stored in the cavity of the base 201.

[0059] On the other hand, before cutting, the control structure generates a material placement positioning diagram according to the material cutting path and the positions of each suction cup 230 of the material support mechanism 23, so that the material cutting path is between each suction cup 230, ensuring the normal and uninterrupted operation of the dust recovery mechanism 21 and improving the cutting efficiency.

[0060] At the same time, the steering method adopted by the integrated steering mechanism 4 of the dust recovery mechanism 21 is a universal joint that can be turned in any direction, ensuring that the dust recovery box 210 can move smoothly between the lifting rods 231 of the material support mechanism 23, ensuring the normal and uninterrupted operation of the dust recovery mechanism 21, and improving the cutting efficiency.

[0061] The first moving mechanism 22 includes a first linear guide 220, a first guide slider 221, a rack 222, a second gear 223, a second gear motor 224, and a guide steering mechanism 225; the first linear guide 220 is embedded and fixed on the outer facades around the supporting frame 10; the rack 222 is fixed on one side of the first linear guide 220; the rack 222 is meshed and connected with the second gear 223; the second gear 223 is rotationally connected with the power output end of the second gear motor 224; the second gear motor 224 is fixed on the base 201 of the cutting actuator 20, and is close to the first guide slider 221 on the outside; the guide steering mechanism 225 is arranged at the four corners of the supporting frame 10, at a position matching the first linear guide 220, and maintaining a certain safety distance.

[0062] The first moving mechanism 22 ensures that the cutting actuator 20 and the dust recovery mechanism 21 reciprocate on the first linear guide rail by carrying a guide rail steering mechanism 225, so that the device can cut materials with complex shapes, multiple curved surfaces or multiple bent surfaces, and can even cut from the bottom of the material, thereby improving the cutting capacity and cutting efficiency.

[0063] The main steering component of the guide rail steering mechanism 225 is a gear-driven steering gear, a worm gear steering gear or other mechanisms with steering functions, and the steering power of the steering gear is provided by a steering gear motor.

[0064] It should be noted that the cutting actuator 20 and the dust recovery mechanism 21 use wireless power supply to reduce the tediousness of wired power supply and improve the operating capacity; the wireless power supply adopts different wireless power supply methods according to the power size of each component of the cutting actuator 20 and the dust recovery mechanism 21; the wireless power supply methods include electromagnetic induction wireless power supply, magnetic resonance wireless power supply, NFC wireless power supply technology, radio wave charging, etc.

[0065] The material support mechanism 23 includes a suction cup 230 and a lifting rod 231; one end of the suction cup 230 is rotatably connected to one end of the lifting rod 231 through a universal joint that can be turned in any direction; the other end of the lifting rod 231 is fixed to the bottom of the supporting frame 10; the suction cup 230 is one of a vacuum suction cup, a magnetic suction cup, and an electrostatic suction cup.

[0066] The lifting rod 231 is one or more of an electric screw push rod, an electromagnetic push rod, an electric hydraulic rod, a scissor-type support frame, a linear guide rail, a rigid self-locking chain or other mechanisms with lifting functions and a combination thereof.

[0067] like Figure 4-5 As shown, the installation mechanism 3 includes an installation actuator 30, a lifting mechanism 31, and a material extraction mechanism 32; one end of the installation actuator 30 is fixed to the telescopic rod frame 317 of the lifting mechanism 31; one end of the lifting mechanism 31 is rotationally connected to the top of the supporting frame 10 through a horizontal steering mechanism 313, and the other end is fixedly connected to the displacement mechanism fixing frame 321 of the material extraction mechanism 32 through the telescopic rod frame 317.

[0068] The installation actuator 30 includes a first installation tool 300, a second installation tool 301, and an integrated steering mechanism 4; the first installation tool 300 and the second installation tool 301 are respectively rotatably connected to one end of the integrated steering mechanism 4 matched thereto; the other end of the integrated steering mechanism 4 is fixed on the third telescopic rod frame 317 of the lifting mechanism 31; the function of the first installation tool 300 is to clamp objects such as expansion joints or bolts and drive them into a hole or pass them through a hole and tighten them; the function of the second installation tool 301 is to drill, punch, or tap at the location where installation is required.

