Automatic construction robot for high-altitude glass curtain wall

Abstract

The invention provides an automatic construction robot for a high-altitude glass curtain wall, and belongs to the technical field of curtain wall installation. The automatic construction robot comprises a movable base, a hanging basket, an adsorption assembly and a lifting assembly; the movable base is provided with a hanging part extending out of the top of a building; the hanging basket is hung at the bottom of the hanging part in a lifting manner; the adsorption assembly is arranged in the hanging basket and comprises an adsorption head capable of freely moving, and the adsorption head is attached to the curtain wall plate in an adsorption mode; the lifting assembly is hung at the bottom of the hanging part and used for driving the curtain wall plate to move upwards till the curtain wall plate and the adsorption head are located at the same height. According to the automatic construction robot for the high-altitude glass curtain wall, the manual high-altitude participation degree is greatly reduced, only ground personnel need to assist in placement of the curtain wall plate, lifting, adsorption and transferring of the high-altitude curtain wall plate are all automatically completed by the robot, damage of severe weather to the body health of staff is fundamentally reduced, and meanwhile the falling risk of manual high-altitude operation is eliminated.

Description

Technical Field

[0001] This application belongs to the field of curtain wall installation technology, specifically relating to an automated construction robot for high-altitude glass curtain walls. Background Technology

[0002] A curtain wall is the exterior wall cladding of a building, hanging on the wall like a curtain. It is a lightweight wall structure with decorative effects commonly used in modern large and high-rise buildings.

[0003] There are two traditional methods for curtain wall installation: one is to place a work platform on the ground and use a lifting mechanism on the platform to lift workers to a specific height for curtain wall installation; the other is to suspend a basket from above and install the curtain wall from inside the basket. Both methods require manual labor and can be carried out in sunny or cold weather. In sunny weather, workers face the problem of sun exposure, and in cold weather, they face the problem of extreme cold. These factors affect the workers' work efficiency and physical health. In addition, both methods carry the risk of workers falling from heights, and workers need to ensure sufficient rest to maintain good working condition and physical health. Working at night can easily disrupt their normal rest, thereby harming their physical and mental health and compromising work safety. Summary of the Invention

[0004] This application provides an automated construction robot for high-altitude glass curtain walls, aiming to solve the technical problems that existing curtain wall installations all require manual installation by employees, which involves a high degree of human intervention, poses potential safety threats, and affects the health of employees due to weather factors and nighttime construction, thus affecting construction efficiency.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: A high-altitude glass curtain wall automated construction robot is provided, comprising: A mobile base is transported to the top of the building by a tower crane for support and fixation. The mobile base has a suspension part that extends out of the top of the building. A suspended basket, which can be raised and lowered and is suspended from the bottom of the suspension part; An adsorption assembly, disposed inside the suspended platform, includes a freely movable adsorption head that adsorbs and adheres to the curtain wall panel; and The lifting assembly is suspended at the bottom of the suspension part. The lifting assembly is used to move the curtain wall panel upward until the curtain wall panel and the suction head are at the same height.

[0006] In one possible implementation, the mobile base further includes: A base is located on the top of a building. A telescopic motor is installed on the top of the base. The telescopic motor has a telescopic end on its side, and the suspension part is located on the telescopic end. A counterweight is located on the side of the base away from the suspension part; and The movable wheels are located at the bottom of the base and roll in conjunction with the top of the building.

[0007] In one possible implementation, the suspension unit has a first suspension mechanism and a second suspension mechanism, the first suspension mechanism being suspended to the basket, the second suspension mechanism being suspended to the lifting assembly, and the second suspension mechanism being located between the first suspension mechanism and the telescopic motor.

[0008] In one possible implementation, the suspended platform includes: The frame body has an opening on its side facing the building, and the adsorption assembly is installed inside the cavity of the frame body; and A pulley component is located above the main frame body and is suspended from the main frame body. The pulley component is suspended from the suspension part.

[0009] In one possible implementation, the high-altitude glass curtain wall automatic construction robot also includes three winches, which are located on the ground and arranged in a triangular pattern. The winch ropes of the three winches are respectively connected to the bottom side of the suspended platform, and each winch rope gradually tilts towards the frame body from bottom to top.

[0010] In one possible implementation, the pulley component includes: The outer ring, with its top outer circumference surface suspended and connected to the suspension part; The inner ring is rotatably disposed inside the outer ring. A sliding groove is provided on the outer circumferential surface of the inner ring. A connecting frame is provided on the inner circumferential surface of the inner ring. The connecting frame extends out of the inner ring and is suspended and connected to the top two sides of the frame body. A transition ring, sleeved on the inner ring and located within the sliding groove, wherein the outer circumferential surface of the transition ring abuts against the outer ring, and the inner circumferential surface is spaced apart from the inner ring; and Multiple balls are respectively rolled between the sliding groove and the transition ring.

[0011] In one possible implementation, the adsorption component includes: The movable base plate is slidably positioned at the bottom of the inner cavity of the suspended platform along a direction parallel to the building wall. The swing arm has its bottom end hinged to the movable base plate, and the hinge direction is parallel to the moving direction of the movable base plate. The bottom end of the first telescopic rod is hinged to the movable base plate, and the hinge direction is parallel to the moving direction of the movable base plate. A support rod is located above the movable base plate. The top ends of the swing rod and the first telescopic rod are respectively hinged to the support rod, and the hinge direction is parallel to the moving direction of the movable base plate. The axis of the support rod is perpendicular to the moving direction of the movable base plate. A suction cup holder, with multiple suction cups on the side facing the building, the suction cups forming the suction head; and The second telescopic rod is hinged at both ends to the middle of the swing rod and the suction cup frame, respectively. The axis of the second telescopic rod is perpendicular to the moving direction of the movable base plate, and the second telescopic rod is located below the support rod.

