Multi-degree-of-freedom mechanical arm of high-altitude curtain wall mounting robot and control method thereof

Abstract

The invention relates to the technical field of automatic mounting, and discloses a multi-degree-of-freedom mechanical arm of a high-altitude curtain wall mounting robot and a control method thereof.The multi-degree-of-freedom mechanical arm comprises a base, and a mounting mechanism is mounted at the top of the base and used for a top mechanical arm body, so that the mounting process of different positions is completed; the mounting mechanism comprises a driving assembly, a linkage assembly and a clamping assembly; the control mechanism is used for receiving the operation instructions and analyzing the operation instructions into action instructions of all assemblies of the mechanical arm. According to the special-shaped curtain wall mounting device, efficient mounting of a special-shaped curtain wall such as curved glass is achieved, the clamping assembly adopts the mechanical linkage design of a rotating disc and a hinge arm, and a precise transmission system of a driving wheel and a driven wheel is matched, so that the clamping arm can be flexibly adjusted in a three-dimensional space, accurate fitting of the special-shaped curtain wall is ensured, and the mounting efficiency is improved. The problem that a traditional suction cup assembly depends on single pneumatic adsorption and lacks the dynamic attaching capacity to the special-shaped curtain wall is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated installation, and in particular to a multi-degree-of-freedom mechanical arm of a high-altitude curtain wall installation robot and a control method thereof. Background Art

[0002] With the development of economy and society, high-rise buildings are springing up all over the country. The past architectural forms and styles can no longer meet the people's growing material and cultural needs. As the dominant exterior decoration of modern buildings, the difficulty of curtain wall installation increases with the increase of floor height. The traditional high-altitude curtain wall installation relies on workers to complete it manually or with the help of simple auxiliary tools. The labor intensity is high and the risk is high, and the proportion of high-altitude falls and collapse accidents is high.

[0003] After searching, the Chinese patent number CN113006348B discloses an intelligent robot for automatic installation of high-altitude curtain walls, including: a plate stacking platform for storing plates; a plate transport lifting platform for lifting plates; an intelligent installation robot for installing the plates on the transport lifting platform to the curtain wall; an intelligent feeding robot for automatically grabbing the plates on the plate stacking platform and automatically moving them to the transport lifting platform; a scissor-type load-bearing lifting platform for lifting the intelligent installation robot; a crawler base for installing the plate stacking platform, the transport lifting platform, and the scissor-type load-bearing lifting platform; and a control room, which is set on the crawler base and is used for coordinated actions of various parts and mobile operations. This intelligent robot can be used for the automated installation of high-altitude curtain wall panels, improve construction efficiency, and reduce casualties of construction workers.

[0004] The suction cup assembly at the end of the above-mentioned robotic arm relies on single pneumatic adsorption and lacks the ability to dynamically fit special-shaped curtain walls such as curved glass. The installation of special-shaped curtain walls requires relying on passive rotating shafts and four-way gear drives. However, the displacement fine-tuning mechanism of the existing robotic arm, including a horizontal rotating table and a swing adjustment mechanism, cannot achieve millimeter-level posture fine-tuning, resulting in accumulated installation errors. The existing support structure, the support arm with damping and the hydraulic leveling component are prone to low-frequency shaking under wind load or vibration interference, resulting in the failure of the suction cup adsorption and cannot be directly applied to ground high-altitude scenes. Based on this, the present invention designs a multi-degree-of-freedom robotic arm for a high-altitude curtain wall installation robot and a control method thereof to solve the above-mentioned problems. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-degree-of-freedom mechanical arm of a high-altitude curtain wall installation robot and a control method thereof, which solves the problem of large errors in the background technology.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: A multi-degree-of-freedom mechanical arm of a high-altitude curtain wall installation robot, comprising: A base, the top of which is equipped with a mounting mechanism for use of a top mechanical arm, thereby completing the installation process at different positions, the mounting mechanism comprising a driving assembly, a linkage assembly and a clamping assembly, the driving assembly being mounted on the top of the base and being used for the overall rotation of the linkage assembly and the clamping assembly, the linkage assembly being mounted on the top of the driving assembly and being used for adjusting the height of the clamping assembly, and the clamping assembly being mounted on one side of the linkage assembly and being used for installation and fixing; The control mechanism includes a main controller installed on the top of the base, and is used to receive operation instructions and parse them into action instructions for various components of the robot arm.

