A curtain wall keel mounting system and method

Abstract

This invention discloses a curtain wall keel installation system and method, comprising: a keel installation robot for spatial handling, posture adjustment, and welding of the curtain wall keel, including a mobile chassis, lifting truss, robotic arm base, robotic arm structure, installation gripper platform, and welding-related equipment; and a keel pre-processing robot for automatic placement of embedded corner brackets, temporary adhesive application and fixing, and keel pre-processing before keel installation, including a mobile corner bracket installation platform, a keel handling mechanism, and an embedded part installation mechanism. This curtain wall keel installation system and method solves the problems of high reliance on manual labor, low positioning accuracy, safety risks associated with high-altitude operations, and low construction efficiency in existing technologies. Through multi-machine collaborative operation and fully automated posture adjustment, it achieves precise clamping, handling, and welding fixing of the curtain wall keel, significantly saving manual labor and improving construction efficiency and installation accuracy.

Description

Technical Field

[0001] This invention relates to the technical field of building engineering, and more particularly to a curtain wall keel installation system and a curtain wall keel installation method. Background Technology

[0002] As the core load-bearing framework of a building's curtain wall, the curtain wall keel is mainly used to support the curtain wall panels and transfer loads. Its installation accuracy and firmness directly determine the final construction quality and long-term safety of the curtain wall. However, in the actual construction process on site, the existing manual-based curtain wall keel construction method still has certain problems: 1. The installation of embedded parts and corner brackets lacks specialized equipment and relies heavily on manual experience. During the construction preparation stage, manual layout and corner bracket fixing are required, which is cumbersome, time-consuming, and labor-intensive. Moreover, the fixing effect is unstable and prone to loosening and displacement, which not only increases rework costs but also seriously affects the accuracy and structural stability of subsequent keel installation.

[0003] 2. The keel is not handled with specialized and flexible clamps and has low positioning accuracy. It relies on manual hoisting or simple clamps for handling, which is not only inconvenient and labor-intensive, but also makes it difficult to accurately adjust the horizontal and vertical position and spatial angle of the keel, resulting in low positioning efficiency and easy installation errors.

[0004] 3. Poor collaborative operation capability and low overall construction efficiency. During the construction process, most of the work is done by a single machine or by pure manual labor. Multi-machine collaboration is not achieved, the connection between various processes is not smooth, and there is a waste of human and equipment resources, making it difficult to effectively improve the overall construction efficiency.

[0005] 4. The working environment is harsh and there are great safety hazards. Due to the lack of automated support and fixed platforms, construction operations generally have additional problems such as high safety risks of manual operation at height, environmental pollution from welding fumes on site, and high material loss rate.

[0006] To address the aforementioned pain points, there is an urgent need for a curtain wall keel installation system that integrates multi-machine collaborative handling, flexible posture adjustment, precise automated positioning, and safe and efficient fixing. This system would overcome the problems of high reliance on manual labor, low positioning accuracy, safety risks associated with high-altitude operations, and low construction efficiency in existing technologies. Summary of the Invention

[0007] Based on the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide a curtain wall keel installation system and method to solve the problems of high dependence on manual labor, low positioning accuracy, safety risks of high-altitude operation and low construction efficiency in the existing technology. Through multi-machine collaborative operation and fully automated attitude adjustment, the system can achieve precise clamping, handling and welding fixation of curtain wall keels, greatly save manual labor and improve construction efficiency and installation accuracy.

[0008] To achieve the above objectives, the present invention employs the following technical measures: This invention discloses a curtain wall keel installation system, comprising: a keel installation robot for spatial handling, posture adjustment, and welding of curtain wall keels, including a mobile chassis, a lifting truss, a robotic arm base, a robotic arm structure, an installation gripper platform, and welding-related equipment; and a keel pre-processing robot for automatic placement, temporary fixation with adhesive, and keel pre-processing before keel installation, including a mobile angle bracket installation platform, a keel handling mechanism, and an embedded part installation mechanism; the mobile chassis is located at the bottom of the keel installation robot; the lifting truss is vertically mounted on the mobile chassis; the robotic arm base is slidably connected to the lifting truss; the robotic arm structure is mounted on the robotic arm base; the installation gripper platform is connected to the end of the robotic arm structure; the welding-related equipment is mounted at the rear of the mobile chassis; the mobile angle bracket installation platform is located at the bottom of the keel pre-processing robot; the keel handling mechanism is fixedly mounted in the middle of the mobile angle bracket installation platform; and the embedded part installation mechanism is mounted on the side of the mobile angle bracket installation platform.

[0009] Preferably, the mobile chassis includes a U-shaped mobile chassis frame, a chassis support structure, heavy-duty casters, heavy-duty steering wheels, a wheel structure mounting plate, and a chassis support structure drive; both ends of the mobile chassis frame are hollow structures made of aluminum square tubes, and a motor power source for driving the lifting truss to perform vertical displacement is installed inside the hollow structure; the wheel structure mounting plate is fixed to the bottom of the mobile chassis frame, and both the heavy-duty casters and the heavy-duty steering wheels are fixed to the bottom of the wheel structure mounting plate; the chassis is mounted on the mobile chassis frame. The chassis support structure is driven by a built-in cylinder. The chassis support structure includes a connecting rod frame connector, a cylinder connector, a chassis support connecting rod structure, and chassis support feet. The cylinder connector is hinged to the piston rod end of the cylinder built into the chassis support structure. The cylinder connector is connected to the chassis support feet via the chassis support connecting rod structure. The middle part of the chassis support connecting rod structure is hinged to the wheel structure mounting plate via the connecting rod frame connector. A rubber wear-resistant layer is added to the bottom of the chassis support feet.

[0010] Furthermore, the lifting truss is specifically vertically installed inside the mobile chassis frame, including a slider rail, a structural adapter, two symmetrically arranged truss support square tubes, a transmission rack, a transmission gear, and a transmission shaft; the transmission rack and the slider rail are installed parallel to the surface of each truss support square tube, and a slider is provided on the slider rail; the structural adapter includes an I-beam centrally located and aluminum square tubes symmetrically arranged at both ends of the I-beam, the I-beam being used to transmit the force of the aluminum square tubes at both ends, and a circular hole is opened at the center of the I-beam for installing the transmission gear and the transmission shaft; the aluminum square tubes on both sides of the structural adapter are fixedly connected to the sliders on the slider rail through a non-adjacent but identical adjacent surface alignment connection; the mobile chassis frame has rectangular holes that mate with the aluminum square tubes of the structural adapter, and by installing the aluminum square tubes of the structural adapter into the rectangular holes, the mobile chassis slides and hugs the lifting truss.

[0011] Furthermore, the robotic arm base, serving as a transitional base connecting the lifting truss and the robotic arm structure, includes a base transmission chamber, a robotic arm base transmission worm gear, a robotic arm base transmission worm wheel, a robotic arm base rotating shaft, a base frame, a base support beam, and a robotic arm base drive motor; the base transmission chamber and the base frame are fixedly connected; the base frame has rectangular holes that mate with the structural adapter to allow the robotic arm base to slide and rise along the lifting truss, and also has circular holes that mate with the robotic arm base rotating shaft; the base support beam is a T-shaped steel welded to the upper and lower surfaces of the base frame, which, together with the base transmission chamber and the base frame, encloses... The system comprises a housing space, inside which is installed a motor power source for driving the robotic arm base to move along the lifting truss; the robotic arm base transmission worm gear and the robotic arm base drive motor are connected by a coupling, and both are mounted in the base transmission chamber by corresponding fixed frames; the exterior of the base transmission chamber is enclosed by a plate to provide dust protection and structural support; a robotic arm base transmission worm wheel that meshes with the robotic arm base transmission worm gear is fixedly sleeved on the robotic arm base rotating shaft; the transmission structure of the transmission gear and transmission shaft extends into the robotic arm base and the mobile chassis, respectively, and is connected to the motor power source in the mobile chassis and the robotic arm base, respectively.

[0012] Further, the robotic arm structure includes a robotic arm transmission worm gear, a robotic arm worm gear power source, a robotic arm lever arm, a robotic arm transmission worm wheel, and a differential joint; the end of the robotic arm lever arm is fixedly connected to the robotic arm base transmission worm wheel via the robotic arm base rotating shaft, and is isolated from the base transmission chamber by a bearing component; the robotic arm worm gear power source is fixed on the robotic arm lever arm, and the output end of the robotic arm worm gear power source is connected to the robotic arm transmission worm gear; the front end of the robotic arm lever arm is rotatably connected to the differential joint; the end of the differential joint is fixedly fitted with the robotic arm transmission worm wheel that meshes with the robotic arm transmission worm gear; the differential joint includes a U-shaped bevel gear frame, a bevel gear differential mechanism, a differential joint adapter, two differential joint transmission chambers, a robotic arm structural frame, a first support side plate, a robotic arm joint bearing, and a differential mechanism drive assembly; the robotic arm structural frame is connected to the robotic arm lever arm via the robotic arm joint bearing. The front end is rotatably connected, and the worm gear of the robotic arm transmission is specifically fixedly sleeved on the end of the robotic arm structural frame; the first support side plates are fixed on both sides of the robotic arm structural frame to provide structural closure and lateral support; the U-shaped bevel gear frame is fixedly installed inside the opening at the end of the robotic arm structural frame away from the robotic arm lever arm; the differential mechanism drive assembly is installed inside the robotic arm structural frame, and the differential mechanism drive assembly consists of two motors with opposite output directions and a reduction mechanism; the upper and lower differential joint transmission chambers are respectively installed at the upper and lower ends inside the robotic arm structural frame, and the two output ends of the differential mechanism drive assembly are directly connected to the upper and lower differential joint transmission chambers respectively; the bevel gear differential mechanism includes three meshing bevel gears, all of which are installed in the U-shaped bevel gear frame through bearings, and are respectively connected to the output ends of the upper and lower differential joint transmission chambers and the differential joint adapter at the front end.

[0013] Furthermore, the installation gripper platform includes a gripper drive assembly, a first working end robotic arm, a second working end robotic arm, a working end, and two sets of symmetrically distributed tracked gripper units; the gripper drive assembly, serving as the main load-bearing base, includes two gripper mechanism worm gears, a gripper drive mounting frame, a gripper drive motor, a gripper power source mounting base, a first worm gear and worm storage, and a gripper mechanism worm; the back of the gripper drive mounting frame is fixedly connected to the differential joint adapter; the gripper power source mounting base and the first worm gear and worm storage are fixed to the gripper drive mounting frame; the gripper drive motor is mounted on the gripper power source mounting base, and its output end extends to the first... A worm gear compartment houses and connects to the worm gear of the gripper mechanism; two worm gears of the gripper mechanism are symmetrically meshed on both sides of the worm gear; the working end includes a lithium-ion wrench, a lithium-ion wrench fixing support, a bolt storage compartment and slide rail, a bolt guide channel, a bolt movement cylinder compartment, a working end base, an argon arc welding torch, and an industrial camera; one end of the first working end robotic arm is fixedly connected to the upper surface of the gripper drive mounting frame, and the other end of the first working end robotic arm, the second working end robotic arm, and the working end base of the working end are sequentially rotatably connected by bearings; the bolt storage compartment and slide rail are fixed on the working end base, and the bolt storage compartment and slide rail are internally connected to the bolt storage compartment and slide rail. The unit is equipped with a storage bin and an inclined slide for accommodating and guiding bolts to slide down. A lithium-ion wrench mounting bracket is fixed above the bolt storage bin and slide, and the lithium-ion wrench is mounted on the mounting bracket. The front of the working end base is fixed with a bolt guide channel and a bolt movement cylinder chamber, wherein the lower outlet of the bolt storage bin and slide is connected to the bolt guide channel. The side of the working end base is fixed with an argon arc welding torch and an industrial camera. Each tracked gripper unit includes a tracked gripper pulley, a tracked gripper wheel frame, a tracked gripper track unit, a tracked gripper drive motor, a linkage mounting base, and a four-bar linkage mechanism. The linkage mechanism consists of parallel main arms and secondary arms. One end of the main arm is fixedly connected to the worm gear of the gripper mechanism, and one end of the secondary arm is hinged to the gripper drive mounting frame. The end of the four-bar linkage is hinged to the linkage mounting base. The tracked gripper wheel frame and the tracked gripper drive motor are fixed on the linkage mounting base. The output end of the tracked gripper drive motor is connected to the tracked gripper pulley via a flange and a coupling. The tracked gripper track unit is fitted onto the tracked gripper pulley. The welding-related equipment is connected to the argon arc welding torch on the working end via a flexible pipeline.The flexible pipeline's routing path is as follows: starting from the connection end of the argon arc welding torch, it sequentially runs along the second working end robotic arm, the first working end robotic arm, and the gripper drive assembly, and is secured with cable ties. After allowing sufficient space for joint rotation, it continues along the robotic arm's lever arm and is fixed to the base transmission compartment. Then, after further allowing sufficient space for the robotic arm base to vertically move along the lifting truss, it finally connects to the welding-related equipment.

