Complex facade-oriented construction robot end effector device and method

Abstract

The present application relates to the technical field of mechanical arm, in particular to a kind of construction robot end effector device and method for complex facade, including the moving disc installed at the end of mechanical arm and the tool disc fixed at the top of operating tool, annular piston and inner column piston that are independently axially moved by gas pressure control are coaxially arranged in moving disc, locking tube is fixed to the bottom of annular piston by bolt, and quick-change locking mechanism is arranged outside locking tube.The steel ball quick-change locking mechanism driven by annular piston and the axial force control floating mechanism driven by inner column piston are coaxially nested in moving disc, and the gas circuit of the two is independent, motion decoupling, the axial length and weight of end effector are significantly shortened, and the effective load and dynamic response performance of robot are improved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more specifically, to an end effector device and method for construction robots designed for complex facades. Background Technology

[0002] In construction work involving complex facades, robots need to frequently switch end-effectors between different processes. Traditional end-effector tool changes mainly rely on standard quick-change discs. These discs typically employ a pneumatically or hydraulically driven piston that pushes steel balls radially into the locking groove of the tool disc, achieving a rigid connection between the robotic arm and the tool. This rigid connection characteristic is suitable for scenarios such as material handling and welding, where high positional accuracy is required but contact force control is not critical.

[0003] Patent application number CN202520084066.7 discloses a quick-change device for the end effector of a robotic arm, including a main plate with a recessed groove inside. An electromagnet is installed at the center of the top of the groove. A plug-in sleeve is located at the bottom of the main plate, and a top plate is fixed to the upper side inside the plug-in sleeve. A sliding support rod is inserted through the center of the top plate. Using an electromagnet as the power source eliminates the need for additional air pipes and supporting mechanisms.

[0004] However, for construction operations requiring active force control, such as grinding, polishing, assembly, and tightening, a purely rigid quick-change disc alone cannot meet the requirements. Due to the unevenness and inhomogeneity of the construction surface, if the end effector contacts the workpiece in a purely rigid manner, it is highly susceptible to damage to the tool or the workpiece. Current technologies typically achieve force control by installing an independent force-controlled floating actuator in series between the standard quick-change disc and the tool, or by using robot joint torque sensors in conjunction with complex control algorithms to achieve joint-level force control. The former's series structure significantly increases the overall length and weight of the end effector, affecting the robot's payload; the latter's control algorithm places extremely high demands on the robot's hardware system, resulting in high costs, and also poses a safety hazard of accidental triggering of force control actions when the quick change is not fully locked.

[0005] In view of this, we propose an end effector device and method for construction robots designed for complex facades. Summary of the Invention

[0006] The purpose of this invention is to provide an end effector device and method for construction robots designed for complex facades. By using an annular piston and an inner column piston coaxially nested within a moving disk, the axial length and weight of the end effector are shortened, thereby solving the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: An end effector device for a construction robot designed for complex facades includes a movable disk mounted at the end of a robotic arm and a tool disk fixed to the top of an operating tool. The movable disk is coaxially arranged with an annular piston and an inner cylinder piston, both controlled by pneumatic pressure, a locking tube fixed to the bottom of the annular piston by bolts, and a quick-change locking mechanism located outside the locking tube. The annular piston and the inner cylinder piston can move axially independently. During the axial movement of the pneumatically driven annular piston, the quick-change locking mechanism is triggered through the locking tube to lock and unlock the moving disc and the tool disc. The tool disk includes a rotating tube and a control component sleeved inside the rotating tube. The control component and the inner piston are configured with a locked state and a released state. When the annular piston is pushed down to the locking position by air pressure, the locking tube sleeved on the outside of the rotating tube triggers the rotating tube to rotate, thereby driving the control component to rotate circumferentially, thus locking the control component at the bottom end of the inner piston. At this time, the inner piston is driven, and the axial force control of the operating tool is performed by the axial floating of the control component in the tool disk.

[0008] In the technical solution of the present invention, the quick-change locking mechanism includes a sleeve fixedly connected to the bottom end of the movable disk by bolts and a number of steel balls slidably embedded in the sleeve wall.

[0009] In the above configuration, when the annular piston moves downward, the locking tube squeezes the steel ball radially outward and jams it into the inner wall of the tool disc to achieve locking.