[0012] In one possible implementation, the adsorption component further includes: A lead screw frame is located at the bottom of the inner cavity of the suspended basket. The lead screw frame is rotatably equipped with a lead screw. The axis of the lead screw is parallel to the side of the building. The movable base plate has a threaded hole, which is threadedly engaged with the lead screw. A drive motor is located on one side of the lead screw frame, the drive motor having a rotation output end connected to one end of the lead screw; and The guide rod is rotatably connected to the lead screw frame at both ends, and the guide rod is parallel to the lead screw. The guide rod slides through the movable base plate.

[0013] In one possible implementation, the lifting component includes: A bracket having an upward-opening support groove at the bottom for receiving curtain wall panels; and A baffle is provided on both sides of the bracket, and a limiting groove is provided on the inner side of the baffle. The limiting groove is inserted into the side of the curtain wall panel.

[0014] In one possible implementation, the lifting assembly has a buffer bar on the side facing the building, one end of the buffer bar is connected to the bracket, and the other end of the buffer bar is provided with a buffer pad.

[0015] The automated high-altitude glass curtain wall construction robot provided in this application, compared with existing technologies, has its mobile base fixedly installed on the top of the building, ensuring that its suspension part extends from the top of the building to the curtain wall construction area. Then, the lifting mechanism of the suspension part lowers the basket to the initial working height, while simultaneously lowering the lifting component to the ground or a low-level material storage area. Workers on the ground place the curtain wall panel on the lifting component and activate its lifting drive structure, causing the lifting component to move the curtain wall panel vertically upwards. When the curtain wall panel rises to the same height as the suction head of the suction component inside the basket, the lifting component pauses its movement. The suction head of the suction component adjusts its position freely, precisely adhering to the surface of the curtain wall panel and generating suction force to achieve a stable grip on the panel. Finally, through the lifting of the basket and the fine-tuning of the suction head, the curtain wall panel is moved to the preset installation position, completing the glass curtain wall installation. Throughout the entire process, only ground personnel are needed to assist in placing the curtain wall panel; the core high-altitude operations do not require direct human intervention. This system significantly reduces manual involvement at heights, requiring only ground personnel to assist in placing curtain wall panels. The lifting, adsorption, and transfer of these panels at height are all automated by robots, fundamentally reducing the health risks of employees in severe weather and eliminating the risk of falls during manual work at heights, ensuring operational safety. Through the coordinated operation of the lifting and adsorption components, the handling and positioning of curtain wall panels are automated. Compared to the tedious manual lifting and adjustment, the automated process is unaffected by human fatigue, maintaining a stable construction rhythm and significantly improving efficiency. The suspended platform is height-adjustable, and the adsorption head is freely movable, adapting to curtain wall installation needs at different heights and locations. This greater flexibility covers diverse construction scenarios for building facades, reducing the time cost of frequent equipment relocation, further optimizing the construction process, avoiding installation deviations caused by human error, improving curtain wall installation quality, and indirectly reducing efficiency losses and cost waste caused by rework. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A construction diagram of an automated construction robot for high-altitude glass curtain walls provided in an embodiment of this application; Figure 2 for Figure 1 The front view; Figure 3 for Figure 1 Side view; Figure 4 for Figure 1Enlarged view of A in the middle; Figure 5 This is a side cross-sectional view of a pulley component used in an embodiment of this application; Figure 6 This is a schematic diagram of the lifting component used in one embodiment of this application; Figure 7 This is a schematic diagram of the main frame structure used in an embodiment of this application; Figure 8 for Figure 7 Side view section; Figure 9 for Figure 7 The front view; Figure 10 This is a schematic diagram of the operation of the adsorption component used in one embodiment of this application. Figure 1 ; Figure 11 This is a schematic diagram of the operation of the adsorption component used in one embodiment of this application. Figure 2 ; Figure 12 This is a side view of an automated construction robot for high-altitude glass curtain walls used in another embodiment of this application; Figure 13 This is a side view of an automated construction robot for high-altitude glass curtain walls, used in another embodiment of this application.

[0018] Explanation of reference numerals in the attached figures: 1. Movable base; 11. Base; 111. Telescopic motor; 12. Counterweight; 13. Movable wheels; 14. First suspension mechanism; 15. Second suspension mechanism; 16. Support frame; 2. Suspended platform; 21. Main frame; 22. Pulley components; 221. Outer ring; 222. Inner ring; 223. Transition ring; 224. Ball bearings; 225. Connecting frame; 23. Winch; 3. Adsorption assembly; 31. Movable base plate; 32. Swinging rod; 33. First telescopic rod; 34. Support rod; 35. Suction cup frame; 36. Second telescopic rod; 37. Lead screw frame; 371. Lead screw; 38. Drive motor; 39. Guide rod; 4. Lifting assembly; 41. Bracket; 411. Support groove; 42. Baffle; 421. Limiting groove; 43. Buffer rod; 44. Buffer pad; 5. Architecture. Detailed Implementation

[0019] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. The following description of at least one exemplary embodiment is actually illustrative only and is in no way intended to limit this application or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0021] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0022] It should be noted that the terms "length," "width," "height," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "head," and "tail," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the application. The directional terms "inner" and "outer" refer to the inside or outside relative to the outline of each component itself.

[0023] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "joining," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Additionally, "multiple" and "several" mean two or more, unless otherwise explicitly specified.

