CN101691808A - Plate dry-hanging and mounting robot - Google Patents

Abstract

The invention relates to a panel dry-hanging process installation robot, which is characterized in that the installation robot adopts a modular structure, including a mobile body module, an installation operation module, a visual guidance installation positioning system module and a motion control system module; the mobile body module The module mainly includes an improved electric forklift; the installation and operation module is carried on the lifting platform of the electric forklift, and mainly includes a three-degree-of-freedom parallel rotating platform module, and a three-degree-of-freedom serial mobile module installed above the three-degree-of-freedom parallel rotating platform module and the end effector module connected with the three-degree-of-freedom serial movement module; the vision-guided installation positioning system module includes a camera, a laser ranging sensor, an inclination sensor, image acquisition software and image processing software; the motion control system The module includes industrial control computer, motion control card, signal acquisition card and servo drive unit.

Description

A plate dry hanging process installation robot

technical field

The invention relates to robot application and construction and installation technology, specifically a large plate dry-hanging process installation robot in the field of building decoration, with the purpose of improving production efficiency and installation quality, enhancing operation safety factor, and reducing labor intensity.

Background technique

With the rapid development of science and technology, robots are used in more and more fields, and construction robots are a new application field of robot technology. The development of construction robots aims to improve the automation of construction operations, improve construction speed and safety, and reduce the labor intensity of workers. Economically developed countries such as the United States and Japan attach great importance to this, and have implemented their own research and development plans for construction robots and achieved certain results. There are relatively few domestic researches on construction robots, which are still in their infancy. The current research mainly focuses on high-rise building cleaning, spraying robots, and automation of some construction machinery. The robotics research on panel installation is still a blank field. . For example, some research results in the field of construction robot research mainly include: Japanese Takenaka Company has developed a "ground model scraping robot" - Surf Robo, which mainly develops automatic equipment for scraping the ground (Dooil Hwang. EXPERIMENTAL STUDY OF FULL SCALE CONCRETE WALL CONSTRUCTION USINGCONTOUR CRAFTING UNIVERSITY OF SOUTHERN CALIFORNIA.MAY2005.)，美国的Behrokh Khoshnevis所研制的盖房子机器人(BehrokhKhoshnevis.Automated construction by contour crafting-related robotics andinformation technologies.Automation in Construction.13(2004)：5- 19), South Korea Hyeun-Seok Choia, Chang-Soo Hana and others developed a construction robot for installing small glass and wall panels (Hyeun-Seok Choia, Chang-Soo Hana, Kye-young Leeb, Sang-heon Lee.Development of hybrid robot for construction works with pneumatic actuator. Automation in Construction 14(2005): 452-459), etc. In these studies, the working objects of construction robots are generally small glass or wall panels, or the construction of whole houses with special functions, but the automatic installation and handling of large panels has not yet been involved. At present, the curtain wall decoration projects of large buildings such as large venues, buildings and palaces, and railway stations mainly use materials such as marble or glass. These materials are plate-shaped (that is, plates), heavy in weight and large in size. Generally, dry-hanging technology is used for construction. During the construction process, scaffolding and auxiliary facilities are required, and a large number of installation workers are required. The labor intensity of workers is very high. The speed is slow and the safety is poor. Therefore, there is an urgent need for an installation robot that mainly uses dry-hanging technology for large-size and heavy stone panels or glass curtain walls to replace manual work and improve construction efficiency and safety.

Contents of the invention

Aiming at the deficiencies of the existing technology, the technical problem to be solved by the present invention is to provide a panel dry-hanging process installation robot, which can overcome the shortcomings and deficiencies of the current process, and is especially suitable for large-scale, heavy-weight buildings or The mechanized and automated installation and construction of decorative panels has the advantages of labor-saving, high efficiency, and good safety.

The technical solution of the present invention to solve the technical problem is to design a panel dry-hanging process installation robot, which is characterized in that the installation robot adopts a modular structure, including a mobile body module, an installation operation module, a vision-guided installation and positioning system module and Motion control system module;

The mobile body module mainly includes an electric forklift, an automatic control device and 3-5 ultrasonic distance measuring sensors installed on the lower part around the electric forklift body; the automatic control device is installed on the manual console of the electric forklift, through Three synchronous belts pull the forklift manual control handle to move back and forth; the synchronous pulley at one end of the synchronous belt can rotate freely, and the synchronous pulley at the other end is controlled by the corresponding electromagnetic clutch and stepping motor;