[0007] Preferably, the driving assembly includes a driving motor installed on the top of the base, the output shaft of the driving motor is fixedly connected to the driving shaft, the outer ring of the driving shaft is installed with a driving gear, the driving assembly also includes a supporting shaft installed on the top of the base, the top of the supporting shaft is installed with a linkage gear, the linkage gear and the driving gear are meshed with each other and are used for the rotation of the top assembly.

[0008] Preferably, the linkage assembly includes an installation frame installed on the top of the linkage gear, a linkage motor is installed on one side of the installation frame, a connecting shaft is installed on the output shaft of the linkage motor, a rotating main arm is installed on the outer ring of the connecting shaft, a reinforcing rib is installed in the inner cavity of the rotating main arm and is used to improve the stability of the rotating main arm, and a rotating assembly is installed on one side of the linkage assembly and is used for multi-degree-of-freedom control.

[0009] Preferably, the rotating assembly includes a rotating motor installed on one side of the rotating main arm, the output shaft of the rotating motor is fixedly connected to the rotating shaft, the outer ring of the rotating shaft is installed with a rotating support arm, and an adjustment assembly is also installed on one side of the rotating support arm.

[0010] Preferably, the adjustment component includes an adjustment motor installed on one side of the rotating support arm, the output shaft of the adjustment motor is fixedly connected to the adjustment shaft, a driving bevel gear is installed on one side of the adjustment shaft, the adjustment component also includes a driven shaft installed on one side of the rotating support arm, a driven bevel gear is installed on one side of the driven shaft, the driven bevel gear is meshed with the driving bevel gear, and a clamping frame is installed on one side of the driven shaft.

[0011] Preferably, the clamping assembly comprises a clamping motor installed at the bottom of the clamping frame, a rotating disk is installed at the bottom of the clamping motor, a clamping arm is hinged on one side of the rotating disk, and a matching assembly is also installed on one side of the clamping arm.

[0012] Preferably, the mating component comprises a driving wheel mounted on the bottom of the clamping arm, a driven wheel is also mounted on the bottom of the clamping frame, the driven wheel is meshed with the driving wheel, and a driven arm is mounted on the bottom of the driven wheel.

[0013] Preferably, a limit rod is hinged on the top of the installation frame, and a limit seat is hinged on the top of the limit rod and is hinged to the rotating main arm.

[0014] Preferably, the control mechanism includes a control module installed on one side of the main controller, which is used to electrically connect the driving component, the linkage component and the clamping component, and control the rotation angle, direction and predetermined height. One side of the control mechanism also includes a sensor interface, which is used to connect various sensors and monitor the position, speed and clamping force parameters of the robot arm in real time, and feed back the data to the main controller to achieve closed-loop control.

[0015] A control method for a multi-degree-of-freedom mechanical arm of a high-altitude curtain wall installation robot comprises the following steps: Step S1, initializing the robotic arm system, starting the self-test program of the driving component, linkage component, clamping component and each sensor through the main controller, and confirming the initial position of each motor, gear transmission mechanism and limit rod; Step S2, receiving environmental parameters and curtain wall installation target coordinates through the sensor interface, building a three-dimensional space model in combination with point cloud data, planning the motion path of the robotic arm using an inverse kinematics algorithm, starting the drive motor of the drive assembly, meshing the drive gear with the linkage gear, and driving the linkage assembly and the clamping assembly to rotate horizontally around the base to the target orientation; Step S3, the linkage motor drives the rotating main arm to adjust the pitch angle along the connecting axis, and at the same time, the rotating motor of the rotating assembly controls the axial angle of the rotating support arm, and the adjusting assembly fine-tunes the spatial posture of the clamping frame through the meshing of the active bevel gear and the driven bevel gear; Step S4, the clamping motor of the clamping assembly drives the rotating disk to rotate, and through the gear meshing of the driving wheel and the driven wheel, the clamping arm and the driven arm are controlled to open and close synchronously, clamp the curtain wall panel and feed back the clamping force to the main controller in real time. The main controller dynamically adjusts the speed of each motor through the PID control algorithm according to the real-time position error and load torque, thereby improving the positioning accuracy of the end effector of the robotic arm.

