Mobile robot for mounting glass curtain wall

Abstract

The utility model relates to the technical field of robots, provides a mobile robot for installing a glass curtain wall, and aims to solve the problems that when an indoor glass curtain wall with spatial constraint is installed through cooperation of an indoor lifting tool and manual work, the indoor lifting tool is poor in flexibility, and the indoor glass curtain wall is inconvenient to install. The indoor glass curtain wall installation robot comprises a mobile robot body, and the mobile robot body is provided with an indoor glass curtain wall and an indoor glass curtain wall. The middle connecting assembly is arranged above the mobile robot body, and one end of the middle connecting assembly is hinged to the mobile robot body; the up-and-down lifting assembly is hinged to the mobile robot body, and the driving end of the up-and-down lifting assembly is connected with the middle connecting assembly; the hinge seat is hinged to the middle connecting assembly; the front-back moving part is arranged on the middle connecting assembly, and the driving end of the front-back moving part is connected with the hinge seat; and the fixed end of the inclined swinging part is hinged to one end of the hinge seat.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and more specifically, to a mobile robot for installing glass curtain walls. Background Art

[0002] The current construction industry has a great market prospect, especially the glass curtain wall, which is a beautiful and novel building wall decoration method and a prominent feature of the modern high-rise building era. Among them, the current size of the glass curtain wall is generally 600mm*600mm-900mm*1200mm, and the weight is generally not less than 35kg. Obviously, due to the large size and heavy weight of the glass curtain wall, it is too difficult to install it manually, and there are great safety hazards.

[0003] In order to solve the above problems, currently most glass curtain walls are installed by lifting devices in cooperation with manual labor. The lifting devices are usually installed on special mobile vehicles. They are not only heavy, but also too large in size. They are only suitable for the installation of outdoor glass curtain walls. For indoor glass curtain walls with space constraints, they can only be installed by simple lifting tools in cooperation with manual labor. Compared with outdoor lifting devices and mobile vehicles, indoor lifting tools have poor flexibility, and the workload required by manual labor is large and complicated, resulting in the problems of difficult installation of indoor glass curtain walls, high consumption of manpower resources and low installation efficiency.

[0004] Therefore, the prior art needs to be improved. Utility Model Content

[0005] The purpose of the present application is to provide a mobile robot for installing glass curtain walls, so as to solve the problem that when the existing indoor glass curtain walls with space constraints are installed manually by indoor lifting tools, the indoor lifting tools have poor flexibility, resulting in the difficulty of installing indoor glass curtain walls, high labor resource consumption and low installation efficiency.

[0006] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is:

[0007] A mobile robot for installing a glass curtain wall, comprising:

[0008] Mobile robot body;

[0009] An intermediate connection component is arranged above the mobile robot body, and one end of the intermediate connection component is hinged to the mobile robot body;

[0010] An up-and-down lifting assembly is hingedly disposed on the mobile robot body, and a driving end of the up-and-down lifting assembly is connected to the middle connecting assembly;

[0011] An articulated seat, which is articulated with the intermediate connection assembly;

[0012] A front-to-back moving member, which is arranged on the intermediate connection assembly, and a driving end of the front-to-back moving member is connected to the articulated seat;

[0013] A tilting swinging member, a fixed end of which is hingedly arranged on one end of the hinge seat, and a driving end of the tilting swinging member is hingedly connected to the other end of the hinge seat;

[0014] The left and right swinging members, whose fixed ends are hingedly arranged on one end of the hinge seat, and share the same hinge axis with the driving end of the tilting swinging member;

[0015] A suction cup assembly is arranged on the driving ends of the left and right swinging members. The suction cup assembly is used to suck the glass curtain wall. The glass curtain wall on the suction cup assembly is driven by the left and right swinging members to swing to be parallel to the middle connecting assembly.

[0016] According to the mobile robot for installing a glass curtain wall described above, a breaking rod is provided on the mobile robot body, and the intermediate connection component includes:

[0017] An upper limb push rod, which is hinged to the hinge seat;

[0018] An upper limb sleeve rod, which is arranged above the mobile robot body and is slidably sleeved on one end of the upper limb push rod away from the hinge seat;

[0019] The first connecting member and the second connecting member are respectively arranged on both sides of the upper limb sleeve rod, and are respectively rotatably connected to the two ends of the broken rod passing through the mobile robot body.