The installation operation module is mainly composed of a six-degree-of-freedom installation manipulator, which is mounted on the lifting platform of the electric forklift. The three-degree-of-freedom series mobile module and the end effector module connected with the three-degree-of-freedom series mobile module; the three-degree-of-freedom parallel rotating platform module includes a static platform and a dynamic platform, and the center of the static platform and the center of the dynamic platform are provided with a constraint branch chain , the constraint branch chain includes a fixed support rod and a central spherical hinge mechanically connected, the fixed support rod is connected with the center of the static platform, and the central spherical hinge is connected with the center of the dynamic platform; Hooke hinges are respectively installed at the three vertices of the triangle, and one of the Hooke hinges is located in the -Y direction of the restraint branch chain; Spherical hinges are installed, and one of them is located in the +Y direction of the constraining branch chain; the three Hooke hinges and the three spherical hinges are respectively connected with telescopic electric push rods to form three rotating branch chains; The three-degree-of-freedom serial movement module includes two moving pairs of the Y-axis and the Z-axis and one X-axis rotating pair; the linear guide rail of the Y-axis moving pair, the Y-axis screw and the Y-axis servo motor are directly installed on the moving pair. On the platform; the Y-axis sliding table is driven by the Y-axis servo motor through the Y-axis screw; the X-axis rotating pair adopts a parallelogram four-bar mechanism: the lower ends of two equal-length and parallel rotating rods pass through the rotating shaft and the Y-axis respectively. The upper end of the rotating rod is mechanically connected with the two ends of the translation rod; the two ends of the electric push rod are respectively connected mechanically with a rotating rod and the Y-axis sliding table, which constitutes the driving part of the four-bar mechanism; the Z-axis moving pair The base plate is installed on the working end of the translation rod. The Z-axis servo motor, linear guide rail and Z-axis screw are respectively installed on the Z-axis base plate. The Z-axis slide is driven by the Z-axis servo motor through the Z-axis screw. direction movement of the moving platform plane; the end effector module includes a suction cup frame fixed on the Z-axis slide table and four vacuum suction cups evenly distributed at the four corners of the suction cup frame;

The vision guidance installation positioning system module includes a camera, a laser ranging sensor, an inclination sensor, image acquisition software and image processing software; the camera is installed on the translation bar; the laser ranging sensor is installed on the The two sides below the moving platform; the inclination sensor is installed in the middle position below the moving platform, and is parallel to the surface of the moving platform;

The motion control system module includes an industrial control computer, a motion control card, a signal acquisition card and a servo drive unit.

Compared with the prior art, the present invention has the following beneficial effects:

1. Realize the mechanization and automation of grasping, handling, installation and quality inspection of large plates, improve the quality of plate installation, production efficiency and economic benefits, greatly save labor, reduce labor intensity, and save construction costs;

2. There is no need for auxiliary equipment such as erection and disassembly of scaffolding, and the dry-hanging installation process of panels is directly constructed, and the operation process is simple, the construction environment is optimized, and the construction safety is improved.

Description of drawings

Fig. 1 is a schematic diagram of the whole machine structure of an embodiment of the installation robot for the dry-hanging process of panels according to the present invention.

Fig. 2 is a schematic structural diagram of an electric forklift according to an embodiment of an installation robot for the dry-hanging process of panels according to the present invention.

Fig. 3 is a schematic diagram of an automatic control device of an embodiment of an installation robot for the dry-hanging process of panels according to the present invention.

Fig. 4 is a schematic structural diagram of a three-degree-of-freedom parallel rotating module of an embodiment of an installation robot for the panel dry-hanging process of the present invention.

Fig. 5 is a schematic structural diagram of a three-degree-of-freedom mobile module of an embodiment of an installation robot for the dry-hanging process of panels according to the present invention.

Fig. 6 is a schematic structural diagram of an end effector of an embodiment of an installation robot for a panel dry-hanging process according to the present invention.

Fig. 7 is a schematic structural diagram of an auxiliary positioning support frame of an embodiment of an installation robot for the dry-hanging process of panels according to the present invention.

Fig. 8 is a structural schematic diagram of a supporting wall mechanism of an embodiment of an installation robot for the panel dry hanging process of the present invention.

Detailed ways:

Below in combination with the embodiments and accompanying drawings, the specific implementation, structure, features and effects provided by the panel dry-hanging process installation robot of the present invention are described in detail as follows:

The panel dry-hanging process installation robot designed by the present invention (referred to as the installation robot, see Figure 1-8) adopts a modular structure, including a mobile body module, an installation operation module, a visual guidance installation positioning system module and a motion control system module. The various modules are combined or used together in practical applications to effectively realize the purpose of panel automation and mechanized installation.