[0016] Compared with the prior art, the beneficial effects achieved by the present invention are: 1. The present invention realizes efficient installation of special-shaped curtain walls such as curved glass. The clamping assembly adopts a mechanical linkage design of a rotating disk and an articulated arm, and cooperates with a precise transmission system of a driving wheel and a driven wheel, so that the clamping arm can be flexibly adjusted in three-dimensional space, ensuring accurate fitting of special-shaped curtain walls, and solving the problem that traditional suction cup assemblies rely on single pneumatic adsorption and lack the ability to dynamically fit special-shaped curtain walls.

[0017] 2. The present invention achieves fine adjustment of the spatial posture of the clamping frame through the precise coordination of the multi-stage transmission mechanism. In particular, in the adjustment component, the meshing transmission of the active bevel gear and the driven bevel gear ensures that the clamping component can be accurately aligned with the installation position of the curtain wall plate, achieving millimeter-level posture fine adjustment and effectively reducing the accumulation of installation errors.

[0018] 3. The present invention combines multiple steps such as initialization self-check, three-dimensional space model construction, inverse kinematics algorithm path planning and PID control algorithm dynamic adjustment to ensure that the robotic arm can move accurately according to the predetermined path and posture. This method not only improves the installation efficiency, but also ensures the accuracy of the installation through real-time monitoring and dynamic adjustment, reducing the errors caused by human operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a front perspective structural schematic diagram of the present invention; Figure 2 It is a left side view of the present invention; Figure 3 It is a structural schematic diagram of the control mechanism and the driving assembly of the present invention; Figure 4 For the present invention Figure 3 A magnified image of point A; Figure 5 It is a structural schematic diagram of the linkage assembly of the present invention; Figure 6 For the present invention Figure 5 A magnified view of point B; Figure 7 It is a schematic structural diagram of the clamping assembly of the present invention; Figure 8 For the present invention Figure 7 Enlarged view of point C.

[0020] Among them: 1. Drive assembly; 2. Linkage assembly; 3. Clamping assembly; 4. Control mechanism; 5. Rotation assembly; 6. Adjustment assembly; 7. Matching assembly; 101. Base; 102. Drive motor; 103. Drive shaft; 104. Drive gear; 105. Support shaft; 106. Linkage gear; 201. Mounting frame; 202. Linkage motor; 203. Connecting shaft; 204. Rotating main arm; 205. Limit rod; 206. Limit seat; 207. Strengthen ribs; 301, clamping motor; 302, rotating disk; 303, clamping arm; 401, main controller; 402, control module; 404, sensor interface; 501, rotating motor; 502, rotating shaft; 503, rotating support arm; 601, adjusting motor; 602, adjusting shaft; 603, active bevel gear; 604, driven shaft; 605, driven bevel gear; 606, clamping frame; 701, driving wheel; 702, driven wheel; 703, driven arm. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Embodiment 1; See also Figure 1-Figure 8 In an embodiment of the present invention, a multi-degree-of-freedom mechanical arm of a high-altitude curtain wall installation robot includes: Base 101, a mounting mechanism is installed on the top of the base 101 and is used for the use of the top mechanical arm, so as to complete the installation process at different positions, the mounting mechanism includes a driving component 1, a linkage component 2 and a clamping component 3, the driving component 1 is installed on the top of the base 101 and is used for the overall rotation of the linkage component 2 and the clamping component 3, the linkage component 2 is installed on the top of the driving component 1 and is used for adjusting the height of the clamping component 3, and the clamping component 3 is installed on one side of the linkage component 2 and is used for installation and fixing; The control mechanism 4 includes a main controller 401 and is installed on the top of the base 101, and is used to receive operation instructions and parse them into action instructions of various components of the robot arm.