[0020] According to the mobile robot for installing a glass curtain wall described above, the up and down lifting assembly includes:

[0021] A bottom rod, two ends of which are rotatably disposed on two sides of the mobile robot body;

[0022] The first lifting drive member and the second lifting drive member have fixed ends both arranged on the mobile robot body, and the driving end of the first lifting drive member and the driving end of the second lifting drive member are symmetrically arranged on both sides of the upper limb sleeve rod.

[0023] According to the mobile robot for installing a glass curtain wall described above, a hinge shaft is provided on the hinge seat, and the mobile robot further comprises:

[0024] A guide seat is provided with a guide groove matching the hinge shaft, the guide groove is arranged in the middle of the guide seat, the hinge shaft is slidably arranged in the guide groove, the guide groove is used to guide the movement of the up and down lifting components and the movement of the front and back moving parts, one side of the guide seat is hinged to the driving end of the tilting swinging part, and the other side is hinged to the left and right swinging parts.

[0025] According to the mobile robot for installing a glass curtain wall as described above, the suction cup assembly comprises:

[0026] A suction cup bracket, which is arranged on the driving ends of the left and right swing members;

[0027] A plurality of suction cups are arranged on the suction cup bracket.

[0028] According to the mobile robot for installing a glass curtain wall as described above, the mobile robot further comprises:

[0029] A control module, which is arranged on the mobile robot body, wherein an output end of the control module is connected to an input end of the up-and-down lifting component, an input end of the front-and-back moving member, an input end of the tilting swing member, and an input end of the left-and-right swing member;

[0030] A power module is arranged on the mobile robot body, and an output end of the power module is connected to an input end of the control module.

[0031] According to the mobile robot for installing a glass curtain wall described above, the mobile robot further includes a counterweight assembly, and the counterweight assembly is disposed on the mobile robot body.

[0032] According to the mobile robot for installing a glass curtain wall described above, the mobile robot further comprises two anti-rollover components, and the two anti-rollover components are symmetrically arranged on both sides of the mobile robot body.

[0033] According to the mobile robot for installing a glass curtain wall described above, the anti-rollover assembly includes:

[0034] A fixed support leg is arranged on the mobile robot body;

[0035] A movable support leg, which is hinged to an end of the fixed support leg away from the mobile robot body;

[0036] The fixed end of the telescopic member is hinged to the fixed support leg, and the driving end of the telescopic member is hinged to an end of the movable support leg away from the fixed support leg.

[0037] According to the mobile robot for installing a glass curtain wall as described above, a contact plate is further provided at one end of the movable support leg away from the fixed support leg.

[0038] The mobile robot for installing a glass curtain wall provided by the present application has at least the following beneficial effects:

[0039] It is foreseeable that, due to the large volume of the glass curtain wall, which is larger than the size of most indoor doors, if the front of the glass curtain wall on the mobile robot that is sucking the glass curtain wall is facing the door, it is obvious that the mobile robot that is sucking the glass curtain wall cannot enter the room through the door. The present application provides left and right swinging parts, and drives the left and right swinging parts to drive the glass curtain wall on the suction cup assembly to swing until the glass curtain wall is parallel to the middle connecting assembly and the mobile robot body, that is, the front of the glass curtain wall on the suction cup assembly is swung to its side, so as to facilitate the mobile robot to bring the glass curtain wall thereon through the door and enter the room. In addition, the present application also provides an up and down lifting assembly, a front and back moving part and a tilting swinging part. Through the matching structures of the up and down lifting assembly, the front and back moving part and the tilting swinging part with the hinged seat respectively, the glass curtain wall on the suction cup assembly can be driven to achieve up and down lifting, front and back movement and tilting swinging movements, with high flexibility, thereby reducing manpower resources and installation difficulty, and improving the installation efficiency of indoor glass curtain walls. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 A schematic diagram of the three-dimensional structure of a mobile robot for installing a glass curtain wall provided in an embodiment of the present application from one angle.

[0042] Figure 2 A schematic diagram of the three-dimensional structure from another angle of a mobile robot for installing a glass curtain wall provided in an embodiment of the present application.

[0043] Figure 3 A schematic diagram of the back structure of a mobile robot for installing a glass curtain wall provided in an embodiment of the present application.

[0044] Figure 4 An exploded view of a mobile robot for installing a glass curtain wall provided in an embodiment of the present application.