[0010] In the technical solution of the present invention, the movable disk further includes a movable disk body, the movable disk body having a bottom cavity, a top cavity and a connecting hole connecting the bottom cavity and the top cavity, the annular piston being slidably disposed in the bottom cavity, the inner column piston having a T-shaped longitudinal cross section, the top circular plate of the inner column piston being slidably disposed in the top cavity, and the circular rod of the inner column piston passing through the connecting hole.

[0011] In the technical solution of the present invention, two sliding grooves are provided at the bottom end of the inner column piston rod wall, and a limiting ring groove connected to the sliding groove is provided on the inner column piston rod wall. The sliding groove extends axially, and the limiting ring groove extends circumferentially and communicates with the end of the sliding groove.

[0012] In the technical solution of the present invention, the outer wall of the movable disc is provided with air injection nozzles at the upper and lower ends of the bottom cavity and the upper and lower ends of the top cavity, respectively, for introducing air pressure into the bottom cavity and the top cavity to drive the annular piston and the inner column piston.

[0013] In the technical solution of the present invention, the mobile disk further includes a power head fixedly connected to the outer wall of the mobile disk body by screws and a limiting ring cover fixedly connected to the center of the top surface of the mobile disk body by bolts.

[0014] In the above configuration, the quick-change locking and axial force control are driven by the coaxially arranged annular piston and inner column piston respectively. The two have independent air paths and decoupled motion. The air injection nozzle controls the axial movement of the locking tube and the inner column piston respectively, realizing the integration of locking and force control functions.

[0015] In the technical solution of the present invention, a number of regularly distributed paddle blocks are welded to the bottom of the inner wall of the locking tube, and the rotating tube wall is provided with interconnected straight grooves and spiral grooves; when the annular piston drives the locking tube to move down, the paddle blocks enter the spiral grooves from the straight grooves, causing the rotating tube to rotate circumferentially, and a number of inner protrusions are integrally formed on the inner wall of the rotating tube.

[0016] In the technical solution of the present invention, the control component includes a telescopic tube, two limiting blocks welded to the inner wall of the telescopic tube, and an annular plate welded to the outer wall of the telescopic tube. The outer wall of the telescopic tube is provided with a groove that cooperates with the inner convex strip, so that when the rotating tube rotates, it drives the control component to rotate synchronously, and the telescopic tube can slide axially relative to the rotating tube.

[0017] In the technical solution of the present invention, the tool disc further includes a tool disc body, a reinforcing ring welded and fixed to the inner wall of the tool disc body, and an electrical connector fixed to the outer wall of the tool disc body by bolts. The bottom surface of the tool disc body is provided with a movable cavity, and the ring plate is slidably disposed in the movable cavity. During the force-controlled floating process, the axial movement range of the control component is limited by the axial height of the movable cavity.

[0018] In the above configuration, when the locking tube moves down, the lever and the spiral groove work together to drive the rotating tube to rotate, which in turn drives the limit block to screw into the limit ring groove, switching the control component from the locked state to the released state, so that the tool can obtain axial floating degree of freedom and realize mechanical unlocking of force-controlled operation.

[0019] On the other hand, the present invention also includes a method for using an end effector device for construction robots facing complex facades, comprising the following steps: S1. During the docking phase, the robotic arm drives the moving disk to insert vertically downward into the tool disk, so that the locking block at the bottom of the locking tube enters the straight groove at the top of the rotating tube; at the same time, the inner piston moves down with the moving disk, and the limiting block on the control component enters the sliding groove on the side wall of the inner piston rod, and moves along the sliding groove to the connecting opening of the limiting ring groove. S2. Locking stage: Air pressure is introduced into the bottom cavity through the air injection nozzle at the upper end of the outer side of the bottom cavity, driving the annular piston to move the locking tube downward. During the downward movement of the locking tube, its lower inclined surface squeezes several steel balls on the sleeve radially outward, causing the steel balls to be stuck in the reinforcing ring groove of the tool disc, thus completing the rigid locking between the moving disc and the tool disc. S3. As the locking tube moves down, the pusher block enters the spiral groove from the straight groove, forcing the rotating tube to rotate circumferentially; the rotating tube drives the control component to rotate synchronously through the cooperation of the inner convex strip and the groove, so that the limit block is screwed into the limit ring groove from the connection between the sliding groove and the limit ring groove. S4. During the force-controlled operation phase, controllable air pressure is introduced into the upper space of the top cavity, driving the inner piston to move downward. The inner piston abuts against the limiting block through the groove wall of the limiting ring groove, pushing the control component to move as a whole, and driving the tool to feed towards the workpiece surface. When the tool contacts the workpiece surface, the force sensor on the tool detects the contact force in real time and feeds it back to the controller. The controller adjusts the air pressure introduced into the top cavity according to the feedback signal, so that the tool adheres to the workpiece surface with a constant contact force. During the operation, the inner piston can float axially in real time for compensation. S5, Force Control Reset Stage: After the force control operation is completed, air pressure is introduced into the lower space of the top cavity to drive the inner column piston to move upward and reset to the upper limit position, and the tool is removed from the workpiece surface. S6. During the unlocking and disengagement phase, air pressure is introduced into the lower space of the bottom cavity, pushing the annular piston upward. The annular piston drives the locking tube to move upward synchronously. The inclined surface of the locking tube retracts, and the steel ball radially resets inward, disengaging from the annular groove of the reinforcing ring, releasing the rigid lock. At the same time, the lever returns to the straight groove along the spiral groove, forcing the rotating tube to rotate in the opposite direction, driving the control component to rotate in the opposite direction synchronously. The limit block retracts from the limit ring groove and returns to the slide groove, and the linkage structure returns to the locked state. The robotic arm drives the moving disk to move vertically upward, disengaging from the tool disk.