[0023] The driving component 1 includes a driving motor 102 installed on the top of the base 101, the output shaft of the driving motor 102 is fixedly connected to the driving shaft 103, the outer ring of the driving shaft 103 is installed with a driving gear 104, the driving component 1 also includes a supporting shaft 105 installed on the top of the base 101, the top of the supporting shaft 105 is installed with a linkage gear 106, the linkage gear 106 is meshed with the driving gear 104, and is used for the rotation of the top component.

[0024] The linkage component 2 includes an installation frame 201 installed on the top of the linkage gear 106, a linkage motor 202 is installed on one side of the installation frame 201, a connecting shaft 203 is installed on the output shaft of the linkage motor 202, a rotating main arm 204 is installed on the outer ring of the connecting shaft 203, a reinforcing rib 207 is installed in the inner cavity of the rotating main arm 204 and is used to improve the stability of the rotating main arm 204, a rotating component 5 is installed on one side of the linkage component 2 and is used for multi-degree-of-freedom control.

[0025] The rotating assembly 5 includes a rotating motor 501 installed on one side of the rotating main arm 204. The output shaft of the rotating motor 501 is fixedly connected to the rotating shaft 502. The outer ring of the rotating shaft 502 is installed with a rotating support arm 503. One side of the rotating support arm 503 is also installed with an adjusting assembly 6.

[0026] The adjusting assembly 6 includes an adjusting motor 601 installed on one side of the rotating arm 503, the output shaft of the adjusting motor 601 is fixedly connected to the adjusting shaft 602, a driving bevel gear 603 is installed on one side of the adjusting shaft 602, the adjusting assembly 6 also includes a driven shaft 604 installed on one side of the rotating arm 503, a driven bevel gear 605 is installed on one side of the driven shaft 604, the driven bevel gear 605 is meshed with the driving bevel gear 603, and a clamping frame 606 is installed on one side of the driven shaft 604.

[0027] The working principle of the embodiment of the present invention is: the operation instructions are received and parsed by the main controller 401 of the control mechanism 4, and converted into specific action instructions for each component of the robot arm. This step ensures that the robot arm can move according to the predetermined path and posture. After receiving the action instruction, the drive component 1 starts to work, the drive motor 102 is started, and its output shaft drives the drive shaft 103 to rotate. The drive gear 104 on the outer ring of the drive shaft 103 rotates accordingly and meshes with the linkage gear 106 installed on the top of the support shaft 105. Through the transmission between the gears, the linkage gear 106 begins to rotate, thereby driving the installation frame 201 on the top thereof and the entire linkage component 2 and the clamping component 3 to rotate around the central axis of the support shaft 105. This step realizes the rotational movement of the entire robot arm in the horizontal plane, providing the necessary direction adjustment for subsequent operations.

[0028] Then, the linkage assembly 2 starts to adjust the height of the clamping assembly 3. The linkage motor 202 is started, and its output shaft drives the connecting shaft 203 to rotate, and the rotating main arm 204 on the outer ring of the connecting shaft 203 rotates accordingly, and provides sufficient stability and support force through the reinforcing ribs 207. The rotational movement of the rotating main arm 204 is further transmitted to the rotating support arm 503 through the rotating assembly 5, realizing the lifting and lowering movement of the clamping assembly 3 in the vertical direction.

[0029] After the rotating arm 503 reaches a predetermined height, the rotating assembly 5 starts to work to achieve further adjustment of the clamping assembly 3 in the horizontal plane. The rotating motor 501 starts, and its output shaft drives the rotating shaft 502 to rotate, thereby driving the rotating arm 503 to rotate around the central axis of the rotating shaft 502. This step provides additional degrees of freedom for the clamping assembly 3, allowing it to be flexibly adjusted to the optimal installation angle.