[0045] Figure 5 A schematic diagram of the connection structure between a guide seat and an articulated shaft in a mobile robot for installing a glass curtain wall provided in an embodiment of the present application.

[0046] Among them, the reference numerals in the figure are:

[0047] 1. Mobile robot body; 11. Base; 12. Front wheel; 13. Rear wheel; 14. Handle; 15. Break rod; 2. Intermediate connecting assembly; 21. Upper limb push rod; 22. Upper limb sleeve rod; 23. First connecting piece; 24. Second connecting piece; 3. Up and down lifting assembly; 31. Bottom rod; 32. First lifting drive member; 33. Second lifting drive member; 4. Articulated seat; 41. Articulated axis; 51. Forward and backward moving member; 52. Tilt swing member; 53. Left and right swing member; 6. Suction cup assembly; 61. Suction cup bracket; 62. Suction cup; 7. Guide seat; 71. Guide groove; 81. Control module; 82. Power supply module; 9. Counterweight assembly; 91. First counterweight block; 92. Second counterweight block; 93. Counterweight connecting piece; 10. Anti-rollover assembly; 101. Fixed support leg; 102. Movable support leg; 103. Telescopic member; 104. Contact plate. DETAILED DESCRIPTION

[0048] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be directly or indirectly located on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limitations on the present technical solution. The terms "first" and "second" are only used for the convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0050] The current construction industry has a great market prospect, especially the glass curtain wall, which is a beautiful and novel building wall decoration method and a prominent feature of the modern high-rise building era. Among them, the current size of the glass curtain wall is generally 600mm*600mm-900mm*1200mm, and the weight is generally not less than 35kg. Obviously, due to the large size and heavy weight of the glass curtain wall, it is too difficult to install it manually, and there are great safety hazards.

[0051] In order to solve the above problems, currently most glass curtain walls are installed by lifting devices in cooperation with manual labor. The lifting devices are usually installed on special mobile vehicles. They are not only heavy, but also too large in size. They are only suitable for the installation of outdoor glass curtain walls. For indoor glass curtain walls with space constraints, they can only be installed by simple lifting tools in cooperation with manual labor. Compared with outdoor lifting devices and mobile vehicles, indoor lifting tools have poor flexibility, and the workload required by manual labor is large and complicated, resulting in the problems of difficult installation of indoor glass curtain walls, high consumption of manpower resources and low installation efficiency.

[0052] For this purpose, see Figure 1 , Figure 2 and Figure 3 The embodiment of the present application provides a mobile robot for installing a glass curtain wall, including a mobile robot body 1, an intermediate connection component 2, an up and down lifting component 3, an articulated seat 4, a front and back moving member 51, a tilting swing member 52, a left and right swing member 53 and a suction cup component 6, wherein the intermediate connection component 2 is arranged above the mobile robot body 1, one end of the intermediate connection component 2 is hinged to the mobile robot body 1, the up and down lifting component 3 is hingedly arranged on the mobile robot body 1, the driving end of the up and down lifting component 3 is connected to the intermediate connection component 2, the articulated seat 4 is hinged to the intermediate connection component 2, the front and back moving member 51 is arranged at the intermediate On the connecting component 2, the driving end of the front-back moving member 51 is connected to the articulated seat 4, the fixed end of the tilting swing member 52 is hingedly arranged on one end of the articulated seat 4, the driving end of the tilting swing member 52 is hingedly arranged on the other end of the articulated seat 4, the fixed end of the left and right swing members 53 is hingedly arranged on one end of the articulated seat 4, and shares the same hinge axis 41 with the driving end of the tilting swing member 52, the suction cup assembly 6 is arranged on the driving end of the left and right swing members 53, the suction cup assembly 6 is used to suck the glass curtain wall, and the glass curtain wall on the suction cup assembly 6 is driven by the left and right swing members 53 to swing to make it parallel to the middle connecting component 2.