The mobile body module of the present invention mainly enables the installation robot to walk freely on the indoor rough cement floor and move flexibly in the operation space, and can lift the installation operation module (installation manipulator) to a specified height to realize rough positioning of the board installation. The mobile body module of the present invention is transformed on the basis of the existing electric forklift 1 (see Figures 1 and 2): it mainly includes an automatic control device 2 installed on the manual console of the electric forklift 1, so that the lifting of the pallet fork is changed from the original The manual control is transformed into an automatic control by an industrial computer, and an ultrasonic distance measuring sensor is installed on the body of the electric forklift 1, so that the mobile body has flexible moving functions and obstacle shielding functions, and has sufficient carrying capacity and lifting height . In the mast-forward electric forklift 1 selected in the embodiment of the present invention, the mast 102 can move along the front and rear directions of the forklift as a whole, and the fork legs 101 can move along the mast's up-down direction and left-right direction. In order to realize the obstacle avoidance function of the mobile body, 3-5 ultrasonic ranging sensors 104 are installed around the lower part of the vehicle body. The main function of the automatic control device 2 (see FIGS. 2 and 3 ) is to realize the automatic control of the forward movement of the mast 102 and the rise of the fork legs 101 . The automatic control device 2 is installed on the manual control console of the forklift, and the manual control handle 103 of the forklift is pulled by three synchronous belts 205 to move back and forth. The synchronous pulley 201 at one end of the synchronous belt can rotate freely, and the synchronous pulley 203 at the other end is connected with the corresponding electromagnetic clutch 204 and the stepping motor 202 respectively. By controlling the rotation of the stepping motor 202 and the opening and closing of the electromagnetic clutch 204, the forward and backward movement of the manual control handle 103 of the electric forklift 1 can be controlled.

The installation operation module of the present invention is mainly composed of a six-degree-of-freedom installation manipulator (referred to as the installation manipulator), which is mounted on the lifting platform of the electric forklift 1 to complete the final positioning and installation of the plate. The installation and operation of the manipulator does not necessarily have a large space for movement, but it has sufficient carrying capacity and strength, and its own weight is as light as possible. The installation manipulator includes a three-degree-of-freedom parallel rotating platform module 8 , a three-degree-of-freedom serial moving module 5 installed above the three-degree-of-freedom parallel rotating platform module 8 and an end effector module 6 connected to the three-degree-of-freedom serial moving module 5 .

The three-degree-of-freedom parallel rotating platform module 8 described in the present invention (referring to Fig. 4) comprises static platform 801 and dynamic platform 807 as base; The center of 807 is connected with the fixed support rod 804 through the central spherical hinge 809 to form a constrained branch chain; three Hooke hinges are installed on the static platform 801, namely the first Hooke hinge 802, the second Hooke hinge 812 and the third Hooke hinge. Three Hooke hinges 813, three Hooke hinges are respectively installed at the three vertices of an equilateral triangle with the fixed support rod 104 as the centroid, and one of the Hooke hinges (the embodiment is the third Hooke hinge 813) is located at the fixed The -Y direction of the support rod 804; three spherical joints are installed on the moving platform 807, that is, the first spherical joint 806, the second spherical joint 808 and the third spherical joint 805, and the three spherical joints are respectively installed on At the three vertices of the equilateral triangle of the center, and one of the spherical joints (the embodiment is the first spherical joint 806 ) is located in the +Y direction of the constraint branch. The three Hooke hinges on the static platform 801 (i.e. the first Hooke hinge 802, the second Hooke hinge 812 and the third Hooke hinge 813) and the three spherical hinges on the moving platform 807 (i.e. the first spherical hinge 806 , the second ball joint 805 and the third ball joint 808) correspond to each other, and three telescopic electric push rods are respectively connected between the three Hooke hinges and the three ball joints, that is, the first Hooke A first electric push rod 803 is connected between the hinge 802 and the first ball joint 806, a second electric push rod 811 is connected between the second Hooke hinge 812 and the second ball joint 808, and the third Hooke hinge 813 is connected to the second ball joint 808. A third electric push rod 810 is connected between the three ball hinges 805. The spherical hinge, the Hooke hinge and the electric push rod constitute the rotating branch chain of the moving platform 807. The telescopic movement of the three electric push rods can drive the moving platform 807 to rotation in three degrees of freedom. To put it simply, the module 1 adopts the 3-UPS/S structure of the prior art, including a constraining branch chain and three rotating branch chains, which can effectively increase the carrying capacity of the manipulator, simplify parallel decoupling operations, and facilitate calculation The overall working range of the manipulator.