[0025] Please refer to the following: Figures 1 to 13 The automatic construction robot for high-altitude glass curtain walls provided in this application will now be described. The automatic construction robot for high-altitude glass curtain walls includes a mobile base 1, a suspended platform 2, an adsorption assembly 3, and a lifting assembly 4. The mobile base 1 is transported to the top of the building 5 by a tower crane for support and fixation. The mobile base 1 has a suspension part extending out of the top of the building 5. The suspended platform 2 is suspended at the bottom of the suspension part and can be raised and lowered. The adsorption assembly 3 is located inside the suspended platform 2 and includes a freely movable adsorption head that adsorbs and adheres to the curtain wall panel. The lifting assembly 4 is suspended at the bottom of the suspension part and is used to move the curtain wall panel upward until the curtain wall panel and the adsorption head are at the same height.

[0026] It should be noted that the mobile base 1 is located on the top of building 5 and is transported from the ground by cranes or other lifting equipment. The transportation technology is existing technology and will not be described in detail here.

[0027] It should be noted that the curtain wall panels of this application are installed in columns on building 5. The movable base 1 remains fixed in its original position during the hoisting and installation of the curtain wall panels. After all the curtain wall panels in one column of building 5 are installed, the movable base 1 releases the scaffold 2 and the lifting assembly 4. After the movable base 1 moves to the next preset position, it reconnects the scaffold 2 and the lifting assembly 4 to carry out the installation of the curtain wall panels. For example, if the installation positions of the curtain wall panels on building 5 are divided into multiple columns, after the curtain wall panels in the first column are installed, the movable base 1 moves to the top of the building 5 corresponding to the second column, and the installation is carried out in sequence.

[0028] The working process of this embodiment is as follows: The mobile base 1 is fixedly installed on the top of the building 5, ensuring that its suspension part extends from the top of the building 5 to the curtain wall construction area; then, the hoisting basket 2 is lowered to the initial working height through the lifting mechanism of the suspension part, and at the same time, the lifting assembly 4 is lowered to the ground or the low-level material stacking area; the workers place the curtain wall panel on the lifting assembly 4 on the ground, and start the lifting drive structure of the lifting assembly 4, which drives the curtain wall panel to move upward in the vertical direction; when the curtain wall panel rises to the same height as the suction head of the suction assembly 3 in the hoisting basket 2, the lifting assembly 4 stops moving, and the suction head of the suction assembly 3 adjusts its position by moving freely, accurately attaching to the surface of the curtain wall panel and generating suction force to achieve a stable grip on the curtain wall panel; finally, through the lifting of the hoisting basket 2 and the fine adjustment of the suction head, the curtain wall panel is moved to the preset installation position to complete the installation of the glass curtain wall. In the whole process, only ground personnel are needed to assist in placing the curtain wall panel, and the core high-altitude operation does not require direct human intervention.

[0029] The automated high-altitude glass curtain wall construction robot provided in this embodiment significantly reduces manual involvement at heights compared to existing technologies. Only ground personnel are needed to assist in placing the curtain wall panels; the robot automatically handles the lifting, adsorption, and transfer of these panels at height. This avoids prolonged exposure of employees to direct sunlight in sunny weather or frigid conditions in cold weather, fundamentally reducing the health risks of severe weather and eliminating the risk of falls during manual high-altitude operations, thus ensuring operational safety. Through the coordinated operation of the lifting component 4 and the adsorption component 3, the handling and positioning of the curtain wall panels are automated. Compared to the tedious manual lifting and adjustment, the automated process is unaffected by human fatigue, maintaining a stable construction rhythm and significantly improving construction efficiency. The suspended platform 2 is height-adjustable, and the adsorption head is freely movable, adapting to curtain wall installation needs at different heights and locations. This greater flexibility allows it to cover diverse construction scenarios on the building's facade, reducing the time cost of frequent equipment relocation, further optimizing the construction process, avoiding installation deviations caused by human error, improving curtain wall installation quality, and indirectly reducing efficiency losses and cost waste due to rework.

[0030] In some embodiments, see Figure 1 and Figure 3 The movable base 1 also includes a base 11, a counterweight 12, and movable wheels 13. The base 11 is located on the top of the building 5, and a telescopic motor 111 is provided on the top of the base 11. The telescopic motor 111 has a telescopic end on its side, and a suspension part is located on the telescopic end. The counterweight 12 is located on the side of the base 11 away from the suspension part. The movable wheels 13 are located at the bottom of the base 11 and roll in cooperation with the top of the building 5.

[0031] It should be noted that the movable base 1 will not move when the curtain wall panel is lifted, and will remain stably in place to ensure the installation stability of the curtain wall panel. One fixing method is that the bottom of the base 11 has a liftable support plate. When the base 11 moves to the preset position, the support plate descends and abuts against the top of the building 5, thereby fixing the position of the base 11.

[0032] In practice, the counterweight 12 can be placed on one side of the base 11 or on top of the base 11, as long as it can ensure that the base 11 will not move or tilt during construction, thus eliminating potential safety accidents.

[0033] The mobile base 1 provided in this embodiment has a stable structure. The telescopic motor 111 drives the telescopic end to extend and retract, which can flexibly adjust the length of the suspended part extending from the top of the building 5. The mobile base 1 can adapt to different curtain wall construction areas without moving the entire unit, reducing the risk of collision during equipment relocation and protecting the top structure of the building 5 and the construction equipment. The counterweight 12 can balance the weight of the suspended part, the lower basket 2, the lifting component 4, and the curtain wall panel, preventing the mobile base 1 from tipping over due to the center of gravity shifting when the suspended part extends. The counterweight 12 can ensure the stability of the mobile base 1, providing reliable support for the robot's high-altitude operations, and indirectly ensuring that the curtain wall panel does not fall off or collide during transportation, improving construction safety and quality stability. The moving wheels 13 at the bottom of the base 11 roll in cooperation with the top of the building 5, allowing the mobile base 1 to move flexibly along the top of the building 5, adapting to the switching needs of different construction areas. At the same time, the rolling cooperation reduces wear on the surface of the top of the building 5, protecting the original structure of the building 5.