[0053] It is foreseeable that, because the volume of the glass curtain wall is too large, it is larger than the size of most indoor doors. If the front of the glass curtain wall on the mobile robot that absorbs the glass curtain wall is facing the door, it is obvious that the mobile robot that absorbs the glass curtain wall cannot enter the room through the door. The present embodiment is provided with left and right swinging members 53, and the glass curtain wall on the suction cup assembly 6 is driven to swing until the glass curtain wall is parallel to the intermediate connection assembly 2 and the mobile robot body 1 by driving the left and right swinging members 53, that is, the front of the glass curtain wall on the suction cup assembly 6 is swung to its side, so that the mobile robot can enter the room with the glass curtain wall thereon through the door. In addition, the present embodiment is also provided with an up and down lifting assembly 3, a front and back moving member 51 and an inclined swinging member 52. Through the matching structure of the up and down lifting assembly 3, the front and back moving member 51 and the inclined swinging member 52 with the hinge seat 4 respectively, the glass curtain wall on the suction cup assembly 6 can be driven to realize the movement of up and down lifting, front and back moving and inclined swinging, with high flexibility, thereby reducing the resources and installation difficulty of manpower consumption, and improving the installation efficiency of the indoor glass curtain wall.

[0054] Optional, see Figure 2 In one embodiment, the mobile robot body 1 includes a base 11, a front axle (not shown in the figure), a rear axle (not shown in the figure), two front wheels 12 and two rear wheels 13, the front axle is arranged on the front end of the bottom of the base 11, and the two ends of the front axle respectively pass through the two sides of the base 11, the rear axle is arranged on the rear end of the bottom of the base 11, and the two ends of the rear axle respectively pass through the two sides of the base 11, the two front wheels 12 are respectively rotatably arranged on the two ends of the front axle, and the two rear wheels 13 are respectively rotatably arranged on the two ends of the rear axle.

[0055] In this embodiment, the front wheels 12 and the rear wheels 13 are respectively arranged in cooperation with the front axle and the rear axle, so as to realize the movement of the mobile robot body 1, thereby realizing the movement of the mobile robot and facilitating the transportation of the glass curtain wall by the mobile robot. In addition, in this embodiment, the two front wheels 12 and the two rear wheels 13 are respectively rotatably arranged at the two ends of the front axle and the two ends of the rear axle to improve the movement stability of the mobile robot.

[0056] Optional, see Figure 2 In one embodiment, a handle 14 is provided on the tail of the base 11, and the handle 14 may be a heart-shaped handle. In this embodiment, the handle 14 is provided to facilitate manual auxiliary operation.

[0057] Optional, see Figure 2 and Figure 4In one embodiment, a breaking rod 15 is provided at the upper end of the base 11, and the intermediate connecting component 2 includes an upper limb pushing rod 21, an upper limb sleeve rod 22, a first connecting member 23 and a second connecting member 24. The upper limb pushing rod 21 is hinged to the hinge seat 4, and the upper limb sleeve rod 22 is arranged above the base 11 and is slidably sleeved on the end of the upper limb pushing rod 21 away from the hinge seat 4. The first connecting member 23 and the second connecting member 24 are respectively arranged on both sides of the upper limb sleeve rod 22, and are respectively rotatably connected with the two ends of the broken rod 15 that pass through the base 11.

[0058] It can be foreseen that the intermediate connecting component 2 of this embodiment realizes the articulation of the intermediate connecting component 2 and the mobile robot body 1 through the rotational cooperation of the first connecting member 23 and the second connecting member 24 thereon with the broken rod 15, so as to realize the driving of the up and down lifting component 3 and drive the glass curtain wall on the suction cup component 6 to move up and down. In other words, the structural setting of the intermediate connecting component 2 and the functional realization of the up and down lifting component 3 are closely linked.

[0059] Optional, see Figure 3 In one embodiment, the up and down lifting assembly 3 includes a bottom rod 31 and a lifting drive member, the two ends of the bottom rod 31 are respectively rotatably arranged on both sides of the base 11, the fixed end of the lifting drive member is connected to the bottom rod 31, and the driving end of the lifting drive member is connected to the upper limb sleeve rod 22.

[0060] The lifting drive member may be configured as a cylinder, the lifting drive member may be configured as a lifting motor, the lifting drive member may be configured as one, or more than two.

[0061] Optional, see Figure 1 and Figure 3 The lifting drive members can be set to two, both of which are set to cylinders. For the convenience of representation, the two lifting drive members are respectively named as the first lifting drive member 32 and the second lifting drive member 33. The driving ends of the first lifting drive member 32 and the second lifting drive member 33 are respectively symmetrically arranged on both sides of the upper limb sleeve rod 22, and the fixed ends of the first lifting drive member 32 and the second lifting drive member 33 are both arranged on the base 11.

[0062] It can be foreseen that, compared with only one lifting drive component, the present embodiment provides two lifting drives, and the two lifting drives are symmetrically arranged on both sides of the upper limb sleeve 22, thereby improving the driving stability of the upper and lower lifting components 3.