[0014] Furthermore, the mobile corner code installation platform includes a tracked mobile base, a first corner code installation cylinder, a corner code unloading pipe, a corner code storage bin, a pre-embedded corner code unloading pipe, a slide rail mounting bracket, and a corner code temporary installation platform; the corner code temporary installation platform is fixed above the tracked mobile base, and the corner code storage bin is fixed above the corner code temporary installation platform via the slide rail mounting bracket; the bottom of the corner code storage bin is connected to two L-shaped corner code unloading pipes and one pre-embedded corner code unloading pipe; two first corner code installation cylinders are symmetrically fixed on the corner code temporary installation platform at the drop outlets of the two corner code unloading pipes.

[0015] Furthermore, the embedded part installation mechanism is installed on one side of the slide rail mounting bracket, including a horizontal rotation mechanism, a slide rail mounting structure and motor compartment, an L-shaped corner code channel, a long adhesive storage assembly, a second corner code mounting cylinder, a rotating platform drive motor, a limiting roller, a limiting roller drive motor, and a rotating platform; the slide rail mounting bracket is provided with a rack, and the slide rail mounting structure and motor compartment are slidably fitted onto the slide rail mounting bracket to achieve vertical lifting. The slide rail mounting structure and motor compartment integrate a lifting drive motor and gears, which drive the slide rail mounting structure and motor compartment to lift along the slide rail mounting bracket by meshing with the rack on the slide rail mounting bracket; the horizontal rotation mechanism is externally connected to the slide rail mounting structure and motor compartment, and the horizontal rotation mechanism has a built-in rotary motor and reduction gear set, the output end of which is connected to the L-shaped corner code channel to control the horizontal orientation of the L-shaped corner code channel; the top of the L-shaped corner code channel is provided with The L-shaped corner code channel has an inlet connected to the pre-embedded corner code feeding pipe, and a feeding outlet at the bottom. An installation groove is formed on the outer side wall of the L-shaped corner code channel, and a limiting roller is movably installed in the installation groove via a rotating shaft, with the friction surface of the limiting roller protruding into the internal channel of the L-shaped corner code channel. A limiting roller drive motor is fixed to the outer wall of the L-shaped corner code channel and is driven by the rotating shaft of the limiting roller. Long adhesive storage components are fixed on both sides of the bottom feeding outlet of the L-shaped corner code channel. A rotating platform is located directly below the bottom feeding outlet, and the second corner code installation cylinder is fixedly installed on the rotating platform. A rotating platform drive motor is installed at the bottom end of the L-shaped corner code channel, and its output is driven by the rotating platform to drive the rotating platform to rotate and change the horizontal pushing direction of the second corner code installation cylinder.

[0016] Furthermore, the keel handling mechanism is fixedly installed in the middle of the tracked mobile base, including an opening and closing transmission structure, a mechanism mounting frame, an extended tracked gripper, guide wheels, and a short adhesive storage assembly; the opening and closing transmission structure of the keel handling mechanism is the same as the basic structure of the gripper installation platform, which also includes a gripper drive assembly, a linkage mounting seat, a linkage mechanism main arm, a linkage mechanism secondary arm, and a tracked gripper drive motor; the mechanism mounting frame is fixed on the linkage mounting seat at the end of the keel handling mechanism, and the extended tracked gripper is fixed on the mechanism mounting frame, and the extended tracked gripper is also connected to and driven to rotate by the tracked gripper drive motor; several guide wheels that provide support are longitudinally distributed on the mechanism mounting frame, and the short adhesive storage assembly corresponding to the two sides of the curtain wall keel is fixed at the end of the mechanism mounting frame.

[0017] Accordingly, the present invention also provides a method for installing curtain wall keel, using the above-mentioned curtain wall keel installation system, the steps of which are as follows: S1. Installation of Angle Codes for Vertical Curtain Wall Keel Embedded Parts on Exterior Wall Facade: The keel pre-processing robot controls its tracked mobile base to drive to the edge of the building and controls the horizontal rotation mechanism to rotate and adjust the orientation of the L-shaped angle code channel. This ensures that the working surface of the second angle code installation cylinder is close to the specified coordinate error range of the embedded part. After confirming the required angle code is in an L-shape or reverse L-shape through the rotation of the horizontal rotation mechanism, the keel pre-processing robot controls the rotating platform drive motor to drive the rotating platform to rotate, thereby driving the second angle code installation cylinder fixed on it to rotate and push it out towards the wall. Then, the limiting roller drive motor drives the limiting roller to rotate, using surface friction to drive the corresponding angle code to slide out along the L-shaped angle code channel. During this period, glue is applied to its surface by a long glue-applying and glue-storing component. Then, the second angle code installation cylinder pushes out in the specified direction to temporarily press and fix the angle code in the specified position. The angle code is continuously supplied by the embedded part angle code feeding pipe. After completion, the keel pre-processing robot controls the tracked mobile base to drive... After leaving the location, the keel installation robot takes over the mobile chassis. The keel installation robot controls the chassis support structure to drive the built-in cylinder to extend. Through the transmission of the chassis support linkage structure, the chassis support feet extend to the ground to stabilize the machine body. Then, it controls the motor power source in its mobile chassis to lower the lifting truss. Simultaneously, it controls the mechanical arm base drive motor to adjust the height of the differential joint and controls the differential mechanism drive component to drive the differential joint adapter to adjust the spatial posture. The working end is sent to the temporarily fixed corner code. After visual recognition by an industrial camera, the bolt slides from the bolt storage bin and slide into the bolt guide channel. Then, the keel installation robot controls the cylinder in the bolt movement cylinder bin to extend and push the bolt into the designated pre-embedded part hole position and temporarily fix it with overflowing glue. Finally, the bolt pre-tightening operation is completed by a lithium battery wrench. Using welding-related equipment and a welding source provided by a flexible pipeline, the target position is spot welded and fully welded by an argon arc welding torch. S2. Vertical Curtain Wall Keel Corner Code Pre-processing: For the curtain wall keel, control the tracked mobile bases of two keel pre-processing robots to move to both ends of the curtain wall keel. Simultaneously, control the gripper drive motor to rotate forward, causing the extended tracked grippers to unfold and clamp. Control the tracked gripper drive motor to rotate the vertically positioned extended tracked grippers. Relying on the frictional force on the surface of the extended tracked grippers, the curtain wall keel is driven to rise vertically under equal force at both ends until the lower surface of the curtain wall keel is flush with the temporary corner code installation platform. During this process, the two keel pre-processing robots are controlled separately. The power output of the motor driven by the tracked grippers on both sides uses the force difference on the two contact surfaces to force the curtain wall keel to reverse and adjust its spatial posture. When the target posture is reached, the two keel pre-processing robots control their respective tracked mobile bases to move towards each other until both ends of the curtain wall keel reach the corner code temporary installation platform. During this period, the curtain wall keel posture is maintained by the guide wheels, and the short glue application and storage components automatically apply glue to the two sides of the curtain wall keel. Then the corresponding corner code is transported by the corner code unloading pipe, and the first corner code installation cylinder pushes and glues it to the two ends of the curtain wall keel temporarily. S3. Vertical Curtain Wall Keel Handling and Fixing: After the curtain wall keel is transported to the target location by external lifting equipment, two keel installation robots deployed on the upper and lower floors work together to receive it. The lower-floor keel installation robot first controls the gripper drive motor to rotate forward, causing the tracked gripper unit to grab the lower end of the curtain wall keel. The tracked gripper drive motor assists in controlling the speed and posture of the lowering of the curtain wall keel until the lower end of the curtain wall keel is successfully fitted into the internal structure of the lower vertical curtain wall keel. At the same time, when the upper end of the curtain wall keel reaches the gripping range of the upper-floor keel installation robot, the upper-floor keel installation robot prioritizes controlling the chassis support structure drive to drive the chassis support feet to extend and abut against the ground. The machine is positioned on the ground, and after stabilizing the machine, the motor power source inside the moving chassis is activated to lower the lifting truss. The mechanical arm base drive motor is activated to adjust the height of the differential joint. Then, the differential mechanism drive component is activated to drive the differential joint adapter to rotate, so that the tracked gripper wheel frame reaches the position below the preset corner code at the upper end of the curtain wall keel. Then, the gripper drive motor is activated to rotate forward so that the tracked gripper unit can grab and hold the truss. The tracked gripper drive motor is activated again to assist in controlling the lowering speed and posture of the curtain wall keel, so that it is positioned at the embedded part position. Finally, the work end uses the welding source of the welding equipment to complete the spot welding and full welding fixation work. After that, the reverse gripper drive motor releases the tracked gripper unit and drives away. S4. Installation of Angle Codes for Embedded Parts on the Bottom and Top Surfaces of Floor Slabs: For scenarios where the fixed ends are located on the inner side of the floor slab, the keel pre-processing robot controls its tracked mobile base to move to the corresponding position, controls the horizontal rotation mechanism to rotate, and drives the slide rail installation structure and motor compartment to maintain the working surface of the second angle code installation cylinder at a preset height from the working surface. The rotating platform drive motor drives the rotating platform to rotate, thereby causing the second angle code installation cylinder fixed on it to always face the direction of the keel pre-processing robot itself. Then, the limit roller drive motor is controlled to drive the limit roller to rotate, using friction to drive the corresponding angle code to slide out along the L-shaped angle code channel and after being coated with glue by the long glue storage component, the bottom surface of the angle code first contacts the installation working surface, and then... The second corner bracket installation cylinder pushes out in the designated direction, causing the corner bracket to tilt and tightly adhere to the adhesive side of the bracket to the working surface. The slide rail installation structure and motor compartment are driven to lower the entire embedded part installation mechanism, applying a pressing force to the corner bracket. The corner bracket is continuously replenished by the embedded part corner bracket feeding pipe. Subsequently, the keel pre-processing robot controls the tracked mobile base to drive away, and the keel installation robot controls the mobile chassis to take over the position. The keel installation robot controls the motor power source inside the robotic arm base to drive the transmission gear and transmission shaft at the structural transition part, and cooperates with the robotic arm base drive motor and differential mechanism drive components to send the working end to the corner bracket to perform the same bolt fixing and welding process as in step S1. S5. Handling and Fixing of Inner Vertical Curtain Wall Keel: For scenarios where the floor space is within the working range of a single keel installation robot's gripper platform, the single keel installation robot performs the installation independently. This robot controls the movement of the mobile chassis, lifting truss, and robotic arm structure, and controls the gripper drive motor to rotate forward to independently grip the vertical curtain wall keel and position it at the pre-embedded part location. Subsequently, the working end directly uses the welding source of welding-related equipment to complete the spot welding and full welding fixing operations. For curtain wall keels that exceed the working range of the gripper platform, a multi-machine collaborative working mode is adopted. After being transported to the target location by external lifting equipment, the keel installation robot on the ground floor takes the lead and performs the same lower end guidance operation as in step S3. When the upper end of the curtain wall keel reaches the gripping range of the keel installation robot on the ground floor, this robot also first controls the chassis support structure to drive the chassis support feet to extend and abut. The robot moves to the ground and then controls the motor power source in its mobile chassis to lower the lifting truss. It also controls the drive motor of the robotic arm base to adjust the height of the differential joint. The keel installation robot controls the worm gear power source of the robotic arm to rotate the robotic arm structure until the installation gripper work platform is completely facing the interior space of the building. At the same time, it controls the differential mechanism drive component to drive the differential joint adapter to flip, so as to ensure that the working end is always facing upward. It also coordinates the adjustment of the posture so that the tracked gripper unit is close to the position below the preset corner code on the upper end of the vertical curtain wall keel. It controls the gripper drive motor to rotate forward to grip it. By controlling the tracked gripper drive motor to operate, it assists in controlling the posture of the curtain wall keel. After the two keel installation robots coordinate to position the curtain wall keel in the pre-embedded part position, the two keel installation robots perform the fixing operation simultaneously. The working end uses the welding source of the welding-related equipment to complete the spot welding and full welding tasks. After that, the reverse gripper drive motor releases the tracked gripper unit and drives away. S6. Horizontal Curtain Wall Keel Installation: The corner code preprocessing part performs the same operation as in step S2. For horizontal curtain wall keels whose length is within the working range of a single keel installation robot, the single keel installation robot operates independently. The keel installation robot controls the motor power source inside the robotic arm base to drive the transmission gears and transmission shafts at the structural transition parts, allowing the robotic arm base to move freely in the vertical direction relative to the lifting truss. After transporting the horizontal curtain wall keel to the designated spatial position, it synchronously drives the tracked gripper drive motor and the moving chassis, causing the entire keel installation robot to shift relative to the curtain wall keel, while maintaining... The curtain wall keel is held absolutely still relative to the building. When the installation gripper platform reaches one end, spot welding is completed by the welding source of the welding equipment at the working end. Then it is moved to the other end for spot welding again. After spot welding at both ends is completed, the gripper drive motor is controlled to reverse to release the tracked gripper unit. An industrial camera is used to help identify and verify the non-deformed displacement of the curtain wall keel before full welding is performed on each end. For horizontal curtain wall keels whose length exceeds the working range of a single keel installation robot, two keel installation robots work together to move them to the designated space position. The two keel installation robots then alternately perform stable clamping and displacement welding operations.