[0034] As one embodiment of the telescopic motor 111, the telescopic motor 111 is a servo motor, and it can also be a hydraulic press.

[0035] As another way to extend the suspension unit, a hydraulically driven multi-section telescopic boom is used to extend the suspension unit. It is installed on the base 11 and the boom is extended layer by layer by driving the cylinder through the hydraulic pump.

[0036] As another way of extending the suspension unit, a cantilever beam is used as the support structure for the suspension unit, and the other end of the cantilever beam is fixed to the base 11.

[0037] In some embodiments, see Figure 1 and Figure 3The suspension system comprises a first suspension mechanism 14 and a second suspension mechanism 15. The first suspension mechanism 14 is suspended and connected to the suspended platform 2, and the second suspension mechanism 15 is suspended and connected to the lifting assembly 4. The second suspension mechanism 15 is located between the first suspension mechanism 14 and the telescopic motor 111. The first suspension mechanism 14 and the second suspension mechanism 15 independently control the lifting of the suspended platform 2 and the lifting assembly 4, respectively. They can operate synchronously or asynchronously, significantly improving operational coordination. The location of the second suspension mechanism 15 between the first suspension mechanism 14 and the telescopic motor 111 shortens the length of the suspension rope of the lifting assembly 4. Compared to the swaying problem caused by excessively long suspension ropes, shorter suspension ropes reduce the swing amplitude of the lifting assembly 4 during lifting, improving the accuracy of the docking between the lifting assembly 4 and the adsorption assembly 3. This ensures that the curtain wall panel can be stably raised to the same height as the adsorption head, reducing rework caused by docking deviations and improving installation quality. The coordinated operation of both mechanisms eliminates the need for manual coordination, further reducing the need for manual intervention and the workload of employees at heights or on the ground.

[0038] Optionally, both the first suspension machine 14 and the second suspension machine 15 are equipped with winches.

[0039] As another specific embodiment of the suspension unit, see [reference]. Figure 12 The base 11 has an L-shaped support frame 16 on its top. The first end of the horizontal section of the support frame 16 is located at the top of the vertical section, and the second end of the horizontal section forms a suspension part. The first suspension machine 14 and the second suspension machine 15 are respectively mounted on the base 11 and located on both sides of the vertical section. Pulleys are provided on both the upper and lower sides of the horizontal section. The winch rope of the first suspension machine 14 rolls with the upper pulley and passes through the top of the horizontal section, eventually being suspended and connected to the suspended basket 2. The winch rope of the second suspension machine 15 rolls with the lower pulley and passes through the bottom of the horizontal section, eventually being suspended and connected to the lifting assembly 4. In this embodiment, both the first suspension machine 14 and the second suspension machine 15 are mounted on the base 11 and do not extend beyond the top of the building 5, making it convenient for employees to perform maintenance and repairs.

[0040] In some embodiments, see Figure 1 and Figure 4 The suspended platform 2 includes a frame body 21 and a pulley component 22. The frame body 21 has an opening on the side facing the building 5, and the adsorption assembly 3 is installed in the inner cavity of the frame body 21; the pulley component 22 is located above the frame body 21 and is suspended from the frame body 21, and the pulley component 22 is suspended from the suspension part.

[0041] It should be noted that the pulley component 22 is connected to the suspended basket 2 by ropes or steel bars, ensuring that the relative distance between the pulley component 22 and the suspended basket 2 remains constant during suspension. When the suspended part is suspended from the pulley component 22, the bottom of the suspended basket 2 is always parallel to the horizontal plane. Compared with using four ropes to suspend from the four corners of the suspended basket 2, this improves the stability and consistency of the suspension, ensuring that the four corners of the suspended basket 2 are always at the same height.

[0042] The suspended platform 2 provided in this embodiment has strong stability. The side opening of the frame body 21 facing the building 5 allows the adsorption component 3 installed in the inner cavity to directly approach the curtain wall surface, shortening the operating distance between the adsorption head and the curtain wall panel, reducing the time for adsorption head movement and adjustment, and improving adsorption accuracy. The inner cavity structure of the frame body 21 provides protection for the adsorption component 3, preventing direct corrosion of the mechanical structure and electrical components of the adsorption component 3 by harsh environments such as high-altitude sunlight, rain, and strong winds, reducing component failures caused by environmental factors, extending the service life of the adsorption component 3, and ensuring construction continuity. The pulley component 22 above the frame body 21 achieves suspension connection with the suspension part. The rolling characteristics of the pulley component 22 make the lifting and lowering of the suspended platform 2 smoother. Smooth lifting and lowering also reduces the load on the suspension mechanism, reduces the wear and tear on drive components such as motors, further improves the overall reliability of the equipment, avoids high-altitude safety hazards caused by the failure of the suspended platform 2, and indirectly protects the safety of employees and equipment.

[0043] In some embodiments, see Figure 13 The high-altitude glass curtain wall automatic construction robot also includes three winches 23. The three winches 23 are located on the ground and are arranged in a triangular pattern. The winch ropes of the three winches 23 are respectively connected to the bottom side of the suspended basket 2. Each winch rope gradually tilts towards the frame body 21 from bottom to top.

[0044] In this embodiment, three winches 23 are arranged in a triangular pattern and connected to the bottom side of the suspended platform 2 via winch ropes, forming a stable triangular support structure. This structure provides tension to the suspended platform 2 from multiple directions from the bottom, effectively counteracting the lateral thrust of strong winds at high altitudes and significantly reducing the swaying amplitude of the platform. This prevents the suction head from detaching from the curtain wall panel or colliding with the building 5 due to wind-induced swaying, improving operational stability and safety, protecting the curtain wall panel from damage, and reducing rework costs. Each winch rope gradually tilts towards the frame body 21 from bottom to top. This tilt angle provides an upward pulling force to the suspended platform 2, assisting the top suspension mechanism in stabilizing the height of the platform 2, preventing the platform 2 from deviating from its construction position due to horizontal forces, ensuring the alignment accuracy between the suction head and the curtain wall panel, improving installation quality, and reducing labor costs for later adjustments.