[0063] Optionally, in one embodiment, the front-rear moving member 51 may be configured as a cylinder, or the front-rear moving member 51 may be configured as a moving motor. Figure 1 and Figure 4 The forward and backward moving member 51 is configured as a cylinder.

[0064] Optional, see Figure 4 and Figure 5 In one embodiment, an articulation shaft 41 is provided on the articulation seat 4, and the mobile robot further includes a guide seat 7, and a guide groove 71 matching the articulation shaft 41 is provided on the guide seat 7, and the articulation shaft 41 is slidably arranged in the guide groove 71, and the guide groove 71 is used to guide the movement of the up and down lifting assembly 3 and the movement of the front and rear moving member 51, wherein the guide seat 7 can be set as an L-shaped guide seat 7, and the guide groove 71 can be set as an L-shaped guide groove.

[0065] Among them, see Figure 2 and Figure 4 In this embodiment, the guide groove 71 is arranged in the middle of the guide seat 7, one side of the guide seat 7 is hinged to the driving end of the tilting swing member 52, and the other side is hinged to the left and right swing members 53.

[0066] Optionally, in one embodiment, the tilting swing member 52 may be configured as a cylinder, and the tilting swing member 52 may also be configured as a swing motor. In this embodiment, refer to Figure 1 and Figure 4 , the tilting swing member 52 is configured as a cylinder.

[0067] Optional, see Figure 4 and Figure 5 In one embodiment, the fixed ends of the left and right swing members 53 are rotatably disposed on the hinge shaft 41, and are respectively hinged to the hinge seat 4 and the driving end of the tilting swing member 52 through the hinge shaft 41.

[0068] Optional, see Figure 1 In one embodiment, the left and right swing members 53 can be configured as swing motors.

[0069] Optional, see Figure 3 and Figure 4 In one embodiment, the suction cup assembly 6 includes a suction cup bracket 61 and a plurality of suction cups 62 , wherein the suction cup bracket 61 is arranged on the driving end of the left and right swinging members 53 , and the plurality of suction cups 62 are arranged on the suction cup bracket 61 .

[0070] Among them, see Figure 3 In this embodiment, the number of the suction cups 62 can be eight.

[0071] Optional, see Figure 1 and Figure 2 In one embodiment, the mobile robot also includes a control module 81 and a power module 82. The control module 81 is arranged on the base 11, and can be specifically arranged on one end of the base 11 close to the handle 14. The output end of the control module 81 is connected to the input end of the lifting drive member, the input end of the front and rear moving member 51, the input end of the tilting swing member 52 and the input end of the left and right swing member 53. The power module 82 is arranged on the base 11, and can be specifically arranged on one end of the base 11 close to the up and down lifting component 3. The output end of the power module 82 is connected to the input end of the control module 81 and is used to power the control module 81.

[0072] Optional, see Figure 2 In one embodiment, in order to improve the installation stability of the control module 81, a bracket is provided on the base 11, and the control module 81 is arranged on the bracket.

[0073] Optional, see Figure 1 and Figure 2 In one embodiment, the power module 82 can be configured as a distribution box.

[0074] Optional, see Figure 2 and Figure 4 In one embodiment, the mobile robot further includes a counterweight assembly 9, and the counterweight assembly 9 is disposed on the base 11. In this embodiment, the center of gravity of the mobile robot is lowered by disposing the counterweight assembly 9 to improve the supporting stability of the mobile robot, thereby preventing the mobile robot from shaking or tilting.

[0075] Optional, see Figure 4 In one embodiment, the counterweight assembly 9 includes a first counterweight block 91 and a second counterweight block 92, and a counterweight connector 93 is provided on the base 11. The first counterweight block 91 and the second counterweight block 92 are symmetrically arranged on both sides of the base 11 through the counterweight connector 93.

[0076] Optional, see Figure 1 and Figure 2 In one embodiment, the counterweight connector 93 can be set to two, and the two counterweight connectors respectively pass through the two sides of the base 11, wherein the first counterweight block 91 is sleeved on one side of the two counterweight connectors 93 passing through the base 11, and the second counterweight block 92 is sleeved on the other side of the two counterweight connectors 93 passing through the base 11.