[0018] Therefore, the beneficial effects of the curtain wall keel installation system and method of the present invention are as follows: 1. This invention adopts a collaborative construction process of first temporarily fixing with adhesive, then spot welding and finally fixing with full welding. This effectively avoids displacement and repeated adjustments during the installation of the keel, significantly improves the installation efficiency and positioning accuracy of the keel, and ensures the overall construction quality and structural stability from the source.

[0019] 2. This invention provides an efficient installation process for embedded parts and corner brackets. By using a mobile corner bracket installation platform with visual assistance and cylinder lifting, it simplifies the tedious manual layout, correction and fixing steps in traditional construction, greatly shortens the construction cycle, reduces the difficulty of manual operation and rework rate, and improves the level of construction automation.

[0020] 3. This invention achieves pre-processing of the corner brackets at both ends of long-sized keels through multi-level robot collaborative operation. Combined with the robotic arm structure and the lifting truss and other ground attitude adjustment structures, the multi-dimensional attitude of the keel in space can be conveniently and accurately adjusted, ensuring the straightness and positional accuracy of the keel installation.

[0021] 4. This invention adopts a flexible and adjustable tracked gripper structure, which can adapt to and stably transport keels of various specifications and sizes, and maintain the spatial posture of the keel during transportation and installation. At the same time, the fully automated loading, unloading and positioning welding operations completely isolate workers from high-altitude operations and welding fume environments, significantly improving construction safety, operational flexibility and work output. Attached Figure Description

[0022] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0023] Figure 1 This is a schematic diagram of the curtain wall keel installation system of the present invention; Figure 2 This is a schematic diagram of the structure of the installation gripper platform of the present invention; Figure 3 This is a schematic diagram of the working end of the present invention; Figure 4 This is a schematic diagram of the gripper drive assembly of the present invention; Figure 5 This is a schematic diagram of the robotic arm structure of the present invention; Figure 6 This is a schematic diagram of the differential joint of the present invention; Figure 7 This is a schematic diagram of the structure of the robotic arm base of the present invention; Figure 8 This is a schematic diagram of the structure of the mobile chassis of the present invention; Figure 9 This is a schematic diagram of the chassis support structure of the present invention; Figure 10 This is a schematic diagram of the lifting truss of the present invention; Figure 11 This is a schematic diagram of the keel pretreatment robot of the present invention; Figure 12 This is a schematic diagram of the keel transport mechanism of the present invention; Figure 13 This is a schematic diagram of the structure of the mobile corner code installation platform of the present invention; Figure 14 This is one of the structural schematic diagrams of the embedded part installation mechanism of the present invention; Figure 15 This is the second structural schematic diagram of the embedded part installation mechanism of the present invention.

[0024] Explanation of reference numerals in the attached figures: A-Keel Installation Robot: 1000 - Install gripper work platform: 1101 - First working end robotic arm; 1102 - Second working end robotic arm; 1103 - Working end; 1103a - Lithium battery wrench; 1103b - Lithium battery wrench mounting bracket; 1103c - Bolt storage compartment and slide; 1103d - Bolt guide channel; 1103e - Bolt movement cylinder compartment; 1103f - Working end base; 1103g - Argon arc welding torch; 1103h - Industrial camera; 1201a-Crawler gripper pulley; 1201b-Crawler gripper wheel frame; 1201c-Crawler gripper track unit; 1201d-Crawler gripper drive motor; 1202-Linkage mounting base; 1203-Linkage mechanism main arm; 1204-Linkage mechanism auxiliary arm; 1300-Gripper Drive Assembly: 1301 - Grinder mechanism worm gear; 1302 - Grinder drive mounting frame; 1303 - Grinder drive motor; 1304 - Grinder power source mounting base; 1305 - First worm gear compartment; 1306 - Grinder mechanism worm; 2000-Robotic Arm Structure: 2100 - Differential joint; 2101 - U-shaped bevel gear frame; 2102 - Bevel gear differential mechanism; 2103 - Differential joint adapter; 2104 - Differential joint transmission compartment; 2105 - Robotic arm structural frame; 2106 - First support side plate; 2107 - Robotic arm joint bearing; 2108 - Differential mechanism drive assembly; 2201 - Robotic arm transmission worm gear; 2202 - Robotic arm worm gear power source; 2203 - Robotic arm lever arm; 2204 - Robotic arm transmission worm wheel; 3000-Robotic Arm Base: 3001 - Base transmission compartment; 3002 - Robotic arm base transmission worm gear; 3003 - Robotic arm base transmission worm wheel; 3004 - Robotic arm base rotating shaft; 3005 - Base frame; 3006 - Base support beam; 3007 - Robotic arm base drive motor; 4000-Mobile Chassis: 4001 - Mobile chassis frame; 4002 - Chassis support structure; 4002a - Linkage frame connector; 4002b - Cylinder connector; 4002c - Chassis support linkage structure; 4002d - Chassis support landing gear; 4003 - Heavy-duty casters; 4004 - Heavy-duty steering wheel; 4005 - Wheel structure mounting plate; 4006 - Chassis support structure drive; 5000-Lifting Truss: 5001-Slider track; 5002-Structural adapter; 5003-Truss support square tube; 5004-Transmission rack; 5005-Transmission gear and transmission shaft; 6000 - Welding-related equipment; B-Keel Pre-processing Robot: 7000-Keel Transport Mechanism: 7001 - Mechanism mounting frame; 7002 - Extended tracked gripper; 7003 - Guide wheel; 7004 - Short glue application and storage assembly; 8000-Mobile Angle Code Installation Platform: 8100 - Tracked Mobile Base; 8201-First corner bracket installation cylinder; 8202-Corner bracket feeding pipe; 8203-Corner bracket storage bin; 8204-Embedded part corner bracket feeding pipe; 8205-Slide rail installation bracket; 8206-Corner bracket temporary installation platform; 9000-Embedded Parts Installation Mechanism: 9001 - Horizontal rotation mechanism; 9002 - Slide rail mounting structure and motor compartment; 9003 - L-shaped corner code channel; 9004 - Long glue application and storage assembly; 9005 - Second corner code mounting cylinder; 9006 - Rotating platform drive motor; 9007 - Limiting roller; 9008 - Limiting roller drive motor. Detailed Implementation

[0025] Below, in conjunction with Figures 1 to 15 This invention provides a detailed description of a curtain wall keel installation system and method.

[0026] This invention provides a curtain wall keel installation system and method, such as Figure 1 and Figure 11 As shown, the system includes two robot bodies that work together: keel installation robot A and keel pretreatment robot B. Keel installation robot A is used to complete the spatial handling, posture adjustment, and final spot welding and full welding fixing of the curtain wall keel. Keel pretreatment robot B is used to complete the pretreatment operations such as automatic placement of embedded corner brackets, temporary fixation with adhesive, and surface adhesive application of the keel before keel installation. Through multi-machine collaboration, the two achieve fully automated construction of the curtain wall keel from material loading to fixing.

[0027] like Figure 1 , Figure 2 , Figure 3As shown, the keel installation robot A, from bottom to top and from inside to outside, includes: a mobile chassis 4000, a lifting truss 5000, a robotic arm base 3000, a robotic arm structure 2000, an installation gripper platform 1000, and welding-related equipment 6000. The mobile chassis 4000 is located at the bottom of the keel installation robot A, supporting the entire robot and providing omnidirectional movement capabilities. The lifting truss 5000 is vertically mounted on the mobile chassis 4000, serving as a vertical motion skeleton and providing lifting tracks. The robotic arm base 3000 is slidably connected to the lifting truss 5000, supporting the upper structure and enabling independent vertical height adjustment. The robotic arm structure 2000 is mounted on the robotic arm base 3000, providing multi-dimensional spatial extension and posture adjustment for the end effector. The installation gripper platform 1000 is connected to the robotic arm structure 2000. At the end of the device, as an end effector, it is used to clamp the curtain wall keel and perform fixing operations such as bolting, spot welding and full welding; the welding-related equipment 6000 is installed at the rear of the mobile chassis 4000 to balance the overall working center of gravity and provide a welding source for the working end 1103, and it is connected to the argon arc welding torch 1103g on the working end 1103 through a flexible pipeline; the routing path of the flexible pipeline is as follows: starting from the connection end of the argon arc welding torch 1103g, it is arranged sequentially along the second working end robotic arm 1102, the first working end robotic arm 1101 and the gripper drive assembly 1300 and fixed with cable ties. After leaving a margin for joint rotation, it continues to be fixed along the robotic arm lever 2203 to the base transmission compartment 3001, and then after leaving a margin for the mechanism to perform vertical lifting and lowering operations along the lifting truss 5000, it is finally connected to the welding-related equipment 6000.

[0028] like Figure 11 As shown, the keel pretreatment robot B includes: a mobile corner code installation platform 8000, a keel handling mechanism 7000, and an embedded part installation mechanism 9000. The mobile corner code installation platform 8000 serves as the ground-based mobile chassis and supporting body of the entire keel pretreatment robot B, used for moving and positioning, storing, and quantitatively supplying corner code materials, and is located at the bottom of the keel pretreatment robot B. The keel handling mechanism 7000 is fixedly installed in the middle of the mobile corner code installation platform 8000, used for clamping and lifting long-sized keels, and automatically applying adhesive to the keel surface during handling. The embedded part installation mechanism 9000 is installed on the side of the mobile corner code installation platform 8000, used for accurately placing corner codes on the wall embedded parts or the target working surface of the floor slab and applying adhesive for initial curing and fixing.