[0045] In practice, the winch 23 is located on the ground, eliminating the need for additional stabilizing structures at height, thus reducing the difficulty and risk of high-altitude operations. Ground-based operation of the winch 23 is also more convenient, as employees do not need to adjust stabilizing devices at height. The triangularly distributed winches 23 can flexibly respond to different wind directions and forces by independently adjusting the tension of each winch rope, and can correct the position of the suspended platform 2 in real time, ensuring that the suspended platform 2 remains stable throughout the construction process and improving construction efficiency.

[0046] In some embodiments, see Figure 4 and Figure 5The pulley component 22 includes an outer ring 221, an inner ring 222, a transition ring 223, and multiple balls 224. The top of the outer circumferential surface of the outer ring 221 is suspended from the suspension part; the inner ring 222 is rotatably disposed inside the outer ring 221, and a sliding groove is provided on the outer circumferential surface of the inner ring 222. A connecting frame 225 is provided on the inner circumferential surface of the inner ring 222, which extends out of the inner ring 222 and is suspended from the top two sides of the frame body 21; the transition ring 223 is sleeved on the inner ring 222 and located in the sliding groove, with the outer circumferential surface of the transition ring 223 abutting against the outer ring 221 and the inner circumferential surface spaced apart from the inner ring 222; multiple balls 224 are respectively rolled between the sliding groove and the transition ring 223.

[0047] It should be noted that in existing technology, to stabilize the suspended platform 2, four ropes are lowered from the top and connected to the four corners of the platform 2. However, the bottom heights of the four ropes need to be adjusted to be consistent; otherwise, the platform may tilt, making adjustments cumbersome and affecting the installation of the curtain wall panels. (See appendix) Figure 13 This application utilizes a pulley component 22 and a connecting rod to connect the bottom ends of two ropes on the same side. The top of the pulley component 22 is connected to the connecting rod. Even if the bottom ends of the two ropes on the same side are at different heights and the connecting rod is tilted, the connecting frame 25 of the pulley component 2 remains horizontal, and the frame body 21 will not tilt forward or backward, thus increasing the stability of use.

[0048] In practice, the appendices to this application shall apply. Figure 1 To be continued Figure 3 The first suspension crane 14 lowered four ropes, attached Figure 1 To be continued Figure 3 The first suspension machine 14 in the middle only shows one rope on each side.

[0049] It should be noted that the axial thickness of the transition ring 223 is less than the relative distance between the two groove walls of the sliding groove. The multiple balls 224 are divided into two parts, located between the transition ring 223 and the groove wall of the sliding groove, respectively, to ensure the relative stability of the transition ring 223 and the inner ring 222.

[0050] In practice, the two connecting frames 225 can be connected together by a reinforcing rod.

[0051] The design of the outer ring 221, inner ring 222, transition ring 223, and ball bearing 224 in this embodiment significantly reduces frictional resistance, making the rotation of the inner ring 222 relative to the outer ring 221 smoother, thus improving installation accuracy and operational safety. The transition ring 223, fitted onto the inner ring 222 and located within the sliding groove, limits the movement of the ball bearing 224, preventing it from falling off during rolling, ensuring the structural stability of the pulley component 22, reducing pulley failures caused by ball bearing 224 detachment, avoiding construction interruptions, and ensuring construction continuity. The inner ring 222 is suspended from the top of the frame body 21 via a connecting frame 225, ensuring that the force on the suspended platform 2 is evenly distributed on both sides of the frame body 21, further enhancing the stability of the suspended platform 2. In addition, the cooperation between the sliding groove and the transition ring 223 can also buffer some vibrations. For example, the slight vibration generated when the lifting component 4 docks with the adsorption component 3 can be absorbed by the rolling of the ball 224 and the elastic deformation of the transition ring 223, preventing the vibration from being transmitted to the sump 2 and the curtain wall panel, protecting the equipment and materials, reducing the impact of vibration on the installation accuracy, improving the quality of curtain wall installation, and further optimizing the construction environment.

[0052] In some embodiments, see Figures 7 to 11 The adsorption assembly 3 includes a movable base plate 31, a swing rod 32, a first telescopic rod 33, a support rod 34, a suction cup frame 35, and a second telescopic rod 36. The movable base plate 31 is slidably mounted at the bottom of the inner cavity of the suspended platform 2 along the direction parallel to the wall of the building 5; the bottom end of the swing rod 32 is hinged to the movable base plate 31, and the hinge direction is parallel to the moving direction of the movable base plate 31; the bottom end of the first telescopic rod 33 is hinged to the movable base plate 31, and the hinge direction is parallel to the moving direction of the movable base plate 31; the support rod 34 is located above the movable base plate 31, and the top ends of the swing rod 32 and the first telescopic rod 33 are respectively hinged to the support rod 34, and the hinge directions are both parallel to the moving direction of the movable base plate 31, and the axis of the support rod 34 is perpendicular to the moving direction of the movable base plate 31; the suction cup frame 35 is provided with multiple suction cups on the side facing the building 5, and the suction cups form an adsorption head; the two ends of the second telescopic rod 36 are respectively hinged to the middle of the swing rod 32 and the suction cup frame 35, the axis of the second telescopic rod 36 is perpendicular to the moving direction of the movable base plate 31, and the second telescopic rod 36 is located below the support rod 34.

[0053] The adsorption component 3 in this embodiment can adjust the position of the suction cup holder 35 in the vertical direction, increasing the flexibility of use.