[0020] Compared with the prior art, the beneficial effects of the present invention are: 1. The end effector device and method for construction robots designed for complex facades, by coaxially nesting a ball-changing locking mechanism driven by an annular piston and an axial force-controlled floating mechanism driven by an inner column piston within a moving disk, with independent air paths and decoupled motion, significantly shortens the axial length and weight of the end effector, and improves the robot's payload and dynamic response performance.

[0021] 2. The end effector device and method for construction robots facing complex facades, through the cooperation of the locking tube's paddle block and the straight and spiral grooves of the rotating tube, as well as the purely mechanical interlocking mechanism composed of the limiting block, the sliding groove, and the limiting ring groove, ensures that the limiting block can only be screwed into the limiting ring groove to unlock the force-controlled floating function after the steel ball is fully engaged in the reinforcing ring and locked. This fundamentally eliminates the safety hazard of accidentally triggering the tool's action when the locking is not completed. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram showing the overall structure of the present invention broken down; Figure 3This is a cross-sectional view of the overall structure of the present invention; Figure 4 This is a sectional side view of the overall structure of the present invention; Figure 5 This is a cross-sectional schematic diagram of the movable disk in this invention; Figure 6 This is a cross-sectional schematic diagram of a portion of the structure of the movable disk in this invention; Figure 7 This is a schematic diagram of the annular piston in this invention; Figure 8 This is a cross-sectional schematic diagram of the locking tube structure in this invention; Figure 9 This is a schematic diagram of the inner piston structure in this invention; Figure 10 This is a cross-sectional schematic diagram of the tool disk structure in this invention; Figure 11 This is a schematic diagram of the rotating tube in this invention; Figure 12 This is a schematic diagram of the structure of the control component in this invention; Figure 13 This is a cross-sectional schematic diagram of the control component in this invention; Explanation of reference numerals in the attached figures: 100. Moving disc; 110. Moving disc body; 111. Bottom cavity; 112. Top cavity; 113. Connecting hole; 120. Sleeve; 130. Steel ball; 140. Annular piston; 150. Locking tube; 151. Pulley; 160. Inner piston; 161. Slide groove; 162. Limiting ring groove; 170. Air injection nozzle; 180. Power-on head; 190. Limiting ring cover; 200. Tool disc; 210. Tool disc body; 211. Movable cavity; 220. Reinforcing ring; 230. Rotating tube; 231. Straight groove; 232. Spiral groove; 233. Inner convex strip; 240. Control component; 241. Telescopic tube; 2410. Groove; 242. Limiting block; 243. Ring plate; 250. Electrical connector. Detailed Implementation

[0023] The technical solutions of this invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0024] Please see Figures 1-9 As shown, this embodiment provides a technical solution: An end effector device for a construction robot designed for complex facades includes a movable disk 100 mounted on the end of a robotic arm and a tool disk 200 fixed to the top of an operating tool. The movable disk 100 is coaxially arranged with an annular piston 140 and an inner column piston 160, which are controlled by air pressure, a locking tube 150 fixed to the bottom of the annular piston 140 by bolts, and a quick-change locking mechanism located outside the locking tube 150. The annular piston 140 and the inner column piston 160 can move axially independently.