[0077] Optional, see Figure 2 and Figure 3 In one embodiment, the mobile robot further comprises two anti-rollover components 10, and the two anti-rollover components 10 are symmetrically arranged on both sides of the bottom of the base 11. By arranging the anti-rollover components 10, this embodiment can prevent the entire mobile robot from rolling over.

[0078] Optionally, in one embodiment, the anti-rollover assembly 10 may be configured to include a movable foot, one end of which is hingedly disposed on the base 11 .

[0079] Optional, see Figure 2 and Figure 3 In another embodiment, the anti-rollover assembly 10 can also be configured to include a fixed leg 101, a movable leg 102 and a telescopic member 103, the fixed leg 101 is arranged on the base 11, the movable leg 102 is hinged to one end of the fixed leg 101 away from the base 11, the fixed end of the telescopic member 103 is hinged to the fixed leg 101, and the driving end of the telescopic member 103 is hinged to one end of the movable leg 102 away from the fixed leg 101.

[0080] It can be foreseen that, in this embodiment, by providing the telescopic member 103, during the movement of the mobile robot, the telescopic member 103 can be driven to contract so as to retract the anti-rollover assembly 10 to prevent it from affecting the movement of the mobile robot; when the mobile robot is fixed, the telescopic member 103 can be driven to extend so as to press the movable support leg 102 of the anti-rollover assembly 10 against the ground to prevent the mobile robot from rolling over, thereby providing stable support for the mobile robot.

[0081] Optionally, in one embodiment, the telescopic member 103 may be provided with a cylinder, and the telescopic member 103 may also be provided with a telescopic motor. In this embodiment, see Figure 3 , the telescopic member 103 is configured as a cylinder.

[0082] Optional, see Figure 3 In one embodiment, in order to improve the stable supporting function of the anti-rollover assembly 10 , a contact plate 104 is further provided at one end of the movable support leg 102 away from the fixed support leg 101 .

[0083] In summary, the present application provides a mobile robot for installing a glass curtain wall, comprising a mobile robot body 1, an intermediate connection component 2, an up and down lifting component 3, an articulated seat 4, a front and back moving member 51, a tilting swing member 52, a left and right swing member 53 and a suction cup assembly 6, wherein the intermediate connection component 2 is arranged above the mobile robot body 1, one end of the intermediate connection component 2 is hinged to the mobile robot body 1, the up and down lifting component 3 is hingedly arranged on the mobile robot body 1, the driving end of the up and down lifting component 3 is connected to the intermediate connection component 2, the articulated seat 4 is hinged to the intermediate connection component 2, the front and back moving member 51 is arranged on the intermediate connection component 2, and the front and back moving member 51 is arranged on the intermediate connection component 2. On the intermediate connection component 2, the driving end of the front-rear moving member 51 is connected to the articulated seat 4, the fixed end of the tilting swing member 52 is hingedly arranged on one end of the articulated seat 4, the driving end of the tilting swing member 52 is hingedly arranged on the other end of the articulated seat 4, the fixed end of the left and right swing members 53 is hingedly arranged on one end of the articulated seat 4, and shares the same hinge axis 41 with the driving end of the tilting swing member 52, the suction cup assembly 6 is arranged on the driving end of the left and right swing members 53, the suction cup assembly 6 is used to suck the glass curtain wall, and the glass curtain wall on the suction cup assembly 6 is driven by the left and right swing members 53 to swing to make it parallel to the intermediate connection component 2. It is foreseeable that, due to the large volume of the glass curtain wall, which is larger than the size of most indoor doors, if the front of the glass curtain wall on the mobile robot that sucks the glass curtain wall is facing the door, it is obvious that the mobile robot that sucks the glass curtain wall cannot enter the room through the door. The present application sets a left and right swinging member 53, and drives the left and right swinging member 53 to drive the glass curtain wall on the suction cup assembly 6 to swing until the glass curtain wall is parallel to the middle connection assembly 2 and the mobile robot body 1, that is, the front of the glass curtain wall on the suction cup assembly 6 is swung to its side, so as to facilitate the mobile robot to bring the glass curtain wall thereon through the door and enter the room. In addition, the present application also sets an up and down lifting assembly 3, a front and back moving member 51 and a tilting swinging member 52. Through the matching structure of the up and down lifting assembly 3, the front and back moving member 51 and the tilting swinging member 52 with the hinge seat 4 respectively, the glass curtain wall on the suction cup assembly 6 can be driven to achieve up and down lifting, front and back movement and tilting swinging movement, with high flexibility, thereby reducing the resources consumed by manpower and the difficulty of installation, and improving the installation efficiency of the indoor glass curtain wall.