[0069] It should be noted that the first installation tool 300 and the second installation tool 301 may also use installation tools with other specific functions according to different application scenarios and work tasks, but are not limited to this; during the installation operation, the first installation tool 300 and the second installation tool 301 cooperate with each other to complete the installation operation.

[0070] The lifting mechanism 31 includes a first telescopic rod 310, a second telescopic rod 311, a third telescopic rod 312, a horizontal steering mechanism 313, a counterweight 314, a telescopic rod connector 315, a connector steering mechanism 316, and a third telescopic rod frame 317; one end of the first telescopic rod 310 is rotatably connected to one end of the horizontal steering mechanism 313; the other end of the horizontal steering mechanism 313 is fixed to the top of the supporting frame 10, and a counterweight 314 is also provided on the top of the horizontal steering mechanism 313; one end of the second telescopic rod 311 is rotatably connected to the first telescopic rod 310 is rotatably connected, the other end of the second telescopic rod 311 is rotatably connected to the horizontal steering mechanism 313; the other end of the first telescopic rod 310 is rotatably connected to one end of the telescopic rod connecting piece 315 through the connecting piece steering mechanism 316; the other end of the telescopic rod connecting piece 315 is rotatably connected to one end of the third telescopic rod 312; the other end of the third telescopic rod 312 is rotatably connected to one end of the third telescopic rod frame 317; the other end of the third telescopic rod frame 317 is fixedly connected to the displacement mechanism fixed frame 321 of the material extraction mechanism 32.

[0071] The main steering component of the horizontal steering mechanism 313 is a slewing bearing steering gear; the main steering component of the connecting member steering mechanism 316 is a recirculating ball steering gear, a worm gear steering gear or one of other mechanisms with steering function, and the steering power of the steering gear is provided by a steering gear motor.

[0072] The material extraction mechanism 32 includes a suction cup 230, a suction cup displacement mechanism 320, a displacement mechanism fixed frame 321, and a fixed frame connecting piece 322; one end of the suction cup 230 is rotatably connected to one end of the suction cup displacement mechanism 320 through a universal joint capable of turning in any direction; the outer wall of the suction cup displacement mechanism 320 is fixed to the displacement mechanism fixed frame 321; the displacement mechanism fixed frame 321 is connected to each other through a fixed frame connecting piece 322; The suction cup displacement mechanism 320 is one or more of an electric screw push rod, an electromagnetic push rod, an electric hydraulic rod, a linear guide rail, a rigid self-locking chain or other mechanisms with telescopic function and a combination thereof.

[0073] The suction cup displacement mechanism arranged in a multi-point matrix allows the device to extract materials with complex shapes, multiple curved surfaces or multiple bent surfaces; the telescopic rods of the lifting mechanism can be extended and retracted to allow the device to deliver materials to installation positions at different heights and directions; the telescopic rod connector equipped with a steering mechanism allows the device to achieve fine-tuning of installation accuracy at multiple angles.

[0074] like Figure 1 to Figure 5As shown, the integrated steering mechanism 4 includes a first steering joint 40, a second steering joint 41, a third steering joint 42, a fourth steering joint 43, a fifth steering joint 44, and an Nth steering joint 45; the first steering joint is a horizontal steering joint, and the remaining joints are vertical steering joints; one end of the first joint 40 is fixed to the top of the supporting mechanism 1 or the third telescopic rod frame 317 of the mounting mechanism 3, and the other end of the first joint 40 is rotatably connected to one end of the second steering joint 41.

[0075] The other end of the second steering joint 41 is rotatably connected to one end of the third steering joint 42; the other end of the third steering joint 42 is rotatably connected to one end of the fourth steering joint 43; the other end of the fourth steering joint 43 is rotatably connected to one end of the fifth steering joint 44; the other end of the fifth steering joint 44 is rotatably connected to one end of the Nth steering joint 45; the other end of the Nth steering joint 45 is rotatably connected to the cutting head of the cutter 200 or the installation tool of the installation actuator 30.