[0029] Mobile chassis 4000, such as Figure 8 , Figure 9As shown, the mobile chassis 4000 serves as the force-bearing foundation and vertical motion skeleton of the entire robot. It includes a U-shaped mobile chassis frame 4001 and a chassis support structure 4002. Both ends of the mobile chassis frame 4001 are hollow structures made of aluminum square tubes. Inside these hollow structures is a motor power source that drives the lifting truss 5000 to perform vertical displacement. A wheel structure mounting plate 4005 is fixed to the bottom of the mobile chassis frame 4001. Heavy-duty omnidirectional wheels 4003 and heavy-duty steering wheels 4004 are bolted to the bottom of this wheel structure mounting plate 4005 to achieve omnidirectional movement. A chassis support structure drive 4006 is mounted on the mobile chassis frame 4001. The mobile chassis frame 4001 has rectangular holes that mate with the aluminum square tubes of the structural adapter 5002. By installing the aluminum square tubes into the rectangular holes, the mobile chassis 4000 slides and engages with the lifting truss 5000.

[0030] The chassis support structure 4002 includes a linkage frame connector 4002a, a cylinder connector 4002b, a chassis support linkage structure 4002c, and a chassis support foot 4002d. The piston rod end of the cylinder built into the chassis support structure drive 4006 is hinged to the cylinder connector 4002b. The cylinder connector 4002b is connected to the chassis support foot 4002d via the chassis support linkage structure 4002c. The middle of the chassis support linkage structure 4002c is connected to the linkage frame connector 4002a. The bottom of the chassis, which is hinged to the wheel structure mounting plate 4005 and supported by the base foot 4002d, is equipped with a rubber wear-resistant layer. During the operation of the moving chassis 4000 and the lifting truss 5000, when performing extreme operations to extend beyond the floor, the chassis support structure drive 4006 drives its built-in cylinder to extend, pushing the cylinder connector 4002b. The lever transmission effect of the chassis support linkage structure 4002c drives the chassis support base foot 4002d to extend and touch the ground, changing the load-bearing point of the whole machine to prevent overturning.

[0031] Lifting truss 5000, such as Figure 10As shown, the component is vertically installed inside the mobile chassis frame 4001, and includes a slider rail 5001, a structural adapter 5002, two symmetrically arranged truss support square tubes 5003, a transmission rack 5004, and a transmission gear and transmission shaft 5005. The transmission rack 5004 and slider rail 5001 are mounted parallel to each surface of the truss support square tube 5003. The structural adapter 5002 includes a centrally located I-beam and symmetrically arranged aluminum square tubes at both ends of the I-beam. The I-beam transmits the force from the aluminum square tubes at both ends, and a circular hole is opened at its geometric center for mounting the transmission gear and transmission shaft 5005. The aluminum square tubes on both sides of the structural adapter 5002 are aligned through non-adjacent surfaces with the same adjacent surfaces. The connection method is to fix the slider on the slider rail 5001 to shorten the overall body width and reduce the distance between the two sets of lifting trusses 5000, thereby improving the stability of the mechanism; through two sets of structural adapters 5002 on the side of the movable chassis 4000 and the side of the robotic arm base 3000, the transmission structure of the transmission gear and the transmission shaft 5005 extends to the robotic arm base 3000 and the movable chassis 4000 respectively and is connected to the motor power source in the movable chassis 4000 and the robotic arm base 3000, thereby realizing the linkage effect of controlling the vertical displacement of the robotic arm base 3000 relative to the lifting truss 5000 by a single power source and controlling the vertical displacement of the movable chassis 4000 relative to the lifting truss 5000 by another independent power source.

[0032] Robotic arm base 3000, such as Figure 7As shown, the transition base connecting the lifting truss 5000 and the robotic arm structure 2000 includes a base transmission chamber 3001, a robotic arm base transmission worm gear 3002, a robotic arm base transmission worm wheel 3003, a robotic arm base rotating shaft 3004, a base frame 3005, a base support beam 3006, and a robotic arm base drive motor 3007. The base transmission chamber 3001 and the base frame 3005 are fixedly connected by welding. The base frame 3005 has a rectangular hole that mates with the structural adapter 5002 to enable its sliding and lifting along the lifting truss 5000, and a circular hole that mates with the robotic arm base rotating shaft 3004. The base support beam 3006 is a T-shaped steel welded to the upper and lower surfaces of the base frame 3005, which, together with the base transmission chamber 3001 and the base frame 3005, encloses a receiving space. A drive motor 3007 is installed inside this receiving space. The robotic arm base 3000 is powered by a motor that moves along the lifting truss 5000. The robotic arm base transmission worm gear 3002 and the robotic arm base drive motor 3007 are connected by a coupling, and both are securely mounted in the base transmission chamber 3001 by corresponding fixing frames. The exterior of the base transmission chamber 3001 is enclosed by a plate to provide dust protection and structural support. A robotic arm base transmission worm wheel 3003 that meshes with the robotic arm base transmission worm gear 3002 is fixedly sleeved on the robotic arm base rotating shaft 3004. During the operation of the robotic arm base 3000, the robotic arm base drive motor 3007 rotates, which drives the robotic arm base rotating shaft 3004 to rotate through the deceleration and self-locking mechanism of the robotic arm base transmission worm gear 3002 and the robotic arm base transmission worm wheel 3003. This, in turn, drives the upper robotic arm structure 2000 fixed on the robotic arm base rotating shaft 3004 to perform undulating and pitching movements in the vertical plane.

[0033] Robotic arm structure 2000, such as Figure 5 and Figure 6As shown, the component mounted on the robotic arm base 3000, used to provide multi-dimensional spatial extension, includes a robotic arm transmission worm gear 2201, a robotic arm worm power source 2202, a robotic arm lever arm 2203, a robotic arm transmission worm wheel 2204, and a differential joint 2100. The end of the robotic arm lever arm 2203 is fixedly connected to the robotic arm base transmission worm wheel 3003 via a robotic arm base rotating shaft 3004 structure, and is isolated from the base transmission chamber 3001 by bearing components, so that the robotic arm force during power transmission... The arm 2203 and the base frame 3005 are at a certain angle and have a self-locking function to ensure stability and safety; a mechanical arm worm power source 2202 is fixed on the mechanical arm lever arm 2203, and the output end of the mechanical arm worm power source 2202 is connected to the mechanical arm transmission worm 2201; the front end of the mechanical arm lever arm 2203 is rotatably connected to the differential joint 2100; the end of the differential joint 2100 is fixedly fitted with a mechanical arm transmission worm wheel 2204 that meshes with the mechanical arm transmission worm 2201.

[0034] The differential joint 2100 includes a robotic arm structural frame 2105, a robotic arm joint bearing 2107, a first support side plate 2106, a U-shaped bevel gear frame 2101, a bevel gear differential mechanism 2102, a differential joint adapter 2103, a differential joint transmission chamber 2104, and a differential mechanism drive assembly 2108. The robotic arm structural frame 2105 is rotatably connected to the front end of the robotic arm lever arm 2203 via the robotic arm joint bearing 2107, and the robotic arm transmission worm gear 2204 is fixedly sleeved on the end of the robotic arm structural frame 2105. The first support side plates 2106 are fixed on both sides of the robotic arm structural frame 2105. 106 serves as structural enclosure and lateral support; the U-shaped bevel gear frame 2101 is fixedly installed inside the opening of the robotic arm structural frame 2105 at the end away from the robotic arm lever arm 2203; the differential mechanism drive assembly 2108 is installed inside the robotic arm structural frame 2105, and consists of two motors with opposite output directions and a reduction mechanism; the upper and lower differential joint transmission chambers 2104 are respectively installed at the upper and lower ends inside the robotic arm structural frame 2105, and the two output ends of the differential mechanism drive assembly 2108 are directly connected to the upper and lower differential joint transmission chambers 2104 respectively; the bevel gear differential mechanism 2102 includes Three meshing bevel gears are mounted in a U-shaped bevel gear carrier 2101 via bearings, and are respectively connected to the output ends of the upper and lower differential joint transmission chambers 2104 and the front differential joint adapter 2103. During the operation of the robotic arm structure 2000, on the one hand, the robotic arm worm power source 2202 drives the robotic arm transmission worm 2201 to rotate, and through meshing with the robotic arm transmission worm wheel 2204, drives the robotic arm structure frame 2105 of the differential joint 2100 to perform a second-stage folding and pitching relative to the robotic arm lever arm 2203 around the robotic arm joint bearing 2107; on the other hand, the differential mechanism drive group The two motors inside component 2108 operate at different speeds. The specific operating logic is as follows: when the two motors inside the differential mechanism drive component 2108 rotate in the same direction at the same speed, the self-locking and transmission characteristics of the bevel gear differential mechanism 2102 are used to flip the entire component, driving the end differential joint adapter 2103 to adjust the pitch up and down. When the two motors rotate in opposite directions at the same speed, the meshing bevel gears inside generate differential motion, driving the differential joint adapter 2103 to achieve horizontal yaw rotation. By controlling the combined motion of the speed and direction of the two motors, the spatial multi-degree-of-freedom flipping and yaw adjustment of the end differential joint adapter 2103 are realized.

[0035] Install a gripper work platform 1000, such as Figure 2 , Figure 3 and Figure 4As shown, the end effector is installed at the end of the robotic arm structure 2000, and includes a gripper drive assembly 1300, a first working end robotic arm 1101, a second working end robotic arm 1102, a working end 1103, and two sets of symmetrically distributed tracked gripper units. The gripper drive assembly 1300 serves as the main support base and includes a gripper mechanism worm gear 1301, a gripper drive mounting frame 1302, a gripper drive motor 1303, a gripper power source mounting base 1304, a first worm gear magazine 1305, and a gripper mechanism. The worm gear 1306 is constructed; the back of the gripper drive mounting frame 1302 is fixedly connected to the differential joint adapter 2103; the gripper power source mounting base 1304 and the first worm gear storage 1305 are fixed on the gripper drive mounting frame 1302; the gripper drive motor 1303 is mounted on the gripper power source mounting base 1304, and its output end extends into the first worm gear storage 1305 and is connected to the gripper mechanism worm gear 1306; two gripper mechanism worm wheels 1301 are symmetrically meshed on both sides of the gripper mechanism worm gear 1306.

[0036] One end of the first working end robotic arm 1101 is fixedly connected to the upper surface of the gripper drive mounting frame 1302; the other end of the first working end robotic arm 1101, the second working end robotic arm 1102, and the working end base 1103f of the working end 1103 are sequentially rotatably connected by bearings to provide free extension capability in the horizontal plane; the working end 1103 includes a lithium battery wrench 1103a, a lithium battery wrench fixing support 1103b, a bolt storage chamber and slide 1103c, a bolt guide channel 1103d, a bolt movement cylinder chamber 1103e, the working end base 1103f, an argon arc welding torch 1103g, and an industrial camera 1103h; the working end base 1103f is fixed with... The device includes a bolt storage bin and slide 1103c. Inside the bolt storage bin and slide 1103c, there is a hopper for accommodating and guiding bolts to slide down, and an inclined slide. A lithium battery wrench fixing support 1103b is fixed above the bolt storage bin and slide 1103c, and a lithium battery wrench 1103a is mounted on the lithium battery wrench fixing support 1103b. The front part of the working end base 1103f is also fixed with a bolt guide channel 1103d and a bolt movement cylinder chamber 1103e. The lower end outlet of the bolt storage bin and slide 1103c is connected to the bolt guide channel 1103d. An argon arc welding torch 1103g and an industrial camera 1103h are fixed on the side of the working end base 1103f.