[0084] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A mobile robot for installing a glass curtain wall, characterized in that: include: Mobile robot body; An intermediate connection component is arranged above the mobile robot body, and one end of the intermediate connection component is hinged to the mobile robot body; An up-and-down lifting assembly is hingedly disposed on the mobile robot body, and a driving end of the up-and-down lifting assembly is connected to the middle connecting assembly; An articulated seat, which is articulated with the intermediate connection assembly; A front-to-back moving member, which is arranged on the intermediate connection assembly, and a driving end of the front-to-back moving member is connected to the articulated seat; A tilting swinging member, a fixed end of which is hingedly arranged on one end of the hinge seat, and a driving end of the tilting swinging member is hingedly connected to the other end of the hinge seat; The left and right swinging members, whose fixed ends are hingedly arranged on one end of the hinge seat, and share the same hinge axis with the driving end of the tilting swinging member; A suction cup assembly is arranged on the driving ends of the left and right swinging members. The suction cup assembly is used to suck the glass curtain wall. The glass curtain wall on the suction cup assembly is driven by the left and right swinging members to swing to be parallel to the middle connecting assembly.

2. The mobile robot for installing a glass curtain wall according to claim 1, characterized in that: The mobile robot body is provided with a breaking rod, and the intermediate connection component comprises: An upper limb push rod, which is hinged to the hinge seat; An upper limb sleeve rod, which is arranged above the mobile robot body and is slidably sleeved on one end of the upper limb push rod away from the hinge seat; The first connecting member and the second connecting member are respectively arranged on both sides of the upper limb sleeve rod, and are respectively rotatably connected to the two ends of the broken rod passing through the mobile robot body.

3. The mobile robot for installing a glass curtain wall according to claim 2, characterized in that: The up and down lifting assembly comprises: A bottom rod, two ends of which are rotatably disposed on two sides of the mobile robot body; The first lifting drive member and the second lifting drive member have fixed ends both arranged on the mobile robot body, and the driving end of the first lifting drive member and the driving end of the second lifting drive member are symmetrically arranged on both sides of the upper limb sleeve rod.

4. The mobile robot for installing a glass curtain wall according to claim 1, characterized in that: The articulated seat is provided with an articulated shaft, and the mobile robot further comprises: A guide seat is provided with a guide groove matching the hinge shaft, the guide groove is arranged in the middle of the guide seat, the hinge shaft is slidably arranged in the guide groove, the guide groove is used to guide the movement of the up and down lifting components and the movement of the front and back moving parts, one side of the guide seat is hinged to the driving end of the tilting swinging part, and the other side is hinged to the left and right swinging parts.

5. The mobile robot for installing a glass curtain wall according to claim 1, characterized in that: The suction cup assembly comprises: A suction cup bracket, which is arranged on the driving ends of the left and right swing members; A plurality of suction cups are arranged on the suction cup bracket.

6. The mobile robot for installing a glass curtain wall according to claim 1, characterized in that: The mobile robot also includes: A control module, which is arranged on the mobile robot body, wherein an output end of the control module is connected to an input end of the up-and-down lifting component, an input end of the front-and-back moving member, an input end of the tilting swing member, and an input end of the left-and-right swing member; A power module is arranged on the mobile robot body, and an output end of the power module is connected to an input end of the control module.

7. The mobile robot for installing a glass curtain wall according to claim 1, characterized in that: The mobile robot further comprises a counterweight component, and the counterweight component is arranged on the mobile robot body.

8. The mobile robot for installing a glass curtain wall according to claim 1, characterized in that: The mobile robot further comprises two anti-rollover components, which are symmetrically arranged on both sides of the mobile robot body.

9. The mobile robot for installing a glass curtain wall according to claim 8, characterized in that: The anti-rollover assembly comprises: A fixed support leg is arranged on the mobile robot body; A movable support leg, which is hinged to an end of the fixed support leg away from the mobile robot body; The fixed end of the telescopic member is hinged to the fixed support leg, and the driving end of the telescopic member is hinged to an end of the movable support leg away from the fixed support leg.

10. The mobile robot for installing a glass curtain wall according to claim 9, characterized in that: A contact plate is also provided at one end of the movable support leg away from the fixed support leg.

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