[0076] The control mechanism 5 includes a controller 50, a laser radar 51, a camera 52, a rotating telescopic rod 53, an accelerometer 54, and a gyroscope 55; the controller 50 includes a processor including a CPU and a GPU, a cutting control module, an installation control module, a motion control module, and a sensor module; the processor can run one or several neural networks at the same time and perform adaptive control through one or several algorithms; the bottom of the laser radar 51 is fixed to the top of the rotating telescopic rod 53; the camera 52 is arranged on the side surfaces around the supporting frame 10 and on the installation tool and cutter 200 of the installation actuator 30.

[0077] The adaptive control is mainly reflected in the autonomous operation of different tasks, the autonomous operation adapted to different environments, and the autonomous identification, analysis, decision-making and processing of abnormal conditions, including safety and environmental monitoring, simultaneous operation of multiple processes, collaborative operation of multiple devices, motion and balance control, multi-modal identification and interaction, crisis handling and autonomous decision-making, etc.

[0078] The adaptive control strategy includes one or more of the following methods: sensor-based feedback control, environmental perception and cognitive computing, machine learning, swarm intelligence and collaborative control, self-healing and fault-tolerant mechanism, modular and reconfigurable design; the selection of the adaptive control strategy is determined by factors such as the work task being performed, the work environment in which it is located, and its own working conditions.

[0079] The neural network includes one or more of convolutional neural networks, deep neural networks, Transformer, variational autoencoder, generative adversarial network, recurrent neural network, recursive neural network, RBF neural network and the like.

[0080] The algorithms include one or more of parameter adaptive control algorithm, non-parameter adaptive control algorithm, adaptive PID control algorithm, adaptive backstepping control algorithm, adaptive control algorithm based on model prediction, sliding mode variable structure adaptive control algorithm, adaptive control algorithm based on artificial intelligence, self-correcting control algorithm, Harris Eagle heuristic hybrid algorithm, APF-Bi-RRT algorithm, SGD algorithm and the like.

[0081] The above technologies are all existing mature technologies, and the specific details will not be elaborated here; it should be noted that the above technologies can also adopt other types of technical replacement solutions according to different application scenarios and work tasks, but are not limited to this.

[0082] The laser radar 51 can sense obstacles around the device in real time and has a high refresh rate, so as to timely update environmental data for the controller 50 and provide accurate and timely perception information such as distance, position and movement status of other moving bodies; at the same time, the laser radar 51 can dynamically adjust the resolution and refresh rate according to different operating scenarios to adapt to different operating environments; the laser radar 51 can also be replaced by ultrasonic radar, millimeter wave radar or other types of positioning, ranging and imaging technologies according to the needs of the application scenario.

[0083] The camera 52 has stable performance under various weather and lighting conditions, ensuring the reliability of the operation of the device. The camera 52 also has a high resolution, can capture clear images, and provide accurate target information for the controller 50. The camera 52 can also capture and transmit image data in real time, ensuring that the controller 50 can process and analyze environmental information in a timely manner and make correct decisions.

[0084] It should be noted that the laser radar 51 and the camera 52 in the attached drawings are fixed positions and quantities in a certain scene application. The positions and quantities of the laser radar 51 and the camera 52 in the actual operation process depend on the actual operation requirements; at the same time, the actual operation requirements also determine the installation method of the laser radar 51 and the camera 52 and whether other types of positioning, ranging and imaging equipment are needed.

[0085] The motion control module is a control module for autonomous obstacle avoidance, autonomous driving and surrounding environment perception of the cutting mechanism 2 and the installation mechanism 3 during movement. It does not include the posture control of the cutting mechanism 2 and the installation mechanism 3 during operation. The posture control of the cutting mechanism 2 is performed by the cutting control module, and the posture control of the installation mechanism 3 is performed by the installation control module.