[0037] Each tracked gripper unit includes a four-bar linkage, a linkage mounting base 1202, a tracked gripper wheel frame 1201b, a tracked gripper track unit 1201c, a tracked gripper drive motor 1201d, and a tracked gripper pulley 1201a. The four-bar linkage consists of a main linkage arm 1203 and a secondary linkage arm 1204 that are parallel to each other. One end of the main linkage arm 1203 is fixedly connected to the worm gear 1301 of the gripper mechanism, and the secondary linkage arm... One end of 1204 is hinged to the gripper drive mounting frame 1302, and the end of the four-bar linkage is hinged to the connecting rod mounting base 1202. A tracked gripper wheel frame 1201b and a tracked gripper drive motor 1201d are fixed on the connecting rod mounting base 1202. The output end of the tracked gripper drive motor 1201d is connected to the tracked gripper pulley 1201a via a flange and coupling. A tracked gripper track is fitted onto the tracked gripper pulley 1201a. With unit 1201c; during the operation of the clamping platform 1000, the clamping drive motor 1303 drives the worm gear 1306 of the clamping mechanism to rotate, and uses the structural characteristics of the worm gear to synchronously drive the worm wheels 1301 of the clamping mechanism on both sides to rotate in opposite directions, thereby driving the main arm 1203 of the linkage mechanism to move the four-bar linkage to retract or expand synchronously, so as to realize the parallel and stable clamping of the curtain wall keel and rely on the worm gear mechanism to self-lock when the power is cut off; in the clamping state, the tracked clamping drive motor 1201d drives the track to rotate, and finely adjusts the axial position of the curtain wall keel without loosening the tracked clamping unit; after it is in place, the bolt slides from the bolt storage chamber and slide rail 1103c into the bolt guide channel 1103d, the cylinder in the bolt movement cylinder chamber 1103e extends to push the bolt into the embedded part hole, the lithium battery wrench 1103a presses down to tighten, and finally the argon arc welding torch 1103g completes the automated fixed-point full welding.

[0038] Mobile corner code installation platform 8000, such as Figure 11 , Figure 13As shown, the system includes a tracked mobile base 8100 for ground support, a first corner code mounting cylinder 8201, a corner code unloading pipe 8202, a corner code storage bin 8203, a pre-embedded corner code unloading pipe 8204, a slide rail mounting bracket 8205, and a corner code temporary mounting platform 8206. The corner code temporary mounting platform 8206 is fixed to the top of the tracked mobile base 8100 via a welded structure. The corner code storage bin 8203 is fixed to the top of the corner code temporary mounting platform 8206 via a slide rail mounting bracket 8205. The bottom of the corner code storage bin 8203 is connected to two L-shaped corner code unloading pipes 8202 and a pre-embedded corner code unloading pipe. Corner code unloading pipe 8204; On the corner code temporary installation platform 8206 where the two corner code unloading pipes 8202 fall out, two first corner code installation cylinders 8201 are symmetrically fixed; During the operation of the mobile corner code installation platform 8000, the tracked mobile base 8100 drives the keel pre-processing robot B to the designated work position, and the corner code storage bin 8203 continuously supplies corner codes to the corner code unloading pipe 8202 and the embedded part corner code unloading pipe 8204 by gravity. When the corner code falls to the end of the corner code unloading pipe 8202, the first corner code installation cylinder 8201 pushes it outward and presses it onto the working surface.

[0039] Embedded component installation mechanism 9000, such as Figure 11 , Figure 14 , Figure 15As shown, the component installed on one side of the slide rail mounting bracket 8205 includes a horizontal rotation mechanism 9001, a slide rail mounting structure and motor compartment 9002, an L-shaped corner code channel 9003, a long adhesive application and storage assembly 9004, a second corner code mounting cylinder 9005, a rotating platform drive motor 9006, a limiting roller 9007, a limiting roller drive motor 9008, and a rotating platform. The slide rail mounting structure and motor compartment 9002 are slidably fitted onto the slide rail mounting bracket 8205 to achieve vertical lifting. The slide rail mounting structure and motor compartment 9002 integrates a lifting drive motor and gears, which mesh with a rack on the slide rail mounting bracket 8205 to drive the slide rail mounting structure and motor compartment 9002 to lift and lower along the slide rail mounting bracket 8205. The external connection of the mounting structure and motor compartment 9002 is a horizontal rotation mechanism 9001. This mechanism 9001 houses a rotary motor and a reduction gear set. Its output end is connected to the L-shaped corner code channel 9003 to control the horizontal orientation of the channel. The top of the L-shaped corner code channel 9003 has a corner code inlet, which is connected to the embedded corner code feeding pipe 8204. The bottom of the L-shaped corner code channel 9003 has a feeding outlet. An installation groove is formed on the outer side wall of the L-shaped corner code channel 9003. A limiting roller 9007 is movably mounted in this groove via a rotating shaft, and the friction surface of the limiting roller 9007 protrudes into the internal channel of the L-shaped corner code channel 9003. The limiting roller is driven by a motor 900... 8 is fixed to the outer wall of the L-shaped corner code channel 9003 and is driven by the rotating shaft of the limiting roller 9007; long glue-applying and glue-storing components 9004 are fixed on both sides of the bottom discharge outlet of the L-shaped corner code channel 9003; a rotating platform is provided directly below the bottom discharge outlet, and the second corner code installation cylinder 9005 is fixedly installed on the rotating platform; the rotating platform drive motor 9006 is installed at the bottom end of the L-shaped corner code channel 9003, and the output end of the rotating platform drive motor 9006 is driven by the rotating platform to drive the rotating platform to rotate and change the horizontal pushing direction of the second corner code installation cylinder 9005; during the operation of the embedded part installation mechanism 9000, the slide installation structure, the motor compartment 9002 and the horizontal rotation mechanism 9001 first Adjust the working height and horizontal orientation of the L-shaped corner code channel 9003; then, the corner code enters the L-shaped corner code channel 9003 from the top corner code entrance and falls naturally due to gravity until it comes into contact with the friction surface of the limiting roller 9007 protruding into the channel and is stopped; during unloading, the limiting roller drive motor 9008 drives the limiting roller 9007 to rotate, using surface friction to drive the bottommost single corner code to continue to descend and slide out from the bottom unloading outlet; when the corner code slides out, it passes through the long glue storage component 9004 to automatically complete the surface glue application; during this process, the rotating platform drive motor 9006 drives the rotating platform to rotate in advance according to the specific orientation of the target installation surface, such as the exterior wall or floor slab, to adjust the ejection orientation of the second corner code installation cylinder 9005;Finally, the second corner bracket installation cylinder 9005 pushes it out, precisely pressing and adhering the corner bracket to the target embedded part or working surface.

[0040] Keel transport mechanism 7000, such as Figure 11 , Figure 12 As shown, the keel conveying mechanism 7000 is fixedly installed in the middle of the tracked mobile base 8100, including an opening and closing transmission structure, a mechanism mounting frame 7001, an extended tracked gripper 7002, a guide wheel 7003, and a short glue application and storage assembly 7004. The opening and closing transmission structure of this keel conveying mechanism 7000 is the same as the basic structure of the aforementioned gripper installation platform 1000, which also includes a gripper drive assembly 1300, a linkage mounting seat 1202, a linkage mechanism main arm 1203, a linkage mechanism secondary arm 1204, and a gripper drive motor 1201d. The mechanism mounting frame 7001 is fixed on the linkage mounting seat 1202 at its end, and the extended tracked gripper 7002 is fixed on the mechanism mounting frame 7001. The extended tracked gripper 7002 is also... The mechanism is connected to and driven by a tracked gripper motor 1201d. Several guide wheels 7003, which provide support, are longitudinally distributed on the mounting frame 7001. Short adhesive application and storage components 7004, corresponding to the two sides of the curtain wall keel, are fixed to the ends of these wheels. During the operation of the keel handling mechanism 7000, the extended tracked gripper 7002 unfolds to clamp the two sides of the long curtain wall keel. The different rotation speeds of the tracks on both sides of the extended tracked gripper 7002 are used to adjust the posture of the curtain wall keel and coordinate its lifting. As the curtain wall keel slides longitudinally relative to the guide wheels 7003, the short adhesive application and storage components 7004 adhere to the surface of the curtain wall keel, automatically completing the uniform application of adhesive to both sides of the curtain wall keel, achieving synchronous linkage between handling positioning and adhesive application.