[0030] Finally, the adjustment assembly 6 starts to work to achieve fine adjustment of the clamping frame 606. The adjustment motor 601 is started, and its output shaft drives the adjustment shaft 602 to rotate, and the active bevel gear 603 on one side of the adjustment shaft 602 rotates accordingly and meshes with the driven bevel gear 605 on one side of the driven shaft 604. Through the transmission between the bevel gears, the driven shaft 604 starts to rotate and drives the clamping frame 606 to perform fine adjustment. This step ensures that the clamping frame 606 can be accurately aligned with the installation position of the curtain wall, thereby achieving an efficient and accurate installation process.

[0031] Embodiment 2; See also Figure 1-Figure 8 The clamping assembly 3 includes a clamping motor 301 installed at the bottom of the clamping frame 606, a rotating disk 302 is installed at the bottom of the clamping motor 301, a clamping arm 303 is hinged on one side of the rotating disk 302, and a matching assembly 7 is also installed on one side of the clamping arm 303. The matching assembly 7 includes a driving wheel 701 installed at the bottom of the clamping arm 303, and a driven wheel 702 is also installed at the bottom of the clamping frame 606. The driven wheel 702 is meshed with the driving wheel 701, and a driven arm 703 is installed at the bottom of the driven wheel 702. The top of the mounting frame 201 is hinged to a limit rod 205, and the top of the limit rod 205 is hinged to a limit seat 206 and is hinged to the rotating main arm 204.

[0032] The control mechanism 4 includes a control module 402 installed on one side of the main controller 401, which is used to electrically connect the driving component 1, the linkage component 2 and the clamping component 3, and control the rotation angle, direction and predetermined height. One side of the control mechanism 4 also includes a sensor interface 404, which is used to connect various sensors and monitor the position, speed and clamping force parameters of the robot arm in real time, and feed back the data to the main controller 401 to achieve closed-loop control.

[0033] The working principle of the embodiment of the present invention is as follows: the clamping assembly 3 is the key execution part of the mechanical arm, and its core lies in the precise control of the clamping motor 301. When the mechanical arm is positioned at the curtain wall installation position through the previous steps, the clamping motor 301 is started. The rotating disk 302 installed at the bottom of the motor rotates accordingly, and the clamping arm 303 hinged on one side of the rotating disk 302 thus generates relative motion. This design utilizes the mechanical linkage between the rotating disk 302 and the articulated arm, realizes the flexible adjustment of the clamping arm 303 in three-dimensional space, and provides preliminary positioning and clamping preparation for the curtain wall panel.

[0034] During the movement of the clamping arm 303, the mating component 7 plays a key role. The driving wheel 701 installed at the bottom of the clamping arm 303 and the driven wheel 702 at the bottom of the clamping frame 606 mesh with each other to form a precise transmission system. When the driving wheel 701 moves with the clamping arm 303, the driven wheel 702 rotates accordingly, thereby driving the driven arm 703 at the bottom to move synchronously.

[0035] At the same time, the articulated design of the limit rod 205 and the limit seat 206 on the top of the mounting frame 201 and the rotating main arm 204 provides additional stability and support for the overall structure of the robot arm. When the clamping assembly 3 performs a clamping action, the limit rod 205 and the limit seat 206 can effectively limit the excessive swing of the rotating main arm 204, thereby ensuring the stability and safety of the robot arm during the clamping process.

[0036] At the control level, the control module 402 in the control mechanism 4 plays a crucial role. This module is not only responsible for the electrical connection between the drive component 1, the linkage component 2 and the clamping component 3, but also controls the rotation angle, direction and predetermined height of each component through precise algorithms. The sensor interface 404 on one side of the control mechanism 4 is connected to various high-precision sensors to monitor key parameters such as the position, speed and clamping force of the robot arm in real time. These data are fed back to the main controller 401 in real time, and the main controller 401 performs closed-loop control adjustments based on the feedback data, further improving the accuracy and stability of the robot arm.