[0086] The sensor module includes one or more of a gravity sensor, a pressure sensor, a torque sensor, a multi-axis force sensor, an angular velocity sensor, an orthogonal encoder, a position encoder, and a combination thereof; the gravity sensor is mainly used to monitor the weight of the material; the pressure sensor, the torque sensor and the multi-axis force sensor are mainly used to monitor the intensity and direction of various forces applied to the installation tool during operation and other working condition information; the angular velocity sensor together with the accelerometer 54 and the gyroscope 55 are mainly used to monitor the movement of the device and the posture control of the cutting mechanism and the installation mechanism; the accelerometer 54 and the gyroscope 55 can also be replaced by an IMU.

[0087] like Figure 6 As shown, the cutting and installation operation adaptive control flow chart of the present invention

[0088] It should be noted that the operation flow chart only shows the applicable operation flow chart of the present invention in some scenarios. Due to different application scenarios and different operation tasks, the operation steps or operation methods of the flowchart may change in actual operations.

[0089] In the figure, the rounded box represents the start, end and termination of the operation; the rectangular box represents a process or step; the octagonal box represents the process of autonomous identification, analysis and decision-making of the control mechanism.

[0090] When the installation mechanism is in operation, two or more installation mechanisms will cooperate with the cutting mechanism according to certain rules to complete the cutting and installation tasks. The number of installation mechanisms depends on factors such as the complexity of the installation, the average time required for installing a single material, and the distance between the cutting mechanism's stopping position and the installation position.

[0091] The stopping position of the cutting mechanism depends on factors such as the minimum floor space required for the cutting mechanism to operate, the number of installation mechanisms involved in the operation, the width of the construction channel at the installation location, and the passage requirements of personnel and other operating devices. The control mechanism determines the specific stopping position of the cutting mechanism based on certain rules and the above factors.

[0092] The material temporary storage information database refers to materials that have arrived at the work site and are waiting to be installed and stored according to certain rules; material information includes material coding, temporary storage location positioning information, external dimensions and internal structure, material and thickness of all materials, processing technology, surface treatment, cutting and installation precautions and other information.

[0093] The installation mechanism does not participate in the unloading and temporary storage of materials in this operation flow chart. If the device participates in the unloading and temporary storage of materials when the materials arrive at the operation site, the installation mechanism will first check whether the materials are deformed and there are data errors through the material information database during unloading.

[0094] The on-site processing of the deformed material includes deformation correction, adjustment of installation direction, adjustment of the installation orientation of the deformed material to a position that does not affect the overall appearance, and cutting off the deformed part. Assembled materials also include disassembly and reassembly and other methods or measures that can make the deformed material meet the installation requirements. The on-site processing of the deformed material is completed manually, by the device, or by human-machine collaboration according to the degree of deformation of the material and the processing method adopted.

[0095] The material actual status data refers to all material information of the material including material deformation information. The material actual status data emphasizes the material status at the moment of cutting and installation. Since it is impossible to complete all of it within the same time period, the installation mechanism will review the material actual status data again when extracting the material at the temporary storage location to ensure the quality of cutting and installation.

[0096] The installation orientation refers to the material's own direction and the direction and angle of the material relative to the wall, ground, etc. after the material is installed at that location, as well as the location with detailed coordinates where the material is to be installed; the material's own direction includes the material's up and down, left and right, front and back, and front and back sides (i.e., the visible and hidden sides of the material) and the direction of the material and the materials adjacent to the installation location.

[0097] The installation base includes a wooden base (or other base) for installing walls, floors, roofs or other objects of various shapes, a wooden base for installing door frames, skirtings, decorative lines and other wall decorations, a steel frame for curtain walls and other foundations for fixing materials; the fixing includes a fixing method in which the material cannot be removed after being fixed (non-violent demolition) and a fixing method in which the material needs to be removed after being fixed by bolts or other connection methods.

[0098] The adjusting of the installation node refers to adjusting the specific coordinate value used to fix the material. There are generally multiple nodes suitable for installation on the installation base. When one of the installation nodes does not meet the installation requirements, the control mechanism selects one of the nodes from other suitable installation nodes as a new installation node according to certain rules.