The three-degree-of-freedom moving module 5 of the present invention includes two moving pairs of the Y-axis and the Z-axis and one rotating pair of the X-axis (see FIGS. 1 and 5 ). The left linear guide rail 501, the right linear guide rail 516, the Y-axis lead screw 517 and the Y-axis servo motor 518 of the Y-axis moving pair are directly installed on the moving platform 807 to save installation space. The Y-axis sliding table 502 is driven by a Y-axis servo motor 518 through a Y-axis screw 517 and moves along the left and right linear guide rails 501 and 516 . In order to improve the bearing capacity of the X-axis, the X-axis revolving pair of the present invention adopts a parallelogram four-bar mechanism: the lower ends of the two equal-length parallel left turning rods 504 and the right turning rods 513 respectively pass through the left turning shaft 503 The right rotating shaft 515 is connected with the slide table 502 of the Y axis, and the upper ends of the left rotating rod 504 and the right rotating rod 513 are mechanically connected with the two ends of the translation rod 506 respectively. The two ends of the electric push rod (cylinder) 514 are mechanically connected with the said right turning rod 513 and the Y-axis sliding table 502 respectively. The electric push rod 514 is the driving part of the four-bar mechanism. The length change of the electric push rod (cylinder) 514 makes the translation rod 506 produce translation along the arc track. The base plate 512 of the Z-axis moving pair is installed on the working end of the translation rod 506 (the embodiment is the right end or the front end). The Z-axis servo motor 508 , the linear guide rail 511 and the Z-axis screw 510 are installed on the Z-axis base plate 512 respectively. The Z-axis sliding table 509 is driven by the Z-axis servo motor 508 through the Z-axis lead screw 510 and moves along the linear guide rail 511 to realize the movement perpendicular to the plane direction of the moving platform 807 . The module 5 of the present invention can realize accurate positioning of large plates in the three directions of the X axis, the Y axis and the Z axis. The designed parallelogram four-bar mechanism can save movement space, and can raise the position of the end effector 6 installed on it, which is beneficial to the operation of the dry hanging process.

The end effector 6 according to the present invention (see FIG. 6 ) mainly includes a suction cup holder 601 fixed on the Z-axis sliding table 509 of the mobile module 5 and four vacuum suction cups evenly distributed on the four corners of the suction cup holder 601, namely, the upper Left vacuum chuck 602 , upper right vacuum chuck 603 , lower left vacuum chuck 604 and lower right vacuum chuck 605 . Vacuum suction cup technology itself is an existing technology and is used to pick up the panels to be installed. The vacuum suction cup designed in the embodiment can absorb large boards weighing up to 50kg.

In addition, the present invention also designs an auxiliary positioning support frame 7 (see FIGS. 1 and 7 ), which is used to further ensure that the vertical axis of the plate coincides with or is parallel to the Z-axis direction when the plate is picked up. Auxiliary positioning support frame 7 comprises H-shaped support frame 701, and support frame 701 is vertically installed on the work one (front) end of Y-axis slide table 502, and the left block that plays positioning effect is respectively arranged on the column on both sides of support frame 701 Block 702 and right block 703, and left block 702 and right block 703 are installed in the same position or height. During the process of picking up the plate by the manipulator, as long as the lower edge of the plate is in contact with the left stopper 702 and the right stopper 703 on the support frame 701, the posture requirements when the plate is picked up can be met.

In order to prevent or reduce the shaking of the installation manipulator on the electric forklift 1, a further feature of the present invention is to also design a supporting wall mechanism 9 (see Fig. 1, 8). There are two sets of supporting wall mechanism 9, which are installed on the static platform 801, and one set is respectively arranged in left and right symmetry; The wall electric push rod 902 is connected with the servo motor 907; the two sides of the supporting wall electric pushing rod 902 are equipped with optical axes 901, and the supporting wall electric pushing rod 902 is connected with two optical axes 901 through one side of the connecting plate 906, and the optical axis 901 and A linear bearing 903 is installed between the connecting plates 906; when the buttress electric push rod 902 stretches, it can drive the optical axis 901 to move along the linear bearing 903; Two travel switches 904 are symmetrically arranged on the connection mechanism with the buttress suction cup 905 to control the telescopic length of the buttress electric push rod 902 . During work, the supporting wall suction cup 905 can be adsorbed on the working wall, which can effectively prevent or reduce the shaking of the installation manipulator on the electric forklift 1 .