[0037] Embodiment 3; See also Figure 1-Figure 8 In an embodiment of the present invention, a control method for a multi-degree-of-freedom mechanical arm of a high-altitude curtain wall installation robot includes the following steps: Step S1, initializing the robot arm system, starting the self-checking procedures of the driving component 1, the linkage component 2, the clamping component 3 and each sensor through the main controller 401, and confirming the initial positions of each motor, the gear transmission mechanism and the limit rod 205; Step S2, receiving environmental parameters and curtain wall installation target coordinates through the sensor interface 404, building a three-dimensional space model in combination with the point cloud data, planning the motion path of the robot arm using the inverse kinematics algorithm, starting the drive motor 102 of the drive component 1, and meshing the drive gear 104 with the linkage gear 106 to drive the linkage component 2 and the clamping component 3 to rotate horizontally around the base 101 to the target orientation; Step S3, the linkage motor 202 drives the rotating main arm 204 to adjust the pitch angle along the connecting shaft 203, and at the same time, the rotating motor 501 of the rotating component 5 controls the axial angle of the rotating support arm 503, and the adjusting component 6 fine-tunes the spatial posture of the clamping frame 606 through the meshing of the active bevel gear 603 and the driven bevel gear 605; In step S4, the clamping motor 301 of the clamping assembly 3 drives the rotating disk 302 to rotate, and controls the clamping arm 303 and the driven arm 703 to open and close synchronously through the gear meshing of the driving wheel 701 and the driven wheel 702, clamps the curtain wall panel and feeds back the clamping force to the main controller 401 in real time. The main controller 401 dynamically adjusts the speed of each motor through the PID control algorithm according to the real-time position error and load torque, so as to improve the positioning accuracy of the end effector of the robot arm.

[0038] The working principle of the embodiment of the present invention is as follows: Step S1, the robot arm system first performs an initialization operation. The main controller 401, as the core, starts the self-test program of the drive component 1, the linkage component 2, the clamping component 3 and each sensor. This step ensures that all key components such as the motor, the gear transmission mechanism, the limit rod 205, etc. are in the preset initial position, laying a solid foundation for subsequent motion control.

[0039] Entering step S2, the system starts to receive environmental parameters and curtain wall installation target coordinates. These key data are collected in real time through the sensor interface 404, and combined with advanced point cloud data processing technology, an accurate three-dimensional space model is constructed. On this basis, using the inverse kinematics algorithm, the system can efficiently plan the optimal motion path of the robot arm from the current position to the target installation point; then the drive motor 102 of the drive component 1 is accurately started, and through the precise meshing transmission of the drive gear 104 and the linkage gear 106, the entire linkage component 2 and the clamping component 3 are driven to rotate horizontally around the base 101 until the target position is reached.

[0040] In step S3, the linkage motor 202 of the linkage component 2 starts to work, driving the rotating main arm 204 to adjust the pitch angle along the connecting axis 203. In this step, the rotating motor 501 of the rotating component 5 is also started synchronously to accurately control the axial angle of the rotating support arm 503 to achieve flexible adjustment of the robot arm in three-dimensional space; at the same time, the adjustment component 6 fine-tunes the spatial posture of the clamping frame 606 through the precise engagement of the active bevel gear 603 and the driven bevel gear 605 to ensure that the clamping component 3 can accurately align with the installation position of the curtain wall panel.

[0041] Entering step S4, the clamping assembly 3 starts to perform the clamping action, the clamping motor 301 drives the rotating disk 302 to rotate, and the synchronous opening and closing of the clamping arm 303 and the driven arm 703 is realized through the gear meshing mechanism of the driving wheel 701 and the driven wheel 702. In this process, the system monitors the clamping force in real time and feeds the data back to the main controller 401. The main controller 401 uses advanced PID control algorithms according to the real-time position error and load torque information to dynamically adjust the speed and torque of each motor, thereby realizing precise control of the positioning accuracy of the end effector of the robot arm.

