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Three-dimensional movement simulation method for high-altitude curtain wall installation robot

A three-dimensional motion, robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as teleoperation delay

Active Publication Date: 2016-11-23
HEBEI UNIV OF TECH
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a method for three-dimensional motion simulation of a high-altitude curtain wall installation robot. By performing three-dimensional modeling on the high-altitude curtain wall installation robot, assembling a virtual robot, and using a force feedback device to control the movement of the virtual robot in real time, the high-altitude curtain wall installation is realized. The 3D motion simulation of the robot solves the problem of the teleoperation delay of the remote operating system that uses the high-altitude curtain wall installation robot to replace the manual completion of the curtain wall installation work in the prior art

Method used

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  • Three-dimensional movement simulation method for high-altitude curtain wall installation robot

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Embodiment

[0090] The method for the three-dimensional motion simulation of the high-altitude curtain wall installation robot of the present embodiment, the steps are as follows:

[0091] The first step is to analyze the basic structure of the solid high-altitude curtain wall installation robot:

[0092] Analyze the basic structure of the solid high-altitude curtain wall installation robot, and determine the structure and size of the main parts of the high-altitude curtain wall installation robot;

[0093] The basic structure of the entity of the high-altitude curtain wall installation robot of the present embodiment is as above-mentioned figure 2 In the embodiment shown, the main parts of the high-altitude curtain wall installation robot, that is, the structure and size of each connecting rod, that is, the connecting rod parameter table is shown in Table 1.

[0094] Table 1. The connecting rod parameters of the high-altitude curtain wall installation robot

[0095]

[0096] The co...

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Abstract

The invention provides a three-dimensional movement simulation method for a high-altitude curtain wall installation robot, and relates to assembly equipment of building components. The three-dimensional movement simulation method includes the steps that the basic structure of the entity high-altitude curtain wall installation robot is analyzed; three-dimensional modeling is conducted on the high-altitude curtain wall installation robot; kinematics analysis is conducted on the high-altitude curtain wall installation robot; a virtual robot is assembled; and movement of the virtual robot is controlled through a force feedback device in real time, and three-dimensional movement simulation of the high-altitude curtain wall installation robot is achieved. The method solves the problem of teleoperation time delay of a teleoperation system for completing the curtain wall installation work through the high-altitude curtain wall installation robot instead of manual work in the prior art.

Description

technical field [0001] The technical solution of the present invention relates to the assembly equipment of building components, in particular to a method for three-dimensional motion simulation of a high-altitude curtain wall installation robot. Background technique [0002] The traditional high-altitude curtain wall installation has the disadvantages of high labor intensity, low installation efficiency, high risk, and harsh working environment. In the manual installation process, the installation of a curtain wall often requires multiple workers to complete it, resulting in high labor intensity and high accident rate. At the same time, the building curtain wall installation industry is a high-tech industry with relatively high technical requirements and strong professionalism. Construction companies need to select construction personnel with relevant technologies and provide technical training for construction personnel, which leads to high cost and difficult management of ...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J9/10
CPCB25J9/106B25J9/1605
Inventor 彭玉青张媛媛宋初柏李铁军杨东
Owner HEBEI UNIV OF TECH
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