The vision-guided installation and positioning system module includes a camera, a laser ranging sensor, an inclination sensor, image acquisition software and image processing software. The camera 3 is installed on the translation rod 506 . The laser ranging sensor is installed on both sides below the moving platform 807, including a left laser ranging sensor 815 and a right laser ranging sensor 816, which are used to measure the angle between the moving platform 807 and the wall. The inclination sensor 814 is installed at the middle position below the moving platform 807, and the installation position is parallel to the surface of the moving platform 807, and is used to measure the angle between the moving platform 807 and the horizontal plane. The vision-guided installation and positioning system adopts the existing technology to complete the guidance, positioning and attitude correction of the installation position during the panel installation process, realize the good combination of the panel installation groove and the pendant, and conduct real-time detection and evaluation of the installation quality of the panel after installation .

The motion control system module is the prior art, including an industrial control computer, a motion control card, a signal acquisition card and a servo drive unit. During the installation process, the sensor detects the inclination angle of the ground, the angle between the mobile body and the wall to be installed, and through the solution of the equation of motion, operation decision-making and hybrid drive of electric and pneumatic, the attitude control of the rotating platform 807 is realized, so that the panels to be installed Parallel to the wall and perpendicular to the horizontal plane; after the posture of the installation manipulator is determined, the position of the plate to be installed is servo-controlled according to the information collected by the visual sensor (camera 3) and other sensors, and the plate is grasped (suction), moved, Precise positioning and installation. The motion control system module can control the motion of the mobile body, plate installation manipulator and auxiliary mechanism, etc., which can be operated directly or remotely, which is convenient for actual work.

It should be noted that the installation orientation words of "up, down", "front, back", "left, right" and other parts in the present invention are based on the operating station or the illustration of the embodiment, and only have relative or just for the convenience of description, it does not represent the uniqueness of the installation location. The embodiment of the installation robot of the present invention can be properly adjusted and changed without essentials.

What is not mentioned in the present invention is applicable to the prior art.

The working mode and steps of the installation robot of the present invention are as follows: the installation robot of the present invention needs two operators, one is the operator of the mobile body, that is, the electric forklift (operator A for short), and the other is the operator of the installation robot ( Referred to as operator B). When working, the installation robot walks in the indoor construction environment under the operation and control of operator A, moves to the placement position of the board to be installed (the raw material placement position), and sucks the board. When absorbing the sheet material, ensure that the lower edge of the sheet material is in contact with the left stopper 702 and the right stopper 703, so as to ensure the initial attitude of the sheet material positioning. Then the operator A controls the robot to move to the installation position (working surface) of the plate. During the walking process of the adsorption plate, the external environment is monitored in real time by the ultrasonic ranging sensor 104 to avoid collision accidents. After arriving at the plate installation position, the operator B starts the installation program, the industrial control computer controls the door frame 103 to move forward, the fork legs 101 are lifted and moved sideways, and the rough positioning of the installation and operation device is performed; when the rough positioning is completed, the supporting wall mechanism The supporting wall electric push rod 902 in 9 drives the optical axes 901 on both sides to extend forward, and when the travel switch 904 hits the wall, the supporting wall electric pushing rod 902 stops moving. Until the two travel switches 904 all hit the wall, that is, when the supporting wall suction cups 905 are in contact with the wall, start vacuuming, so that the supporting wall suction cups 905 are adsorbed on the wall to prevent the manipulator from shaking.

The next step is to complete the precise positioning of the plate installation: it mainly includes attitude adjustment and position positioning. The attitude adjustment process is: the current attitude of the moving platform 807 of the parallel platform is measured by the left and right ranging sensors 815, 816 and the inclination sensor 814, and the three electric push rods 803, 810, 811 telescoping lengths. The industrial computer controls the corresponding lengths of the three electric push rods 803, 810, 811 to expand and contract to complete the adjustment of the attitude of the installation manipulator. After the attitude adjustment is completed, the precise positioning adjustment of the position is carried out. The current image of the plate is collected by the camera 3, and the current position of the plate is obtained by analyzing the image processing software. According to the current position of the board, the industrial computer controls the X, Y, and Z axes to perform corresponding movements, so that the pendant enters the groove at the bottom of the board to complete the stable installation of the board.