[0054] In practice, both the first telescopic rod 33 and the second telescopic rod 36 are equipped with hydraulic cylinders to ensure free extension and retraction.

[0055] It should be noted that the suction cup has a vacuum system, which achieves the adsorption and fixation of the curtain wall through the principle of vacuum adsorption. It utilizes the air pressure difference inside and outside the sealed vacuum cavity formed by the suction cup and the surface of the curtain wall to generate a continuous and stable adsorption force. The suction cup is connected to an air extraction device and is equipped with a pressure monitoring element to monitor the negative pressure value. Its working principle and equipment selection are common knowledge in the field and will not be elaborated here.

[0056] This embodiment achieves automated and precise adsorption through a multi-dimensional adjustable adsorption component 3 structure. The movable base plate 31 can slide along the parallel wall of the building 5, adjusting the horizontal position of the adsorption component 3. The extension and retraction of the first telescopic rod 33 drives the swing rod 32 to rotate around the bottom hinge point, thereby adjusting the height of the support rod 34 and achieving vertical height adjustment of the adsorption component 3. The extension and retraction of the second telescopic rod 36 pushes the suction cup frame 35 to rotate around the hinge point, adjusting the contact angle between the suction cup and the curtain wall panel. These three components work together to achieve three-dimensional adjustment of the adsorption component 3. Automated three-dimensional adjustment is more precise, and positioning can be achieved through preset parameters or remote control, avoiding human error and ensuring complete contact between the suction cup and the curtain wall panel surface. This improves adsorption stability, reduces the risk of the curtain wall panel falling off during transport, and also reduces positional deviations during curtain wall panel installation, improving construction quality. The entire adjustment process of the adsorption component 3 requires no direct manual operation; employees only need to set parameters on the ground through the control system, fundamentally reducing the impact of severe weather on employee health and eliminating the risk of falls during manual high-altitude operations, ensuring operational safety. The multi-component hinged design and telescopic rod coordination allow the adsorption assembly 3 to adapt to glass curtain wall panels of different sizes and shapes. For example, by adjusting the height of the first telescopic rod 33, it can adapt to curtain wall panels of different heights, and by adjusting the angle of the second telescopic rod 36, it can adapt to curtain wall surfaces with different inclinations. This eliminates the need to replace the adsorption assembly 3 for different curtain wall panels, reducing equipment costs and replacement time, and improving construction efficiency. Furthermore, the design of multiple suction cups disperses the adsorption force, avoiding uneven stress and deformation of the curtain wall panel caused by single-point adsorption, protecting the curtain wall panel material, reducing rework due to deformation, and further optimizing the construction process.

[0057] In some embodiments, see Figures 7 to 11 The adsorption assembly 3 also includes a lead screw frame 37, a drive motor 38, and a guide rod 39. The lead screw frame 37 is located at the bottom of the inner cavity of the suspended basket 2. The lead screw frame 37 is rotatably equipped with a lead screw 371. The axial direction of the lead screw 371 is parallel to the side of the building 5. The movable base plate 31 has a threaded hole that is threadedly engaged with the lead screw 371. The drive motor 38 is located on one side of the lead screw frame 37. The drive motor 38 has a rotary output end that is connected to one end of the lead screw 371. The guide rod 39 is rotatably connected to the lead screw frame 37 at both ends and is parallel to the lead screw 371. The guide rod 39 slides through the movable base plate 31.

[0058] The drive motor 38 of this application drives the lead screw 371 to rotate. Through the threaded engagement between the lead screw 371 and the threaded hole of the moving base plate 31, the rotational motion of the drive motor 38 is converted into the linear motion of the moving base plate 31, realizing the automated horizontal drive of the adsorption assembly 3. The moving speed and distance can be stably controlled through the motor output, improving the adsorption success rate and installation accuracy. The guide rod 39 is parallel to the lead screw 371 and slides through the moving base plate 31, which can limit the rotation of the moving base plate 31 during the movement, ensuring that the moving base plate 31 always moves smoothly along the axial direction of the lead screw 371. At the same time, the guide rod 39 can also share the weight of the moving base plate 31, reducing the deformation of the lead screw 371 caused by radial force, extending the service life of the lead screw 371, and reducing equipment maintenance costs. The entire drive process requires no manual intervention. Employees do not need to operate the moving base plate 31 at height or in the suspended platform 2, protecting the health of employees. At the same time, the automated drive can achieve coordinated control with the lifting assembly 4, so that the two move synchronously, further improving construction efficiency and reducing equipment idle time.

[0059] In some embodiments, see Figure 6 The supporting assembly 4 includes a bracket 41 and a baffle 42. The bottom of the bracket 41 has an upward-opening support groove 411 for receiving the curtain wall panel; the baffle 42 is provided on both sides of the bracket 41, and a limiting groove 421 is opened on the inner side of the baffle 42, which is inserted into the side of the curtain wall panel.

[0060] This embodiment achieves stable support for the curtain wall panel through a dual fixing structure of bracket 41 and baffle 42. Simultaneously, the opening direction of the support groove 411 is adapted to the placement and removal of the curtain wall panel, facilitating quick insertion of the panel by ground personnel without complex fixing operations, thus improving loading efficiency. The baffles 42 on both sides of the bracket 41 are inserted into the sides of the curtain wall panel via limiting grooves 421, restricting the movement of the curtain wall panel from both sides. This prevents the curtain wall panel from slipping off the sides during lifting and lowering, significantly improving the stability of the curtain wall panel, eliminating the high-altitude safety hazards caused by the panel slipping, and protecting the edges of the curtain wall panel from collision damage, thereby improving material utilization. The dimensions of the support groove 411 and limiting groove 421 can be adjusted according to the specifications of the curtain wall panel, adapting to different sizes of glass curtain wall panels, demonstrating strong versatility.