[0025] Furthermore, during the axial movement of the pneumatically driven annular piston 140, the quick-change locking mechanism is triggered through the locking tube 150 to achieve locking and unlocking of the moving disk 100 and the tool disk 200.

[0026] Furthermore, the quick-change locking mechanism includes a sleeve 120 fixedly connected to the bottom of the movable disk 100 by bolts and several steel balls 130 slidably embedded in the wall of the sleeve 120; when the annular piston 140 moves downward, the locking tube 150 presses the steel balls 130 radially outward and jams them into the inner wall of the tool disk 200 to achieve locking.

[0027] Furthermore, the movable disk 100 also includes a movable disk body 110, which has a bottom cavity 111, a top cavity 112, and a connecting hole 113 that connects the bottom cavity 111 and the top cavity 112. The annular piston 140 is slidably disposed in the bottom cavity 111, the inner piston 160 has a T-shaped longitudinal section, the top circular plate of the inner piston 160 is slidably disposed in the top cavity 112, and the circular rod of the inner piston 160 passes through the connecting hole 113.

[0028] Furthermore, the bottom end of the inner piston 160 rod wall is provided with two sliding grooves 161, and the inner piston 160 rod wall is provided with a limiting ring groove 162 that communicates with the sliding grooves 161. The sliding grooves 161 extend axially, and the limiting ring grooves 162 extend circumferentially and communicate with the end of the sliding grooves 161.

[0029] Furthermore, the outer wall of the movable disc 110 is provided with air injection nozzles 170 at the upper and lower ends of the bottom cavity 111 and the upper and lower ends of the top cavity 112, respectively, for introducing air pressure into the bottom cavity 111 and the top cavity 112 to drive the annular piston 140 and the inner column piston 160.

[0030] Furthermore, the mobile disk 100 also includes a power head 180 fixedly connected to the outer wall of the mobile disk body 110 by screws and a limiting ring cover 190 fixedly connected to the center of the top surface of the mobile disk body 110 by bolts.

[0031] Furthermore, during the locking process, air pressure is introduced into the upper space of the bottom cavity 111, pushing the annular piston 140 to move downward. The annular piston 140 drives the locking tube 150 to move downward synchronously. During the downward movement of the locking tube 150, the inclined surface of its lower inner wall pushes the steel ball 130 on the sleeve 120 radially outward. The steel ball 130 is inserted into the annular groove of the inner wall of the reinforcing ring 220, thereby achieving rigid locking between the moving disk 100 and the tool disk 200.

[0032] In the above configuration, the quick-change locking and axial force control are driven by the coaxially arranged annular piston 140 and inner column piston 160 respectively. The two have independent air paths and decoupled motion. The air injection nozzle 170 controls the axial movement of the locking tube 150 and the inner column piston 160 respectively, realizing the integration of locking and force control functions.

[0033] Please see Figures 10-13 As shown, in this embodiment, the tool disc 200 includes a tool disc body 210, a reinforcing ring 220 welded and fixed to the inner wall of the tool disc body 210, a rotating tube 230, a control component 240 sleeved in the rotating tube 230, and an electrical connector 250 fixed to the outer wall of the tool disc body 210 by bolts. The control component 240 and the inner piston 160 are configured with a locked state and a released state.

[0034] Furthermore, the bottom surface of the tool disc body 210 is provided with a movable cavity 211, and the ring plate 243 is slidably disposed in the movable cavity 211; during the force-controlled floating process, the axial movement range of the control component 240 is limited by the axial height of the movable cavity 211.

[0035] Furthermore, when the annular piston 140 is pushed down to the locked position by air pressure, the locking tube 150 sleeved on the outside of the rotating tube 230 triggers the rotating tube 230 to rotate, thereby driving the control component 240 to rotate circumferentially, thereby locking the control component 240 at the bottom end of the inner piston 160. At this time, the inner piston 160 is driven, and the axial floating of the control component 240 within the tool disk 200 controls the axial force of the operating tool.

[0036] Furthermore, a number of regularly distributed pry blocks 151 are welded to the bottom of the inner wall of the locking tube 150, and the rotating tube 230 has interconnected straight grooves 231 and spiral grooves 232 on its wall; when the annular piston 140 drives the locking tube 150 to move downward, the pry blocks 151 enter the spiral grooves 232 from the straight grooves 231, causing the rotating tube 230 to rotate circumferentially, and a number of inner protrusions 233 are integrally formed on the inner wall of the rotating tube 230.