After the installation is completed, the installation quality of the board is detected instantly by the camera 3 . If it is unqualified, the operator B will make corresponding manual adjustments through the control handle 4 until the quality requirements are met. When operator B gives the command to complete the installation, operator A controls the installation robot to retreat from the working surface and return to its original position to complete a working cycle. Then prepare or directly start the next job cycle.

Claims (3)

1. A panel dry-hanging process installation robot is characterized in that the installation robot adopts a modular structure, including a mobile body module, an installation operation module, a visual guidance installation positioning system module and a motion control system module; The mobile body module mainly includes an electric forklift, an automatic control device and 3-5 ultrasonic distance measuring sensors installed on the lower part around the electric forklift body; the automatic control device is installed on the manual console of the electric forklift, through Three synchronous belts pull the forklift manual control handle to move back and forth; the synchronous pulley at one end of the synchronous belt can rotate freely, and the synchronous pulley at the other end is controlled by the corresponding electromagnetic clutch and stepping motor; The installation operation module is mainly composed of a six-degree-of-freedom installation manipulator, which is mounted on the lifting platform of the electric forklift. The three-degree-of-freedom series mobile module and the end effector module connected with the three-degree-of-freedom series mobile module; the three-degree-of-freedom parallel rotating platform module includes a static platform and a dynamic platform, and the center of the static platform and the center of the dynamic platform are provided with a constraint branch chain , the constraint branch chain includes a fixed support rod and a central spherical hinge mechanically connected, the fixed support rod is connected to the center of the static platform, and the central spherical hinge is connected to the center of the moving platform; Hooke hinges are respectively installed at the three vertices of the triangle, and one of the Hooke hinges is located in the -Y direction of the restraint branch chain; Spherical hinges are installed, and one of them is located in the +Y direction of the constraining branch chain; the three Hooke hinges and the three spherical hinges are respectively connected with telescopic electric push rods to form three rotating branch chains; The three-degree-of-freedom serial movement module includes two moving pairs of the Y-axis and the Z-axis and one X-axis rotating pair; the linear guide rail of the Y-axis moving pair, the Y-axis screw and the Y-axis servo motor are directly installed on the moving pair. On the platform; the Y-axis sliding table is driven by the Y-axis servo motor through the Y-axis screw; the X-axis rotating pair adopts a parallelogram four-bar mechanism: the lower ends of two equal-length and parallel rotating rods pass through the rotating shaft and the Y-axis respectively. The upper end of the rotating rod is mechanically connected with the two ends of the translation rod; the two ends of the electric push rod are respectively connected mechanically with a rotating rod and the Y-axis sliding table, which constitutes the driving part of the four-bar mechanism; the Z-axis moving pair The base plate is installed on the working end of the translation rod. The Z-axis servo motor, linear guide rail and Z-axis screw are respectively installed on the Z-axis base plate. The Z-axis slide is driven by the Z-axis servo motor through the Z-axis screw. direction movement of the moving platform plane; the end effector module includes a suction cup frame fixed on the Z-axis slide table and four vacuum suction cups evenly distributed at the four corners of the suction cup frame; The vision guidance installation positioning system module includes a camera, a laser ranging sensor, an inclination sensor, image acquisition software and image processing software; the camera is installed on the translation bar; the laser ranging sensor is installed on the The two sides below the moving platform; the inclination sensor is installed in the middle position below the moving platform, and is parallel to the surface of the moving platform; The motion control system module includes an industrial control computer, a motion control card, a signal acquisition card and a servo drive unit. 2. The panel dry-hanging process installation robot according to claim 1, wherein the installation manipulator also includes an auxiliary positioning support frame, the auxiliary positioning support frame includes an H-shaped support frame, and the support frame is vertically installed on the Y-axis slide table On the working end of the support frame, stoppers for positioning are respectively arranged on the columns on both sides of the support frame, and the installation positions of the two stoppers are consistent. 3. The panel dry-hanging process installation robot according to claim 1, characterized in that the installation robot is also designed with a supporting wall mechanism; the supporting wall mechanism includes two sets, left and right symmetrically installed on the static platform; The wall electric push rod is connected with two optical axes through one side of the connecting plate. When the supporting wall electric push rod is stretched, it can drive the optical axis to move along the linear bearing; Two stroke switches are arranged symmetrically on the connection mechanism of the buttress suction cup.

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