[0099] The current material support point map refers to a drawing used to present the height of the lifting rods at each point supporting the material to be cut and the direction and angle of each suction cup on the lifting rods; the size and shape of each material may be different, so when cutting the material, it is necessary to adjust the height of the lifting rods at each point and the direction and angle of each suction cup on the lifting rods according to the information of the material.

[0100] The installation operation refers to the process in which the installation mechanism fixes the cut materials or materials that do not need to be cut on the wall, the ground, the roof or other objects; the process varies according to the installation process and the installation tools used. When summarizing the installation base data, the control mechanism selects the best installation method suitable for the materials in each installation position according to certain rules and the installation process requirements, and then selects the appropriate installation tools and generates the optimal installation steps and instructions, and issues corresponding installation operation instructions to each installation mechanism at the appropriate time.

[0101] During the installation process, some installation operations only require one or two installation tools to complete the installation operations, while others require multiple installation tools to work together to complete the installation operations; the replacement between different installation tools is carried out through a quick-release plug, and a quick-release plug is provided at one end of the installation tool connected to the integrated steering mechanism 4, and a socket matching the quick-release plug is provided at the corresponding end of the integrated steering mechanism 4. Embodiment 1

[0102] like Figure 6 to Figure 10 As shown, the suction cup 230 is arranged in the material clamping mechanism 24; the material clamping mechanism 24 includes a suction cup 230, a suction cup advance and retreat mechanism 240, an advance and retreat mechanism fixing part 241, a fixing part opening and closing mechanism 242, a fixing part quick locking mechanism 243, and a fixing part connecting part 244; one end of the suction cup 230 is rotatably connected to one end of the suction cup advance and retreat mechanism 240 through a universal joint that can turn in any direction; the outer wall of the suction cup advance and retreat mechanism 240 is fixed in the advance and retreat mechanism fixing part 241; the advance and retreat mechanism fixing part 241 is divided into two symmetrical halves; one side of the two halves of the symmetrical advance and retreat mechanism fixing parts 241 is rotatably connected through the fixing part opening and closing mechanism 242, and the other side is movably connected through the fixing part quick locking mechanism 243; one end of the fixing part connecting part 244 is fixedly connected to one half of the advance and retreat mechanism fixing part 241, and the other end is fixedly connected to one end of the lifting rod 231 of the material supporting mechanism 23.

[0103] The first moving mechanism 22 of the cutting device is replaced with a second moving mechanism 25; the second moving mechanism 25 includes a second linear guide 250, a second guide slider 251, a third linear guide 252, a third guide slider 253, and a guide module 254; the second linear guide 250 is fixed to the bottom of the supporting frame 10; the second guide slider 251 is fixedly connected to the bottom of the lifting rod 231; the third linear guide 252 is fixed to the side wall of the storage cavity; the third guide slider 253 is fixedly connected to one side of the lifting rod 231; the bottom of the guide module 254 is fixed to the bottom of the supporting frame 10, and the top of the guide module 254 is fixedly connected to the bottom of the lifting rod 231.

[0104] The first installation tool 300 and the second installation tool 301 of the installation actuator 30 of the installation device are replaced with the third installation tool 302 and the fourth installation tool 303 respectively; the function of the third installation tool 302 is a welding tool; the function of the fourth installation tool 303 is a grinding tool.

[0105] The suction cup 230 of the material extraction mechanism 32 of the installation device is arranged in the material clamping mechanism 24; one end of the fixing member connecting piece 244 of the material clamping mechanism 24 is fixedly connected to one end of the suction cup displacement mechanism 320; the suction cup displacement mechanism 320 is rotatably connected to the displacement mechanism fixed frame 321 through the displacement mechanism diverter 323; the displacement mechanism fixed frame 321 is one piece; the displacement mechanism fixed frame 321 is not provided with a frame connecting piece 322.