[0042] Working principle: The robot system consists of a mounting mechanism and a control mechanism 4 on a base 101. The mounting mechanism includes a drive assembly 1, a linkage assembly 2 and a clamping assembly 3, which realize multi-degree-of-freedom motion through a precise mechanical structure. The drive assembly 1 is driven by a drive motor 102, and through the meshing of a drive gear 104 and a linkage gear 106, the linkage assembly 2 and the clamping assembly 3 are driven to rotate as a whole around the base 101 to achieve direction adjustment in the horizontal plane.

[0043] Next, the linkage motor 202 in the linkage assembly 2 is started, driving the rotating main arm 204 to rotate along the connecting shaft 203 to adjust the pitch angle, while the rotating motor 501 of the rotating assembly 5 controls the axial angle of the rotating support arm 503, further increasing the degree of freedom of the mechanical arm. The adjustment assembly 6 fine-tunes the spatial position of the clamping frame 606 through the meshing of the active bevel gear 603 and the driven bevel gear 605, ensuring that the clamping assembly 3 can accurately align with the installation position of the curtain wall panel.

[0044] During the clamping stage, the clamping motor 301 of the clamping assembly 3 drives the rotating disk 302 to rotate, and through the gear meshing mechanism of the driving wheel 701 and the driven wheel 702, the clamping arm 303 and the driven arm 703 are opened and closed synchronously to clamp the curtain wall panel. During this process, the system monitors the clamping force in real time and feeds back to the main controller 401. The main controller 401 dynamically adjusts the speed and torque of each motor through the PID control algorithm according to the real-time position error and load torque information, thereby improving the positioning accuracy of the end effector of the robot arm.

[0045] The entire robotic arm system receives operation instructions through the main controller 401 in the control mechanism 4, and parses them into specific action instructions for each component to achieve precise control. At the same time, the sensor interface 404 connects various sensors to monitor key parameters such as the position, speed and clamping force of the robotic arm in real time to ensure the stable operation of the robotic arm in complex environments.

[0046] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit thereof, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom mechanical arm for a high-altitude curtain wall installation robot, characterized in that: include: A base (101), wherein a mounting mechanism is mounted on the top of the base (101) and is used for the use of a top mechanical arm, thereby completing the installation process at different positions, wherein the mounting mechanism comprises a driving component (1), a linkage component (2) and a clamping component (3), wherein the driving component (1) is mounted on the top of the base (101) and is used for the overall rotation of the linkage component (2) and the clamping component (3), wherein the linkage component (2) is mounted on the top of the driving component (1) and is used for adjusting the height of the clamping component (3), and wherein the clamping component (3) is mounted on one side of the linkage component (2) and is used for installation and fixing; A control mechanism (4), the control mechanism (4) comprising a main controller (401) and mounted on the top of the base (101), and used for receiving operation instructions and parsing them into action instructions for various components of the robot arm.

2. The multi-degree-of-freedom mechanical arm of a high-altitude curtain wall installation robot according to claim 1, characterized in that: The driving assembly (1) comprises a driving motor (102) mounted on the top of a base (101); the output shaft of the driving motor (102) is fixedly connected to a driving shaft (103); the outer ring of the driving shaft (103) is mounted with a driving gear (104); the driving assembly (1) further comprises a supporting shaft (105) mounted on the top of the base (101); the top of the supporting shaft (105) is mounted with a linkage gear (106); the linkage gear (106) is meshed with the driving gear (104) and is used for the rotation of the top assembly.