[0041] Based on the above-mentioned curtain wall keel installation system, this invention proposes a curtain wall keel installation method, comprising the following steps: S1. Installation of Angle Codes for Vertical Curtain Wall Keel Embedded Parts on Exterior Wall Facade: The keel pre-processing robot B controls its tracked mobile base 8100 to drive to the edge of the building and controls the horizontal rotation mechanism 9001 to rotate and adjust the orientation of the L-shaped angle code channel 9003, so that the working surface of the second angle code installation cylinder 9005 is close to the coordinate error range of the specified embedded parts. After confirming the required angle code to be in an L-shaped or inverted L-shaped position by rotating the horizontal rotation mechanism 9001, the keel pre-processing robot B controls the rotating platform drive motor 9006 to drive the rotating platform to rotate, thereby driving the second angle code installation cylinder fixed on it. Cylinder 9005 rotates to push it towards the wall, then controls the limit roller drive motor 9008 to drive the limit roller 9007 to rotate, using surface friction to drive the corresponding corner bracket to slide out along the L-shaped corner bracket channel 9003. During this period, the long glue-applying and glue-storing component 9004 applies glue to its surface. Then, the second corner bracket installation cylinder 9005 pushes it out in the designated direction to temporarily press and fix the corner bracket in the designated position. The corner bracket is continuously supplied by the pre-embedded part corner bracket unloading pipe 8204. After completion, the keel pretreatment robot B controls the tracked mobile base 8100 to drive it away from the position, and the keel installation robot A controls the mobile base to move away from the position. The 4000 chassis takes over; at this point, due to the extreme operation of extending beyond the building floor, the keel installation robot A controls the cylinders built into the chassis support structure 4006 to extend, and through the transmission of the chassis support linkage structure 4002c, drives the chassis support feet 4002d to descend and touch the ground to stabilize the machine body. Then, it controls the motor power source inside the moving chassis 4000 to lower the lifting truss 5000, and simultaneously controls the mechanical arm base drive motor 3007 to adjust the height of the differential joint 2100, and controls the differential mechanism drive component 2108 to drive the differential joint adapter 2103 to move in the air. After the attitude adjustment, the working end 1103 is sent to the temporarily fixed corner code. After visual recognition by the industrial camera 1103h, the bolt slides from the bolt storage bin and slide rail 1103c into the bolt guide channel 1103d. Then, the cylinder in the bolt movement cylinder bin 1103e of the keel installation robot A extends to push the bolt into the designated pre-embedded part hole position and is temporarily fixed by the overflow glue. Finally, the bolt pre-tightening operation is completed by the lithium battery wrench 1103a. The welding source provided by the welding equipment 6000 through the flexible pipeline is used to spot weld and fully weld the target position by the argon arc welding gun 1103g. S2. Vertical Curtain Wall Keel Corner Code Pre-processing: For the curtain wall keel, the tracked mobile bases 8100 of two keel pre-processing robots B are controlled to move to both ends of the curtain wall keel. At the same time, the gripper drive motor 1303 is controlled to rotate forward, causing the extended tracked gripper 7002 to unfold and clamp. The tracked gripper drive motor 1201d is controlled to drive the vertically set extended tracked gripper 7002 to rotate. Relying on the friction of the extended tracked gripper 7002 surface, the curtain wall keel is driven to rise vertically under equal force at both ends until the lower surface of the curtain wall keel is flush with the corner code temporary installation platform 8206. During this process, the two keel pre-processing robots B are controlled to move to both ends of the curtain wall keel. The power output of the two tracked gripper drive motors 1201d uses the force difference on the two contact surfaces to force the curtain wall keel to reverse and adjust its spatial posture. When the target posture is reached, the two keel pre-processing robots B control their respective tracked mobile bases 8100 to move towards each other until both ends of the curtain wall keel reach the corner code temporary installation platform 8206. During this period, the guide wheel 7003 maintains the posture of the curtain wall keel, and the short glue application and storage component 7004 automatically applies glue to the two sides of the curtain wall keel. Then the corresponding corner code is transported by the corner code feeding pipe 8202, and the first corner code installation cylinder 8201 pushes and glues it to the two ends of the curtain wall keel temporarily. S3. Vertical Curtain Wall Keel Handling and Fixing: After the curtain wall keel is transported to the target location by external lifting equipment, two keel installation robots A, deployed on the upper and lower floors respectively, work together to receive it. The lower keel installation robot A first controls the gripper drive motor 1303 to rotate forward, causing the tracked gripper unit to grab the lower end of the curtain wall keel. The tracked gripper drive motor 1201d is used to assist in controlling the speed and posture of the lowering of the curtain wall keel until the lower end of the curtain wall keel is successfully fitted into the internal structure of the lower vertical curtain wall keel. At the same time, when the upper end of the curtain wall keel reaches the gripping range of the upper keel installation robot A, in order to prevent the center of gravity from shifting and causing overturning, the upper keel installation robot A prioritizes controlling the chassis support structure drive 4006 to drive the chassis support foot 4002d to descend and touch the ground, stabilizing the machine body. Then, the motor power source in the mobile chassis 4000 is controlled to lower the lifting truss 5000, and the mechanical arm base drive motor 3007 is controlled to adjust the height of the differential joint 2100. Then, the differential mechanism drive component 2108 is controlled to drive the differential joint adapter 2103 to rotate, so that the tracked gripper wheel frame 1201b reaches the position below the preset corner code at the upper end of the curtain wall keel. Then, the gripper drive motor 1303 is controlled to rotate forward so that the tracked gripper unit can grab and hold. The tracked gripper drive motor 1201d is controlled to run again to assist in controlling the lowering speed and posture of the curtain wall keel, so that it can be accurately positioned at the embedded part position. Finally, the working end 1103 uses the welding source of the welding-related equipment 6000 to complete the spot welding and full welding fixing operations. Then, the reverse gripper drive motor 1303 releases the tracked gripper unit and drives away. S4. Installation of Corner Codes for Embedded Parts on the Bottom and Top Surfaces of Floor Slabs: For scenarios where the fixed ends are located on the inner side of the floor slab, the keel pre-processing robot B controls its tracked mobile base 8100 to move to the corresponding position, controls the horizontal rotation mechanism 9001 to rotate, and drives the slide rail installation structure and motor compartment 9002 to maintain the working surface of the second corner code installation cylinder 9005 at a height equal to the length of the corner code from the working surface. The rotating platform drive motor 9006 drives the rotating platform to rotate, thereby causing the second corner code installation cylinder 9005 fixed on it to always face the direction of the keel pre-processing robot B itself. Then, the limit roller drive motor 9008 controls the limit roller 9007 to rotate, using friction to drive the corresponding corner code to slide out along the L-shaped corner code channel 9003 and after being coated with glue by the long glue application and storage component 9004, the bottom surface of the corner code first contacts the installation working surface, and then the second corner code installation cylinder... 9005 pushes out in the designated direction, causing the corner bracket to tilt and tightly adhere to the adhesive side of the bracket to the working surface. The slide rail installation structure and motor compartment 9002 drive the embedded part installation mechanism 9000 to descend as a whole, applying a brief abutment and clamping force to the corner bracket to ensure the initial curing and fixing of the adhesive. The corner bracket is continuously replenished by the embedded part corner bracket feeding pipe 8204. Subsequently, the keel pretreatment robot B controls the tracked mobile base 8100 to drive away, and the keel installation robot A controls the mobile chassis 4000 to take over the position. The keel installation robot A controls the motor power source inside the robotic arm base 3000 to drive the transmission gear and transmission shaft 5005 at the structural adapter 5002, and cooperates with the robotic arm base drive motor 3007 and differential mechanism drive assembly 2108 to send the working end 1103 to the corner bracket to perform the same bolt fixing and welding process as in step S1. S5. Handling and Fixing of Inner Vertical Curtain Wall Keel: For scenarios where the floor space is within the activity range of the installation gripper platform 1000 of a single keel installation robot A, the installation is performed independently by the single keel installation robot A. The keel installation robot A controls the movement of the mobile chassis 4000, the lifting truss 5000, and the robotic arm structure 2000, and controls the gripper drive motor 1303 to rotate forward to independently clamp the vertical curtain wall keel and position it to the embedded part. Subsequently, the working end 1103 directly uses the welding source of the welding-related equipment 6000 to complete spot welding and... For the fixed operation of full welding; for the curtain wall keel that exceeds the range of motion of the installation gripper platform 1000, a multi-machine collaborative working mode is adopted. After being transported to the target position by external lifting equipment, the keel installation robot A downstairs takes the lead and performs the same lower end guidance operation as in step S3. When the upper end of the curtain wall keel reaches the gripping range of the keel installation robot A located upstairs, the keel installation robot A also first controls the chassis support structure drive 4006 to actuate so that the chassis supports the foot 4002d to descend and touch the ground, and then controls it to move the chassis 400. The motor power source inside the 0 unit actuates to lower the lifting truss 5000 and controls the robotic arm base drive motor 3007 to adjust the height of the differential joint 2100. Since the curtain wall keel is located inside the building, the keel installation robot A controls the robotic arm worm gear power source 2202 to rotate the robotic arm structure 2000 until the installation gripper work platform 1000 is fully facing the interior space of the building. At the same time, it controls the differential mechanism drive component 2108 to drive the differential joint adapter 2103 to flip, thereby ensuring that the working end 1103 is always facing upwards, and coordinates the adjustment. The posture allows the tracked gripper unit to approach the position below the preset corner bracket at the upper end of the vertical curtain wall keel. The gripper drive motor 1303 is controlled to rotate forward to grip it. The tracked gripper drive motor 1201d is controlled to assist in controlling the posture of the curtain wall keel. After the two keel installation robots A have jointly positioned the curtain wall keel at the pre-embedded part position, the two keel installation robots A perform the fixing operation simultaneously. The working end 1103 uses the welding source of the welding-related equipment 6000 to complete the spot welding and full welding tasks. Then, the reverse gripper drive motor 1303 releases the tracked gripper unit and drives away. S6. Installation of Horizontal Curtain Wall Keel: The corner code preprocessing part performs the same operation as in step S2. For horizontal curtain wall keels whose length is within the working range of a single keel installation robot A, the single keel installation robot A operates independently. The keel installation robot A controls the motor power source inside the robotic arm base 3000 to drive the transmission gear and transmission shaft 5005 at the structural adapter 5002, so that the robotic arm base 3000 can move freely in the vertical direction relative to the lifting truss 5000. After transporting the horizontal curtain wall keel to the designated spatial position, the tracked gripper drive motor 1201d and the moving chassis 4000 are driven synchronously, so that the keel installation robot A as a whole moves relative to the curtain wall keel. The curtain wall keel is displaced while remaining absolutely stationary relative to the building. When the installation gripper platform 1000 reaches one end, the working end 1103 uses the welding source of the welding-related equipment 6000 to complete spot welding. Then, it is moved to the other end for spot welding again. After spot welding at both ends is completed, the gripper drive motor 1303 is controlled to reverse to release the tracked gripper unit. The industrial camera 1103h is used to assist in identifying and verifying the non-deformed displacement of the curtain wall keel before full welding is performed separately. For horizontal curtain wall keels whose length exceeds the working range of a single keel installation robot A, two keel installation robots A are used to cooperate to move them to the designated space position. The two keel installation robots A alternately perform stable clamping and displacement welding operations.

[0042] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any transformations or substitutions that can be understood by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of the present invention.

Claims

1. A curtain wall keel installation system, characterized in that, include: The keel installation robot (A) is used for spatial handling, posture adjustment and welding operations of curtain wall keels, including a mobile chassis (4000), a lifting truss (5000), a robotic arm base (3000), a robotic arm structure (2000), an installation gripper work platform (1000) and welding-related equipment (6000). The keel pre-processing robot (B) is used for the automatic placement of embedded corner brackets, temporary fixation with adhesive, and keel pre-processing operations before keel installation. It includes a mobile corner bracket installation platform (8000), a keel handling mechanism (7000), and an embedded part installation mechanism (9000). The mobile chassis (4000) is located at the bottom of the keel installation robot (A); the lifting truss (5000) is vertically mounted on the mobile chassis (4000); the robotic arm base (3000) is slidably connected to the lifting truss (5000); the robotic arm structure (2000) is mounted on the robotic arm base (3000); the installation gripper platform (1000) is connected to the end of the robotic arm structure (2000); and the welding-related equipment (6000) is mounted at the rear of the mobile chassis (4000). The mobile corner bracket installation platform (8000) is located at the bottom of the keel pretreatment robot (B); the keel handling mechanism (7000) is fixedly installed in the middle of the mobile corner bracket installation platform (8000); and the embedded part installation mechanism (9000) is installed on the side of the mobile corner bracket installation platform (8000).

2. The curtain wall keel installation system according to claim 1, characterized in that, The mobile chassis (4000) includes a U-shaped mobile chassis frame (4001), a chassis support structure (4002), heavy-duty casters (4003), heavy-duty steering wheels (4004), a wheel structure mounting plate (4005), and a chassis support structure drive (4006). The two ends of the mobile chassis frame (4001) are hollow structures made of aluminum square tubes. The interior of the hollow structure is equipped with a motor power source that drives the lifting truss (5000) to make vertical displacement. The bottom of the mobile chassis frame (4001) is fixed with the wheel structure mounting plate (4005). The heavy-duty universal wheels (4003) and the heavy-duty steering wheels (4004) are both fixed with the bottom of the wheel structure mounting plate (4005). The chassis support structure drive (4006) is installed on the mobile chassis frame (4001). The chassis support structure drive (4006) has a built-in cylinder. The chassis support structure (4002) includes a linkage frame connector (4002a), a cylinder connector (4002b), a chassis support linkage structure (4002c), and a chassis support foot (4002d). The cylinder connector (4002b) is hinged to the piston rod end of the cylinder built into the chassis support structure drive (4006). The cylinder connector (4002b) is connected to the chassis support foot (4002d) through the chassis support linkage structure (4002c). The middle part of the chassis support linkage structure (4002c) is hinged to the wheel structure mounting plate (4005) through the linkage frame connector (4002a). A rubber wear-resistant layer is added to the bottom of the chassis support foot (4002d).

3. The curtain wall keel installation system according to claim 2, characterized in that, The lifting truss (5000) is specifically installed vertically on the inner side of the mobile chassis frame (4001), including a slider rail (5001), a structural adapter (5002), two symmetrically arranged truss support square tubes (5003), a transmission rack (5004), and a transmission gear and transmission shaft (5005). The transmission rack (5004) and the slider rail (5001) are installed parallel to each of the truss support square tubes (5003), and a slider is provided on the slider rail (5001); the structural adapter (5002) includes an I-beam arranged in the center and aluminum square tubes symmetrically arranged at both ends of the I-beam. The I-beam is used to transmit the force of the aluminum square tubes at both ends, and a circular hole is opened at the center of the I-beam for installing the transmission gear and the transmission shaft (5005); the aluminum square tubes on both sides of the structural adapter (5002) are fixedly connected to the slider on the slider rail (5001) by a non-adjacent but identical adjacent surface alignment connection method. The mobile chassis frame (4001) has a rectangular hole that matches the aluminum square tube of the structural adapter (5002). By installing the aluminum square tube of the structural adapter (5002) into the rectangular hole, the mobile chassis (4000) slides and hugs the lifting truss (5000).