[0106] The device of this embodiment is mainly used for processing arc-shaped pipes, rods, profiles or spiral-shaped pipes, rods, profiles; in this embodiment, the cutting mechanism carries the material clamping mechanism 24 through the lifting rod 231, and reciprocates left and right on the second linear guide rail 250 of the second moving mechanism 25 to achieve clamping and cutting of any arc-shaped or spiral-shaped material; the installation mechanism drives the suction cup displacement mechanism 320 through the displacement mechanism steering device 323 to achieve clamping and installation of any arc-shaped or spiral-shaped material. Embodiment 2

[0107] like Figure 11-12 As shown, the cutting actuator 20 and the installation actuator 30 are both fixed on the same supporting frame 10, and the material supporting mechanism 23 is cancelled; the driving wheel 13 is one, and four driven wheels 15 are added; the first installation tool 300 and the second installation tool 301 of the installation actuator 30 are respectively replaced with the fifth installation tool 304 and the sixth installation tool 305; the first telescopic rod 310, the second telescopic rod 311, the horizontal steering mechanism 313, and the counterweight 314 of the lifting mechanism 31 are replaced together with the comprehensive steering mechanism 4; the third telescopic rod is replaced by two pieces instead of four pieces extending from the four corners to the center; the displacement mechanism fixing frame 321 of the material extraction mechanism 32 is set to two pieces or one piece instead of several pieces.

[0108] The device of this embodiment is mainly used for cutting and installing materials at a lower distance from the ground, such as door frames, window frames, skirtings and other wall decorations and other wall accessories; due to the low installation position, the cutting actuator 20 and the installation actuator 30 are fixed on the same load-bearing frame 10, and the first telescopic rod 310, the second telescopic rod 311, the horizontal steering mechanism 313, and the counterweight 314 of the lifting mechanism 31 are replaced with a comprehensive steering mechanism 4, which saves resources and improves efficiency; due to its own weight and load-bearing weight, only one driving wheel 13 is used, and four driven wheels 15 are added to ensure the stability of the device of this embodiment; since most of these materials are in the shape of long strips, the displacement mechanism fixing frame 321 of the material extraction mechanism 32 is set to two pieces, and the suction cups in one or two of the displacement mechanism fixing frames 321 can be controlled to extract the material according to the actual width of the material.

[0109] The above is only a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art shall not deviate from the spirit and scope of the present invention, and shall be within the scope of protection of the claims attached to the present invention.

Claims

1. A cutting and installation method and device with adaptive operation capability, characterized in that: The device comprises a carrying mechanism, a cutting mechanism, an installation mechanism, an integrated steering mechanism and a control mechanism; the cutting mechanism is fixed on the inner and outer facades of the carrying mechanism; the installation mechanism fixes the top of the carrying mechanism; and the integrated steering mechanism is arranged on the top of the carrying mechanism and the installation mechanism.

2. A cutting and installation method and device with adaptive operation capability according to claim 1, characterized in that: The carrying mechanism includes a carrying frame, a storage cavity, a fixed structure, a driving wheel, and a lifting mechanism; the fixed structure is used to fix the lifting rod of the material supporting mechanism; the storage cavity is fixed inside the carrying frame; a detachable charging power supply and a controller of the control mechanism are arranged in the storage cavity; one end of the lifting mechanism is fixed to the bottom of the carrying frame, and the other end is rotatably connected to the driving wheel.

3. A cutting and installation method and device with adaptive operation capability according to claim 1, characterized in that: The cutting mechanism includes a cutting actuator, a dust recovery mechanism, a first moving mechanism, and a material support mechanism; one end of the cutting actuator is fixed to one end of the first moving mechanism; the other end of the first moving mechanism is fixed to the outer facade of the supporting mechanism; the dust recovery mechanism is folded inside the base of the cutting actuator; and the bottom of the material support mechanism is fixedly connected to the bottom of the supporting frame.

4. A cutting and installation method and device with adaptive operation capability according to claim 3, characterized in that: The cutting actuator includes a cutter, a base, an electric wrench, a spare cutter, and an integrated steering mechanism; the dust recovery mechanism includes a dust recovery box, a self-locking chain, a chain motor, a first gear, a dust storage box, and an integrated steering mechanism; the first moving mechanism includes a first linear guide rail, a first guide rail slider, a rack, a second gear, a second gear motor, and a guide rail steering mechanism; the material support mechanism includes a suction cup and a lifting rod.