[0037] Furthermore, the control component 240 includes a telescopic tube 241, two limiting blocks 242 welded to the inner wall of the telescopic tube 241, and an annular plate 243 welded to the outer wall of the telescopic tube 241. The outer wall of the telescopic tube 241 has a groove 2410 that cooperates with the inner protrusion 233, so that when the rotating tube 230 rotates, it drives the control component 240 to rotate synchronously, and the telescopic tube 241 can slide axially relative to the rotating tube 230.

[0038] Furthermore, during the force-controlled unlocking process, as the locking tube 150 moves downward, the lever 151 enters the spiral groove 232 from the straight groove 231, forcing the rotating tube 230 to rotate circumferentially around its own axis. When the rotating tube 230 rotates, the inner protrusion 233 on its inner wall and the groove 2410 on the outer wall of the telescopic tube 241 cooperate to drive the control component 240 to rotate synchronously as a whole. The limiting block 242 is screwed into the limiting ring groove 162 from the connection between the sliding groove 161 and the limiting ring groove 162, and the linkage structure switches from the locked state to the released state, giving the control component 240 the freedom to float axially.

[0039] Furthermore, during the force control operation stage, controllable air pressure is introduced into the upper space of the top cavity 112 to drive the inner piston 160 to move downward. The inner piston 160 abuts against the limiting block 242 through the groove wall of the limiting ring groove 162, pushing the control component 240 to move downward as a whole, thus driving the tool to feed towards the workpiece surface. When the tool contacts the workpiece surface, the force sensor on the tool detects the contact force in real time and feeds it back to the controller. The controller adjusts the air pressure introduced into the top cavity 112 according to the feedback signal, so that the tool adheres to the workpiece surface with a constant contact force. During the operation, the inner piston 160 can float axially in real time for compensation.

[0040] In the above configuration, when the locking tube 150 moves down, the lever 151 cooperates with the spiral groove 232 to drive the rotating tube 230 to rotate, which in turn drives the limit block 242 to screw into the limit ring groove 162, switching the control component 240 from the locked state to the released state, so that the tool can obtain axial floating degree of freedom and realize mechanical unlocking of force-controlled operation.

[0041] The method of using the end effector device for construction robots facing complex facades according to the present invention includes the following steps: S1. During the docking phase, the construction robot, according to instructions, controls the robotic arm to move the movable disk 100 directly above the target tool disk 200 in the tool library. The robotic arm moves the movable disk 100 vertically downward, causing the sleeve 120 and locking tube 150 at the bottom of the movable disk 100 to insert into the reinforcing ring 220 of the tool disk 200. During the insertion process, the lever 151 at the bottom of the locking tube 150 enters the straight groove 231 at the top of the rotating tube 230 and slides downward along the straight groove 231. At the same time, the inner piston 160 moves downward with the movable disk 100, and the limiting block 242 on the control component 240 enters the sliding groove 161 at the bottom of the round rod of the inner piston 160 and moves upward along the sliding groove 161, stopping at the connection between the sliding groove 161 and the limiting ring groove 162. At this time, the movable disk 100 and the tool disk 200 complete the mechanical docking, but the steel ball 130 has not yet been pushed and locked. S2, during the locking stage, the control system opens the solenoid valve corresponding to the air injection nozzle 170 on the bottom cavity 111, introducing air pressure into the upper space of the bottom cavity 111, pushing the annular piston 140 downward; the annular piston 140 drives the locking tube 150 to move downward synchronously. During the downward movement of the locking tube 150, the inclined surface of its lower inner wall pushes the steel ball 130 on the sleeve 120 radially outward, and the steel ball 130 is stuck in the annular groove on the inner wall of the reinforcing ring 220, realizing the rigid locking of the moving disk 100 and the tool disk 200; S3. As the locking tube 150 moves downward, the pusher block 151 enters the spiral groove 232 from the straight groove 231, forcing the rotating tube 230 to rotate circumferentially around its own axis. When the rotating tube 230 rotates, the inner protrusion 233 on its inner wall and the groove 2410 on the outer wall of the telescopic tube 241 cooperate to drive the control component 240 to rotate synchronously. The limiting block 242 is screwed into the limiting ring groove 162 from the connection between the sliding groove 161 and the limiting ring groove 162. S4. During the force-controlled operation phase, controllable air pressure is introduced into the upper space of the top cavity 112, driving the inner piston 160 to move downward. The inner piston 160 abuts against the limiting block 242 through the groove wall of the limiting ring groove 162, pushing the control component 240 to move as a whole, thus feeding the tool towards the workpiece surface. When the tool contacts the workpiece surface, the force sensor on the tool detects the contact force in real time and feeds it back to the controller. The controller adjusts the air pressure introduced into the top cavity 112 according to the feedback signal, so that the tool adheres to the workpiece surface with a constant contact force. During the operation, the inner piston 160 can float axially in real time for compensation. S5, Force Control Reset Stage: After the force control operation is completed, air pressure is introduced into the lower space of the top cavity 112 to drive the inner column piston 160 to move upward and reset to the upper limit position, and the tool is removed from the workpiece surface. S6. During the unlocking and disengagement phase, air pressure is introduced into the lower space of the bottom cavity 111, pushing the annular piston 140 to move upward. The annular piston 140 drives the locking tube 150 to move upward synchronously. The inclined surface of the locking tube 150 retracts, and the steel ball 130 radially reverts inward to disengage from the annular groove of the reinforcing ring 220, releasing the rigid lock. At the same time, the toggle block 151 retracts along the spiral groove 232 back to the straight groove 231, forcing the rotating tube 230 to rotate in the opposite direction, driving the control component 240 to rotate in the opposite direction synchronously. The limit block 242 retracts from the limit annular groove 162 and returns to the slide groove 161, and the linkage structure returns to the locked state. The robotic arm drives the moving disk 100 to move vertically upward to disengage from the tool disk 200.