4. The curtain wall keel installation system according to claim 3, characterized in that, The robotic arm base (3000) serves as a transition base connecting the lifting truss (5000) and the robotic arm structure (2000), and includes a base transmission chamber (3001), a robotic arm base transmission worm gear (3002), a robotic arm base transmission worm wheel (3003), a robotic arm base rotating shaft (3004), a base frame (3005), a base support beam (3006), and a robotic arm base drive motor (3007). The base transmission chamber (3001) and the base frame (3005) are fixedly connected; the base frame (3005) has a rectangular hole that mates with the structural adapter (5002) to allow the robotic arm base (3000) to slide and lift along the lifting truss (5000), and the base frame (3005) also has a circular hole that mates with the robotic arm base pivot (3004); the base support beam (3006) is a T-shaped steel welded to the upper and lower surfaces of the base frame (3005), which together with the base transmission chamber (3001) and the base frame (3005) form an enclosure. The space contains a motor power source for driving the robotic arm base (3000) to move along the lifting truss (5000); the robotic arm base transmission worm gear (3002) and the robotic arm base drive motor (3007) are connected by a coupling, and both are mounted in the base transmission chamber (3001) by corresponding fixed frames; the outside of the base transmission chamber (3001) is enclosed by a plate to provide dust protection and structural support; the robotic arm base shaft (3004) is fixedly fitted with a robotic arm base transmission worm wheel (3003) that meshes with the robotic arm base transmission worm gear (3002). The transmission structure of the transmission gear and transmission shaft (5005) extends into the robotic arm base (3000) and the mobile chassis (4000), respectively, and is connected to the motor power source in the mobile chassis (4000) and the robotic arm base (3000), respectively.

5. The curtain wall keel installation system according to claim 4, characterized in that, The robotic arm structure (2000) includes a robotic arm transmission worm gear (2201), a robotic arm worm power source (2202), a robotic arm lever arm (2203), a robotic arm transmission worm wheel (2204), and a differential joint (2100). The end of the robotic arm lever (2203) is fixedly connected to the robotic arm base transmission worm gear (3003) via the robotic arm base rotating shaft (3004), and is isolated from the base transmission chamber (3001) by a bearing component; the robotic arm worm power source (2202) is fixed on the robotic arm lever (2203), and the output end of the robotic arm worm power source (2202) is connected to the robotic arm transmission worm gear (2201); the front end of the robotic arm lever (2203) is rotatably connected to the differential joint (2100); the end of the differential joint (2100) is fixedly fitted with the robotic arm transmission worm gear (2204) that meshes with the robotic arm transmission worm gear (2201). The differential joint (2100) includes a U-shaped bevel gear frame (2101), a bevel gear differential mechanism (2102), a differential joint adapter (2103), two differential joint transmission chambers (2104), a robotic arm structural frame (2105), a first support side plate (2106), a robotic arm joint bearing (2107), and a differential mechanism drive assembly (2108). The robotic arm structural frame (2105) is rotatably connected to the front end of the robotic arm lever arm (2203) via the robotic arm joint bearing (2107), and the robotic arm transmission worm gear (2204) is specifically fixedly sleeved on the end of the robotic arm structural frame (2105); the first support side plate (2106) is fixed on both sides of the robotic arm structural frame (2105) to play the role of structural enclosure and lateral support; the U-shaped bevel gear frame (2101) is fixedly installed inside the opening at the end of the robotic arm structural frame (2105) away from the robotic arm lever arm (2203); The differential mechanism drive assembly (2108) is installed inside the robotic arm structural frame (2105). The differential mechanism drive assembly (2108) consists of two motors with opposite output directions and a reduction gear. The upper and lower differential joint transmission chambers (2104) are respectively installed at the upper and lower ends inside the robotic arm structural frame (2105). The two output ends of the differential mechanism drive assembly (2108) are directly connected to the upper and lower differential joint transmission chambers (2104). The bevel gear differential mechanism (2102) includes three meshing bevel gears, all of which are installed in the U-shaped bevel gear frame (2101) through bearings and are respectively connected to the output ends of the upper and lower differential joint transmission chambers (2104) and the differential joint adapter (2103) at the front end.

6. The curtain wall keel installation system according to claim 5, characterized in that, The installation gripper work platform (1000) includes a gripper drive assembly (1300), a first working end robotic arm (1101), a second working end robotic arm (1102), a working end (1103), and two sets of symmetrically distributed tracked gripper units. The gripper drive assembly (1300), serving as the main support base, includes two gripper mechanism worm gears (1301), a gripper drive mounting frame (1302), a gripper drive motor (1303), a gripper power source mounting base (1304), a first worm gear compartment (1305), and a gripper mechanism worm (1306). The back of the gripper drive mounting frame (1302) is fixedly connected to the differential joint adapter (2103). The gripper power source mounting base... The base (1304) and the first worm gear storage (1305) are fixed on the gripper drive mounting frame (1302); the gripper drive motor (1303) is mounted on the gripper power source mounting base (1304), and its output end extends into the first worm gear storage (1305) and is connected to the gripper mechanism worm (1306); two gripper mechanism worm wheels (1301) are symmetrically meshed on both sides of the gripper mechanism worm (1306). The working end (1103) includes a lithium battery wrench (1103a), a lithium battery wrench fixing support (1103b), a bolt storage chamber and slide (1103c), a bolt guide channel (1103d), a bolt movement cylinder chamber (1103e), a working end base (1103f), an argon arc welding torch (1103g), and an industrial camera (1103h). One end of the first working end robotic arm (1101) is fixedly connected to the upper surface of the gripper drive mounting frame (1302). The other end of the first working end robotic arm (1101), the second working end robotic arm (1102), and the working end base (1103f) of the working end (1103) are sequentially rotatably connected by bearings. The bolt storage bin and slide (1103c) are fixed on the working end base (1103f). The bolt storage bin and slide (1103c) are provided with a hopper and an inclined slide for accommodating and guiding bolts to slide down. The lithium battery wrench fixing support (1103b) is fixed above the lithium battery wrench (1103c), and the lithium battery wrench (1103a) is mounted on the lithium battery wrench fixing support (1103b); the bolt guide channel (1103d) and the bolt movement cylinder chamber (1103e) are fixed at the front of the working end base (1103f), wherein the lower outlet of the bolt storage chamber and slide (1103c) is connected to the bolt guide channel (1103d); the argon arc welding torch (1103g) and the industrial camera (1103h) are fixed at the side of the working end base (1103f). Each tracked gripper unit includes a tracked gripper pulley (1201a), a tracked gripper wheel frame (1201b), a tracked gripper track unit (1201c), a tracked gripper drive motor (1201d), a linkage mounting base (1202), and a four-bar linkage mechanism; the four-bar linkage mechanism consists of a main linkage arm (1203) and a secondary linkage arm (1204) that are parallel to each other; one end of the main linkage arm (1203) is fixedly connected to the worm gear (1301) of the gripper mechanism, and one end of the secondary linkage arm (1204) is fixedly connected to the worm gear (1301) of the gripper mechanism. The four-bar linkage is hinged to the gripper drive mounting frame (1302), and the end of the four-bar linkage is hinged to the link mounting base (1202). The tracked gripper wheel frame (1201b) and the tracked gripper drive motor (1201d) are fixed on the link mounting base (1202). The output end of the tracked gripper drive motor (1201d) is connected to the tracked gripper pulley (1201a) through a flange and a coupling. The tracked gripper track unit (1201c) is sleeved on the tracked gripper pulley (1201a). The welding-related equipment (6000) is connected to the argon arc welding torch (1103g) on ​​the working end (1103) via a flexible pipeline. The routing path of the flexible pipeline is as follows: starting from the connection end of the argon arc welding torch (1103g), it is arranged sequentially along the second working end robotic arm (1102), the first working end robotic arm (1101), and the gripper drive assembly (1300) and fixed with cable ties. After leaving a margin for joint rotation, it continues to be fixed along the robotic arm lever arm (2203) to the base transmission chamber (3001). Then, after leaving a margin for the robotic arm base (3000) to perform vertical lifting and lowering operations along the lifting truss (5000), it is finally connected to the welding-related equipment (6000).

7. The curtain wall keel installation system according to claim 6, characterized in that, The mobile corner code installation platform (8000) includes a tracked mobile base (8100), a first corner code installation cylinder (8201), a corner code feeding pipe (8202), a corner code storage bin (8203), a pre-embedded corner code feeding pipe (8204), a slide rail installation bracket (8205), and a corner code temporary installation platform (8206). The temporary installation platform (8206) for corner codes is fixed above the tracked mobile base (8100). The corner code storage bin (8203) for corner codes is fixed above the temporary installation platform (8206) via the slide mounting bracket (8205). The bottom of the corner code storage bin (8203) is connected to two L-shaped corner code unloading pipes (8202) and one embedded part corner code unloading pipe (8204). On the temporary installation platform (8206) for corner codes, where the drop outlets of the two corner code unloading pipes (8202) are located, two first corner code installation cylinders (8201) are symmetrically fixed.

8. The curtain wall keel installation system according to claim 7, characterized in that, The embedded part installation mechanism (9000) is installed on one side of the slide rail mounting bracket (8205), and includes a horizontal rotation mechanism (9001), a slide rail installation structure and motor compartment (9002), an L-shaped corner code channel (9003), a long glue application and storage assembly (9004), a second corner code installation cylinder (9005), a rotating platform drive motor (9006), a limiting roller (9007), a limiting roller drive motor (9008), and a rotating platform; The slide rail mounting bracket (8205) is equipped with a rack. The slide rail mounting structure and motor housing (9002) are slidably fitted onto the slide rail mounting bracket (8205) to achieve vertical lifting. The slide rail mounting structure and motor housing (9002) integrate a lifting drive motor and gears. By meshing with the rack on the slide rail mounting bracket (8205), the slide rail mounting structure and motor housing (9002) are driven to lift and lower along the slide rail mounting bracket (8205). The external connection of 9002 is the horizontal rotation mechanism (9001), which has a built-in rotary motor and reduction gear set. Its output end is connected to the L-shaped corner code channel (9003) to control the horizontal orientation of the L-shaped corner code channel (9003). The top of the L-shaped corner code channel (9003) is provided with a corner code inlet, which is connected to the embedded part corner code feeding pipe (8204). The bottom of the L-shaped corner code channel (9003) is provided with a feeding outlet. An installation groove is provided on the outer side wall of the L-shaped corner code channel (9003). The limiting roller (9007) is movably installed in the installation groove via a rotating shaft, and the friction surface of the limiting roller (9007) protrudes into the internal channel of the L-shaped corner code channel (9003). The limiting roller drive motor (9008) is fixed to the outer wall of the L-shaped corner code channel (9003) and is connected to the rotating shaft of the limiting roller (9007) for transmission. The bottom discharge outlet of the L-shaped corner code channel (9003) has two sides... The long adhesive storage assembly (9004) is fixedly mounted. The rotating platform is located directly below the bottom discharge outlet. The second corner code mounting cylinder (9005) is fixedly mounted on the rotating platform. The rotating platform drive motor (9006) is mounted at the bottom end of the L-shaped corner code channel (9003), and the output end of the rotating platform drive motor (9006) is connected to the rotating platform for driving the rotating platform to rotate and change the horizontal pushing direction of the second corner code mounting cylinder (9005).

9. The curtain wall keel installation system according to claim 8, characterized in that, The keel transport mechanism (7000) is fixedly installed in the middle of the tracked mobile base (8100), and includes an opening and closing transmission structure, a mechanism mounting frame (7001), an extended tracked gripper (7002), a guide wheel (7003), and a short glue application and storage assembly (7004). The opening and closing transmission structure of the keel transport mechanism (7000) is the same as the basic structure of the gripper mounting platform (1000), which also includes a gripper drive assembly (1300), a linkage mounting base (1202), a linkage mechanism main arm (1203), a linkage mechanism secondary arm (1204), and a tracked gripper drive motor (1200). 01d); The connecting rod mounting seat (1202) at the end of the keel transport mechanism (7000) is fixed with the mechanism mounting frame (7001), the extended tracked gripper (7002) is fixed with the mechanism mounting frame (7001), and the extended tracked gripper (7002) is also connected to and driven to rotate by the tracked gripper drive motor (1201d); a number of guide wheels (7003) that play a supporting role are longitudinally distributed on the mechanism mounting frame (7001), and the end of the mechanism mounting frame (7001) is fixed with the short glue-applying and glue-storing components (7004) corresponding to the two sides of the curtain wall keel.