5. A cutting and installation method and device with adaptive operation capability according to claim 1, characterized in that: The installation mechanism includes an installation actuator, a lifting mechanism, and a material extraction mechanism; one end of the installation actuator is fixed to the telescopic rod frame of the lifting mechanism; one end of the lifting mechanism is rotationally connected to the top of the load-bearing frame through a horizontal steering mechanism, and the other end is connected to the displacement mechanism fixed frame of the material extraction mechanism through the telescopic rod frame.

6. A cutting and installation method and device with adaptive operation capability according to claim 5, characterized in that: The installation actuator includes a first installation tool, a second installation tool, and an integrated steering mechanism; the lifting mechanism includes a first telescopic rod, a second telescopic rod, a third telescopic rod, a horizontal steering mechanism, a counterweight, a telescopic rod connector, a connector steering mechanism, and a third telescopic rod frame; the material extraction mechanism includes a suction cup, a suction cup displacement mechanism, a displacement mechanism fixed frame, and a fixed frame connector.

7. A cutting and installation method and device with adaptive operation capability according to claim 1, characterized in that: The integrated steering mechanism comprises a first steering joint, a second steering joint, a third steering joint, a fourth steering joint, a fifth steering joint, and an Nth steering joint; The first steering joint is a horizontal steering joint, and the remaining joints are vertical steering joints; one end of the first joint is fixed to the top of the bearing mechanism or the third telescopic rod frame of the mounting mechanism, and the other end of the first joint is rotatably connected to one end of the second steering joint.

8. A cutting and installation method and device with adaptive operation capability according to claim 1, characterized in that: The control mechanism includes a controller, a laser radar, a camera, a rotating telescopic rod, an accelerometer, and a gyroscope; the controller includes a processor including a CPU and a GPU, a cutting control module, an installation control module, a motion control module, and a sensor module; the processor can run one or several neural networks at the same time and perform adaptive control through one or several algorithms; the bottom of the laser radar is fixed to the top of the rotating telescopic rod; the camera is arranged on the sides of the supporting frame and on the installation tool and cutter of the installation actuator.

9. A cutting and installation method and device with adaptive operation capability according to claim 1, characterized in that: The suction cup is arranged in the material clamping mechanism; the material clamping mechanism includes a suction cup, a suction cup advance and retreat mechanism, an advance and retreat mechanism fixing part, a fixing part opening and closing mechanism, a fixing part quick locking mechanism, and a fixing part connecting part; the first moving mechanism of the cutting device is replaced with a second moving mechanism; the second moving mechanism includes a second linear guide rail, a second guide rail slider, a third linear guide rail, a third guide rail slider, and a guide rail module; the first installation tool and the second installation tool of the installation actuator of the installation device are replaced with a third installation tool and a fourth installation tool respectively; the suction cup of the material extraction mechanism of the installation device is arranged in the material clamping mechanism; one end of the fixing part connecting part of the material clamping mechanism is fixedly connected to one end of the suction cup displacement mechanism; the suction cup displacement mechanism is rotatably connected to the displacement mechanism fixed frame through a displacement mechanism steering gear; the displacement mechanism fixed frame is one piece; the displacement mechanism fixed frame is not provided with a frame connecting part.

10. A cutting and installation method and device with adaptive operation capability according to claim 1, characterized in that: The cutting actuator and the installation actuator are both fixed on the same load-bearing frame, and the material supporting mechanism is eliminated; there is one driving wheel and four driven wheels are added; the first installation tool and the second installation tool of the installation actuator are replaced with the fifth installation tool and the sixth installation tool respectively; the first telescopic rod, the second telescopic rod, the horizontal steering mechanism and the counterweight of the lifting mechanism are replaced with a comprehensive steering mechanism; the third telescopic rod is replaced with two pieces to telescope toward the center instead of four pieces extending from the four corners to the center; the displacement mechanism fixing frame of the material extraction mechanism is set to two or one pieces instead of several pieces.

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