[0061] It should be noted that the distance between the two winch ropes connecting the second suspension machine 15 and the bracket 41 is greater than the width of the curtain wall panel, which does not affect the installation of the curtain wall panel by the adsorption component 3.

[0062] In some embodiments, see Figure 6 The side of the lifting component 4 facing the building 5 is provided with a buffer rod 43. One end of the buffer rod 43 is connected to the bracket 41, and the other end of the buffer rod 43 is provided with a buffer pad 44.

[0063] In practice, the buffer pad 44 can be a rubber buffer pad or a silicone pad.

[0064] When the lifting assembly 4 brings the curtain wall panel close to the wall of the building 5, the buffer rod 43 and the buffer pad 44 can make contact with the wall first. The buffer rod 43 can absorb the impact force through its own elastic contraction, and the buffer pad 44 can further buffer the impact, avoiding direct hard contact between the curtain wall panel and the wall of the building 5, effectively reducing scratches and damage to the surface of the curtain wall panel, or bump damage to the wall of the building 5.

[0065] In some embodiments, a camera can be placed inside the cavity of the suspended platform 2. The camera is aimed at the adsorption assembly 3 and communicates with the control room on the ground, so that employees can observe the construction of the curtain wall panel in real time from the ground, which facilitates timely detection of problems and maintenance.

[0066] As another embodiment of the lifting assembly 4, the lifting assembly 4 includes a bracket 41, a baffle 42 and an adaptive foot. The top of the bracket 41 is suspended and connected to the second suspension machine 15. The baffle 42 is provided on both sides of the bracket 41. The inner side of the baffle 42 has a retaining groove. The bottom of the bracket 41 is provided with a support groove. The support groove and the retaining groove cooperate to limit the position of the curtain wall panel. The adaptive foot is installed on the side of the bracket 41 and fixed to the edge of the side floor slab of the building 5.

[0067] In specific implementation, there are two adaptive feet, including grippers and two transmission arms. The two transmission arms are hinged sequentially, and the two transmission arms are respectively hinged to the grippers and the bracket 41. The transmission arms are equipped with multiple driving components to drive the grippers to open and close and the transmission arms to rotate. The grippers can grip the edge of the floor slab of the building 5. The grippers of the two adaptive feet move alternately and clamp the edge of the floor slab of the building 5, causing the bracket 41 to rise.

[0068] This application allows the lifting component 4 to be attached to the side of the building 5 via adaptive feet, and the second suspension machine 15 to guide the lifting component 4. The lifting component 4 rises or falls via the adaptive feet, improving the stability of the curtain wall transportation and preventing the curtain wall panels from swaying during the lifting process due to wind.

[0069] The following is one specific implementation method of this application: Move the base 11 of the mobile base 1 to the initial construction position on the top of the building 5 via the moving wheels 13. Place a counterweight 12 on the side of the base 11 away from the suspension part to ensure that the center of gravity of the mobile base 1 is balanced. Start the telescopic motor 111 and adjust the extension length of the telescopic end so that the suspension part is accurately aligned with the curtain wall construction area. Check the operating status of the first suspension machine 14 and the second suspension machine 15 to ensure that the suspension rope is undamaged and the lifting function is normal.

[0070] The suspension rope is released by the first suspension machine 14, lowering the suspended basket 2 to an initial height near the ground. At the same time, the lifting assembly 4 is lowered to the ground by the second suspension machine 15. Ground personnel place the glass curtain wall panel into the support groove 411 of the bracket 41, so that the side of the curtain wall panel is inserted into the limiting groove 421 of the baffle 42, thus completing the bottom and side fixation of the curtain wall panel. The three winches 23 distributed in a triangle on the ground are adjusted so that the winch ropes are connected to the bottom side of the suspended basket 2 and tensioned to ensure that the initial state of the suspended basket 2 is stable.

[0071] Start the second suspension machine 15 to move the lifting assembly 4 and the curtain wall panel vertically upward; when the lifting assembly 4 approaches the wall of the building 5, the buffer pad 44 at the front end of the buffer rod 43 contacts the wall first, and the buffer rod 43 elastically contracts to offset the impact force and prevent the curtain wall panel from colliding with the wall; continue to lift the lifting assembly 4 until the height of the curtain wall panel is consistent with the height of the suction head of the suction assembly 3 in the suspended basket 2, and then stop the second suspension machine 15.

[0072] Start the drive motor 38 of the adsorption assembly 3 to drive the lead screw 371 to rotate, and move the base plate 31 to slide parallel to the wall surface along the guide rod 39 to adjust the horizontal position of the adsorption head; extend and retract the first telescopic rod 33 to drive the swing rod 32 to rotate, and adjust the height of the support rod 34 so that the height of the suction cup frame 35 matches that of the curtain wall panel; start the second telescopic rod 36 to push the suction cup frame 35 to rotate around the hinge point, and adjust the angle of the suction cups so that multiple suction cups are completely attached to the surface of the curtain wall panel; start the suction cup vacuum system to generate adsorption force and ensure that the curtain wall panel is firmly adsorbed.

[0073] The height of the suspended platform 2 is adjusted by the first suspension machine 14, and the position of the moving base plate 31 is finely adjusted by the drive motor 38 to move the adsorbed curtain wall panel to the preset installation position. After the curtain wall panel is installed, the suction cup vacuum system is turned off and the adsorption head releases the curtain wall panel. The second suspension machine 15 is started to reset the lifting component 4 to the ground, ready to lift the next curtain wall panel. If it is necessary to switch construction areas, the position of the moving base 1 is adjusted by the moving wheel 13, or the extension length of the suspension part is adjusted by starting the telescopic motor 111. The above steps are repeated until the construction of the entire glass curtain wall is completed.