10. A method for installing curtain wall keel using the system described in any one of claims 1 to 9, characterized in that, The steps are as follows: S1. Installation of corner brackets for vertical curtain wall keel on exterior facade: The keel pre-processing robot (B) controls its tracked mobile base (8100) to drive to the edge of the building and controls the horizontal rotation mechanism (9001) to rotate to adjust the orientation of the L-shaped corner bracket channel (9003), so that the working surface of the second corner bracket installation cylinder (9005) is close to the coordinate error range of the specified embedded parts. After confirming the required corner bracket to be in an L-shaped or reverse L-shaped position by the rotation of the horizontal rotation mechanism (9001), the keel pre-processing robot (B) controls the rotating platform drive motor (9006) to drive the rotating platform to rotate, thereby driving the second corner bracket fixed on it to install... The cylinder (9005) rotates to push the corner bracket towards the wall, and then the limit roller drive motor (9008) drives the limit roller (9007) to rotate, using surface friction to drive the corresponding corner bracket to slide out along the L-shaped corner bracket channel (9003). During this period, the long glue storage component (9004) applies glue to its surface. Then, the second corner bracket installation cylinder (9005) pushes out in the designated direction to temporarily press and fix the corner bracket in the designated position. The corner bracket is continuously supplied by the pre-embedded corner bracket feeding pipe (8204). After completion, the keel pretreatment robot (B) controls the tracked mobile base (8100) to drive away from the position, and the keel installation robot (A) drives the keel installation robot (B) to move away from the position. The mobile chassis (4000) takes over; the keel installation robot (A) controls the cylinder built into the chassis support structure drive (4006) to extend, and through the transmission of the chassis support linkage structure (4002c), the chassis supports the foot (4002d) to descend and touch the ground to stabilize the body. Then, it controls the motor power source in its mobile chassis (4000) to lower the lifting truss (5000), and simultaneously controls the mechanical arm base drive motor (3007) to operate to adjust the height of the differential joint (2100), and controls the differential mechanism drive component (2108) to drive the differential joint adapter (2103) to perform spatial posture. Adjustment is performed, and the working end (1103) is sent to the temporarily fixed corner code. After visual recognition by the industrial camera (1103h), the bolt slides from the bolt storage bin and slide rail (1103c) into the bolt guide channel (1103d). Then, the keel installation robot (A) controls the cylinder in the bolt movement cylinder bin (1103e) to extend and push the bolt into the designated pre-embedded part hole position and temporarily fix it with the overflowing glue. Finally, the bolt pre-tightening operation is completed by the lithium battery wrench (1103a). The welding-related equipment (6000) is used to provide the welding source through the flexible pipeline, and the argon arc welding torch (1103g) performs spot welding and full welding on the target position. S2. Pre-processing of vertical curtain wall keel corner brackets: For the curtain wall keel, control the tracked mobile bases (8100) of two keel pre-processing robots (B) to move to both ends of the curtain wall keel respectively. At the same time, control the gripper drive motor (1303) to rotate forward, causing the extended tracked gripper (7002) to unfold and clamp. Control the tracked gripper drive motor (1201d) to drive the vertically set extended tracked gripper (7002) to rotate. Relying on the friction of the extended tracked gripper (7002) surface, the curtain wall keel is driven to rise vertically under equal force at both ends until the lower surface of the curtain wall keel is flush with the corner bracket temporary installation platform (8206). During this period, the two keel pre-processing robots (B) are controlled to move to both ends of the curtain wall keel respectively. The power output of the two tracked gripper drive motors (1201d) is controlled to force the curtain wall keel to reverse and adjust its spatial posture by using the force difference on the two contact surfaces. When the target posture is reached, the two keel pre-processing robots (B) control their respective tracked mobile bases (8100) to move towards each other until both ends of the curtain wall keel reach the corner code temporary installation platform (8206). During this period, the curtain wall keel posture is maintained by the guide wheel (7003), and the short glue application and storage component (7004) automatically applies glue to the two sides of the curtain wall keel. Then the corresponding corner code is transported by the corner code feeding pipe (8202), and the first corner code installation cylinder (8201) pushes and glues it to the two ends of the curtain wall keel temporarily. S3. Transportation and Fixing of Vertical Curtain Wall Frames on Exterior Facade: After the curtain wall frame is transported to the target location by external lifting equipment, two frame installation robots (A) deployed on the upper and lower floors respectively cooperate to receive it. The lower frame installation robot (A) first controls the gripper drive motor (1303) to rotate forward, so that the tracked gripper unit grabs the lower end of the curtain wall frame, and uses the tracked gripper drive motor (1201d) to assist in controlling the speed and posture of the lowering of the curtain wall frame until the lower end of the curtain wall frame is successfully fitted into the internal structure of the lower vertical curtain wall frame. At the same time, when the upper end of the curtain wall frame reaches the gripping range of the upper frame installation robot (A), the upper frame installation robot (A) prioritizes the operation of the chassis support structure drive (4006) to drive the chassis support foot (4002d) to descend to the ground, and after stabilizing the machine, controls its movement of the chassis (4002d). The motor power source in 4000) is activated to lower the lifting truss (5000), and the mechanical arm base drive motor (3007) is controlled to operate to adjust the height of the differential joint (2100). Then, the differential mechanism drive component (2108) is activated to drive the differential joint adapter (2103) to rotate, so that the tracked gripper wheel frame (1201b) reaches the position below the preset corner code at the upper end of the curtain wall keel. Then, the gripper drive motor (1303) is controlled to rotate forward so that the tracked gripper unit can grab and hold. The tracked gripper drive motor (1201d) is controlled to operate again to assist in controlling the lowering speed and posture of the curtain wall keel, so that it is positioned at the embedded part position. Finally, the working end (1103) uses the welding source of the welding-related equipment (6000) to complete the spot welding and full welding fixing operation. Then, the reverse gripper drive motor (1303) releases the tracked gripper unit and drives away. S4. Installation of corner brackets embedded in the bottom and top surfaces of the floor slab: For scenarios where the fixed end is set on the inner side of the floor slab, the keel pre-processing robot (B) controls its tracked mobile base (8100) to move to the corresponding position, controls the horizontal rotation mechanism (9001) to rotate, and drives the slide rail installation structure and motor compartment (9002) to keep the working surface of the second corner bracket installation cylinder (9005) at a preset height from the working surface. The rotating platform drive motor (9006) drives the rotating platform to rotate, thereby driving the second corner bracket installation cylinder (9005) fixed on it to always face the keel pre-processing robot (B) itself. Then, the limit roller drive motor (9008) is controlled to drive the limit roller (9007) to rotate. Using friction, the corresponding corner bracket is driven to slide out along the L-shaped corner bracket channel (9003) and after being coated with glue by the long glue-applying and glue-storing component (9004), the bottom surface of the corner bracket contacts the installation working surface first, and then the second corner bracket installation cylinder... (9005) Push out in the designated direction to make the corner bracket tilt down, so that its glued side fits tightly against the working surface. Drive the slide installation structure and motor compartment (9002) again to drive the embedded part installation mechanism (9000) to descend as a whole, apply abutment and clamping force to the corner bracket. The corner bracket is continuously replenished by the embedded part corner bracket feeding pipe (8204). Then the keel pretreatment robot (B) controls the tracked mobile base (8100) to drive away, and the keel installation robot (A) controls the mobile chassis (4000) to take over the position. The keel installation robot (A) controls the motor power source inside the robotic arm base (3000) to drive the transmission gear and transmission shaft (5005) at the structural adapter (5002), and cooperates with the robotic arm base drive motor (3007) and differential mechanism drive assembly (2108) to drive the working end (1103) to the corner bracket to perform the same bolt fixing and welding process as step S1. S5. Handling and Fixing of Inner Vertical Curtain Wall Keel: For scenarios where the floor space is within the activity range of the installation gripper platform (1000) of a single keel installation robot (A), the installation is carried out independently by a single keel installation robot (A). The keel installation robot (A) controls the operation of the mobile chassis (4000), the lifting truss (5000), and the robotic arm structure (2000), and controls the gripper drive motor (1303) to rotate forward to independently clamp the vertical curtain wall keel and position it to the embedded part position. Then, the welding is carried out directly by the working end (1103) using welding-related equipment (6000). The source completes the spot welding and full welding fixing operations; for the curtain wall keel that exceeds the range of motion of the installation gripper platform (1000), a multi-machine collaborative working mode is adopted. After being transported to the target position by external lifting equipment, the keel installation robot (A) downstairs takes the lead and performs the same lower end guidance operation as in step S3. When the upper end of the curtain wall keel reaches the gripping range of the keel installation robot (A) located upstairs, the keel installation robot (A) also first controls the chassis support structure drive (4006) to actuate so that the chassis supports the foot (4002d) to descend and touch the ground, and then controls its movement. The motor power source inside the disk (4000) actuates to lower the lifting truss (5000) and controls the mechanical arm base drive motor (3007) to operate to adjust the height of the differential joint (2100). The keel installation robot (A) controls the mechanical arm worm power source (2202) to actuate to rotate the mechanical arm structure (2000) until the installation gripper work platform (1000) is completely facing the interior space of the building. At the same time, it controls the differential mechanism drive component (2108) to actuate to drive the differential joint adapter (2103) to flip, thereby ensuring that the working end (1103) is always facing upward, and coordinates the adjustment of posture. The tracked gripper unit is brought close to the position below the preset corner code on the upper end of the vertical curtain wall keel. The gripper drive motor (1303) is controlled to rotate forward to grip it. The tracked gripper drive motor (1201d) is controlled to assist in controlling the posture of the curtain wall keel. After the two keel installation robots (A) coordinate to position the curtain wall keel at the pre-embedded part position, the two keel installation robots (A) perform fixing operations simultaneously. After the working end (1103) completes spot welding and full welding tasks using the welding source of the welding-related equipment (6000), the reverse gripper drive motor (1303) releases the tracked gripper unit and drives away. S6. Installation of Horizontal Curtain Wall Keel: The corner code preprocessing part performs the same operation as step S2. For horizontal curtain wall keels whose length is within the working range of a single keel installation robot (A), the single keel installation robot (A) operates independently. The keel installation robot (A) controls the motor power source inside the robotic arm base (3000) to drive the transmission gear and transmission shaft (5005) at the structural adapter (5002), so that the robotic arm base (3000) moves freely in the vertical direction relative to the lifting truss (5000). After transporting the horizontal curtain wall keel to the designated spatial position, the tracked gripper drive motor (1201d) and the moving chassis (4000) are driven synchronously, so that the keel installation robot (A) moves as a whole relative to the curtain wall keel. The keel is displaced, and the curtain wall keel remains absolutely stationary relative to the building. When the installation gripper work platform (1000) reaches one end, the work end (1103) uses the welding source of the welding-related equipment (6000) to complete spot welding. Then it is moved to the other end to perform spot welding again. After the spot welding at both ends is completed, the gripper drive motor (1303) is controlled to reverse to release the tracked gripper unit. The industrial camera (1103h) is used to assist in identifying and verifying the non-deformed displacement of the curtain wall keel before full welding is performed respectively. For horizontal curtain wall keels whose length exceeds the working range of a single keel installation robot (A), two keel installation robots (A) work together to move them to the designated space position. The two keel installation robots (A) alternately perform stable clamping and displacement welding operations.

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