[0042] The foregoing description of specific exemplary embodiments of the invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the invention, as well as various different choices and variations. The scope of the invention is intended to be defined by the specification and its equivalents.

Claims

1. A construction robot end effector device for complex facades, comprising a movable disk mounted on the end of a robotic arm and a tool disk fixed to the top of an operating tool, characterized in that: The movable disk is coaxially equipped with an annular piston and an inner cylindrical piston, both controlled by air pressure; a locking tube fixed to the bottom of the annular piston by bolts; and a quick-change locking mechanism located outside the locking tube; the annular piston and the inner cylindrical piston move independently axially. The quick-change locking mechanism includes a sleeve fixed to the bottom of the movable disk by bolts and several steel balls slidably embedded in the sleeve wall; when the annular piston moves downward, the locking tube squeezes the steel balls radially outward and jams them into the inner wall of the tool disk to achieve locking. During the axial movement of the pneumatically driven annular piston, the quick-change locking mechanism is triggered through the locking tube to lock and unlock the moving disc and the tool disc. The tool disk includes a rotating tube and a control component sleeved inside the rotating tube. The control component and the inner piston are configured with a locked state and a released state. The bottom of the inner wall of the locking tube is welded with several regularly distributed paddles, and the wall of the rotating tube is provided with interconnected straight grooves and spiral grooves; when the annular piston drives the locking tube to move down, the paddles enter the spiral grooves from the straight grooves, causing the rotating tube to rotate circumferentially, and the inner wall of the rotating tube is also integrally formed with several inner protrusions. The control component includes a telescopic tube, two limiting blocks welded to the inner wall of the telescopic tube, and an annular plate welded to the outer wall of the telescopic tube. The outer wall of the telescopic tube has a groove that cooperates with the inner protrusion strip, so that when the rotating tube rotates, it drives the control component to rotate synchronously, and the telescopic tube can slide axially relative to the rotating tube. When the annular piston is pushed down to the locking position by air pressure, the locking tube sleeved on the outside of the rotating tube triggers the rotating tube to rotate, thereby driving the control component to rotate circumferentially, thus locking the control component at the bottom end of the inner piston. At this time, the inner piston is driven, and the axial force control of the operating tool is performed by the axial floating of the control component in the tool disk.

2. The complex facade oriented construction robot end effector device according to claim 1, characterized in that: The movable disk also includes a movable disk body, which has a bottom cavity, a top cavity, and a connecting hole connecting the bottom cavity and the top cavity. The annular piston is slidably disposed in the bottom cavity, the inner column piston has a T-shaped longitudinal section, the top circular plate of the inner column piston is slidably disposed in the top cavity, and the circular rod of the inner column piston passes through the connecting hole.