[0074] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An automated construction robot for high-altitude glass curtain walls, characterized in that, include: The mobile base (1) is transported to the top of the building (5) by a tower crane for support and fixation. The mobile base (1) has a suspension part that extends out of the top of the building (5). The suspended basket (2) is suspended at the bottom of the suspension unit in a height-adjustable manner; An adsorption component (3) is disposed inside the suspended basket (2). The adsorption component (3) includes a freely movable adsorption head, which is adsorbed and attached to the curtain wall panel. as well as The lifting assembly (4) is suspended at the bottom of the suspension part. The lifting assembly (4) is used to move the curtain wall panel upward until the curtain wall panel and the suction head are at the same height.

2. The automated construction robot for high-altitude glass curtain walls as described in claim 1, characterized in that, The mobile base (1) also includes: A base (11) is provided on the top of the building (5). A telescopic motor (111) is provided on the top of the base (11). The side of the telescopic motor (111) has a telescopic end, and the suspension part is provided on the telescopic end. The counterweight (12) is located on the side of the base (11) away from the suspension part; and The movable wheel (13) is located at the bottom of the base (11) and rolls in cooperation with the top of the building (5).

3. The automated construction robot for high-altitude glass curtain walls as described in claim 2, characterized in that, The suspension unit has a first suspension machine (14) and a second suspension machine (15). The first suspension machine (14) is suspended and connected to the basket (2), and the second suspension machine (15) is suspended and connected to the lifting assembly (4). The second suspension machine (15) is located between the first suspension machine (14) and the telescopic motor (111).

4. The automated construction robot for high-altitude glass curtain walls as described in claim 1, characterized in that, The suspended platform (2) includes: The frame body (21) has an opening on its side facing the building (5), and the adsorption assembly (3) is installed in the inner cavity of the frame body (21); and A pulley component (22) is disposed above the frame body (21) and is suspended from the frame body (21). The pulley component (22) is suspended from the suspension part.

5. The automated construction robot for high-altitude glass curtain walls as described in claim 4, characterized in that, The high-altitude glass curtain wall automatic construction robot also includes three winches (23). The three winches (23) are located on the ground and are arranged in a triangular pattern. The winch ropes of the three winches (23) are respectively connected to the bottom side of the suspended basket (2). Each winch rope gradually tilts towards the frame body (21) from bottom to top.

6. The automated construction robot for high-altitude glass curtain walls as described in claim 4, characterized in that, The pulley component (22) includes: The outer ring (221) is suspended and connected to the top of the outer peripheral surface of the suspension part; The inner ring (222) is rotatably disposed inside the outer ring (221). The outer circumferential surface of the inner ring (222) is provided with a sliding groove. The inner circumferential surface of the inner ring (222) is provided with a connecting frame (225). The connecting frame (225) extends out of the inner ring (222) and is suspended and connected to the top two sides of the frame body (21). A transition ring (223) is fitted onto the inner ring (222) and located within the sliding groove. The outer circumferential surface of the transition ring (223) abuts against the outer ring (221), and the inner circumferential surface is spaced apart from the inner ring (222). Multiple balls (224) are respectively rolled between the sliding groove and the transition ring (223).

7. The automated construction robot for high-altitude glass curtain walls as described in claim 1, characterized in that, The adsorption component (3) includes: The movable base plate (31) is slidably disposed at the bottom of the inner cavity of the suspended basket (2) in a direction parallel to the wall of the building (5); The swing rod (32) is hinged at its bottom end to the movable base plate (31), and the hinge direction is parallel to the moving direction of the movable base plate (31). The first telescopic rod (33) is hinged at its bottom end to the movable base plate (31), and the hinge direction is parallel to the moving direction of the movable base plate (31). The support rod (34) is located above the movable base plate (31). The top ends of the swing rod (32) and the top ends of the first telescopic rod (33) are respectively hinged to the support rod (34), and the hinge direction is parallel to the moving direction of the movable base plate (31). The axial direction of the support rod (34) is perpendicular to the moving direction of the movable base plate (31). A suction cup holder (35) has multiple suction cups on its side facing the building (5), the suction cups forming the suction head; and The second telescopic rod (36) is hinged at both ends to the middle of the swing rod (32) and the suction cup frame (35), respectively. The axis of the second telescopic rod (36) is perpendicular to the moving direction of the moving base plate (31), and the second telescopic rod (36) is located below the support rod (34).

8. The automated construction robot for high-altitude glass curtain walls as described in claim 7, characterized in that, The adsorption component (3) further includes: A lead screw frame (37) is located at the bottom of the inner cavity of the suspended basket (2). The lead screw frame (37) is rotatably provided with a lead screw (371). The axial direction of the lead screw (371) is parallel to the side of the building (5). The movable base plate (31) has a threaded hole, which is threadedly engaged with the lead screw (371). A drive motor (38) is disposed on one side of the lead screw frame (37), the drive motor (38) having a rotation output end, the output end being connected to one end of the lead screw (371); and The guide rod (39) is rotatably connected to the lead screw frame (37) at both ends, and the guide rod (39) is parallel to the lead screw (371). The guide rod (39) slides through the movable base plate (31).

9. The automated construction robot for high-altitude glass curtain walls as described in claim 1, characterized in that, The lifting component (4) includes: The bracket (41) has an upward-opening support groove (411) at its bottom for receiving the curtain wall panel; and A baffle (42) is provided on both sides of the bracket (41). A limiting groove (421) is provided on the inner side of the baffle (42). The limiting groove (421) is inserted into the side of the curtain wall panel.

10. The automated construction robot for high-altitude glass curtain walls as described in claim 9, characterized in that, The lifting assembly (4) has a buffer rod (43) on the side facing the building (5). One end of the buffer rod (43) is connected to the bracket (41), and the other end of the buffer rod (43) is provided with a buffer pad (44).

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