3. The complex facade oriented construction robot end effector device of claim 2, wherein: The bottom end of the inner piston rod wall is provided with two sliding grooves, and a limiting ring groove is provided on the inner piston rod wall that communicates with the sliding grooves. The sliding grooves extend axially, and the limiting ring grooves extend circumferentially and communicate with the end of the sliding grooves.

4. The complex facade oriented construction robot end effector device of claim 3, wherein: The outer wall of the movable disc is provided with air injection nozzles at the upper and lower ends of the bottom cavity and the upper and lower ends of the top cavity, respectively, for introducing air pressure into the bottom cavity and the top cavity to drive the annular piston and the inner column piston.

5. The complex facade oriented construction robot end effector device of claim 4, wherein: The mobile disk also includes a power head that is fixedly connected to the outer wall of the mobile disk body by screws and a limiting ring cover that is fixedly connected to the center of the top surface of the mobile disk body by bolts.

6. The complex facade oriented construction robot end effector device of claim 5, wherein: The tool disc also includes a tool disc body, a reinforcing ring welded and fixed to the inner wall of the tool disc body, and an electrical connector fixed to the outer wall of the tool disc body by bolts. The bottom surface of the tool disc body has a movable cavity, and the ring plate is slidably disposed in the movable cavity. During the force-controlled floating process, the axial movement range of the control component is limited by the axial height of the movable cavity.

7. A method for using a complex-facade-oriented construction robot end effector device, using the complex-facade-oriented construction robot end effector device of claim 6, characterized in that, Includes the following steps: S1. During the docking phase, the robotic arm drives the moving disk to move vertically downwards, so that the sleeve and locking tube at the bottom of the moving disk are inserted into the reinforcing ring of the tool disk; the lever at the bottom of the locking tube enters the straight groove at the top of the rotating tube and slides downwards along the straight groove; the inner piston moves down with the moving disk, and the limiting block on the control component enters the sliding groove at the bottom of the inner piston rod and moves upwards along the sliding groove, stopping at the connection between the sliding groove and the limiting ring groove. S2. During the locking stage, air pressure is introduced into the upper space of the bottom cavity to push the annular piston downward. The annular piston drives the locking tube to move downward synchronously. During the downward movement of the locking tube, the inclined surface of its lower inner wall pushes the steel ball on the sleeve radially outward. The steel ball is stuck in the annular groove of the inner wall of the reinforcing ring, realizing the rigid locking between the moving disc and the tool disc. S3. As the locking tube moves downward, the pusher block enters the spiral groove from the straight groove, forcing the rotating tube to rotate circumferentially around its own axis. When the rotating tube rotates, the inner convex strip on its inner wall and the groove on the outer wall of the telescopic tube cooperate to drive the control components to rotate synchronously. The limit block is screwed into the limit ring groove from the connection between the sliding groove and the limit ring groove. S4. During the force-controlled operation phase, controllable air pressure is introduced into the upper space of the top cavity, driving the inner piston to move downward. The inner piston abuts against the limiting block through the groove wall of the limiting ring groove, pushing the control component to move as a whole, and driving the tool to feed towards the workpiece surface. When the tool contacts the workpiece surface, the force sensor on the tool detects the contact force in real time and feeds it back to the controller. The controller adjusts the air pressure introduced into the top cavity according to the feedback signal, so that the tool adheres to the workpiece surface with a constant contact force. During the operation, the inner piston can float axially in real time for compensation. S5, Force Control Reset Stage: After the force control operation is completed, air pressure is introduced into the lower space of the top cavity to drive the inner column piston to move upward and reset to the upper limit position, and the tool is removed from the workpiece surface. S6. During the unlocking and disengagement phase, air pressure is introduced into the lower space of the bottom cavity, pushing the annular piston upward. The annular piston drives the locking tube to move upward synchronously. The inclined surface of the locking tube retracts, and the steel ball radially resets inward, disengaging from the annular groove of the reinforcing ring, releasing the rigid lock. At the same time, the lever returns to the straight groove along the spiral groove, forcing the rotating tube to rotate in the opposite direction, driving the control component to rotate in the opposite direction synchronously. The limit block retracts from the limit ring groove and returns to the slide groove, and the linkage structure returns to the locked state. The robotic arm drives the moving disk to move vertically upward, disengaging from the tool disk.

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