3. The multi-degree-of-freedom mechanical arm of a high-altitude curtain wall installation robot according to claim 1, characterized in that: The linkage assembly (2) comprises a mounting frame (201) mounted on the top of the linkage gear (106); a linkage motor (202) is mounted on one side of the mounting frame (201); a connecting shaft (203) is mounted on the output shaft of the linkage motor (202); a rotating main arm (204) is mounted on the outer ring of the connecting shaft (203); a reinforcing rib (207) is mounted in the inner cavity of the rotating main arm (204) and is used to improve the stability of the rotating main arm (204); and a rotating assembly (5) is mounted on one side of the linkage assembly (2) and is used for multi-degree-of-freedom control.

4. The multi-degree-of-freedom mechanical arm of a high-altitude curtain wall installation robot according to claim 3, characterized in that: The rotating assembly (5) comprises a rotating motor (501) mounted on one side of a rotating main arm (204); an output shaft of the rotating motor (501) is fixedly connected to a rotating shaft (502); a rotating support arm (503) is mounted on an outer ring of the rotating shaft (502); and an adjusting assembly (6) is also mounted on one side of the rotating support arm (503).

5. The multi-degree-of-freedom mechanical arm of a high-altitude curtain wall installation robot according to claim 4, characterized in that: The adjustment component (6) comprises an adjustment motor (601) mounted on one side of a rotating support arm (503); the output shaft of the adjustment motor (601) is fixedly connected to an adjustment shaft (602); a driving bevel gear (603) is mounted on one side of the adjustment shaft (602); the adjustment component (6) further comprises a driven shaft (604) mounted on one side of the rotating support arm (503); a driven bevel gear (605) is mounted on one side of the driven shaft (604); the driven bevel gear (605) and the driving bevel gear (603) are meshed with each other; and a clamping frame (606) is mounted on one side of the driven shaft (604).

6. The multi-degree-of-freedom mechanical arm of a high-altitude curtain wall installation robot according to claim 5, characterized in that: The clamping assembly (3) comprises a clamping motor (301) mounted at the bottom of a clamping frame (606); a rotating disk (302) is mounted at the bottom of the clamping motor (301); a clamping arm (303) is hingedly connected to one side of the rotating disk (302); and a matching assembly (7) is also mounted on one side of the clamping arm (303).

7. The multi-degree-of-freedom mechanical arm of a high-altitude curtain wall installation robot according to claim 6, characterized in that: The mating assembly (7) comprises a driving wheel (701) mounted at the bottom of the clamping arm (303), and a driven wheel (702) is also mounted at the bottom of the clamping frame (606); the driven wheel (702) and the driving wheel (701) are meshed with each other, and a driven arm (703) is mounted at the bottom of the driven wheel (702).

8. The multi-degree-of-freedom mechanical arm of a high-altitude curtain wall installation robot according to claim 3, characterized in that: The top of the installation frame (201) is hinged to a limit rod (205), and the top of the limit rod (205) is hinged to a limit seat (206) and is hinged to the rotating main arm (204).

9. The multi-degree-of-freedom mechanical arm of a high-altitude curtain wall installation robot according to claim 1, characterized in that: The control mechanism (4) comprises a control module (402) installed on one side of the main controller (401), which is used to electrically connect the driving component (1), the linkage component (2) and the clamping component (3), and to control the rotation angle, direction and predetermined height. One side of the control mechanism (4) also comprises a sensor interface (404), which is used to connect various sensors and monitor the position, speed and clamping force parameters of the robot arm in real time, and feed back the data to the main controller (401) to achieve closed-loop control.

10. A control method for a multi-degree-of-freedom mechanical arm of a high-altitude curtain wall installation robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step S1, initializing the robotic arm system, starting the self-checking procedures of the driving component (1), the linkage component (2), the clamping component (3) and each sensor through the main controller (401), and confirming the initial positions of each motor, the gear transmission mechanism and the limit rod (205); Step S2, receiving environmental parameters and curtain wall installation target coordinates through the sensor interface (404), building a three-dimensional space model in combination with the point cloud data, planning the movement path of the robot arm using an inverse kinematics algorithm, starting the drive motor (102) of the drive component (1), meshing the drive gear (104) with the linkage gear (106), and driving the linkage component (2) and the clamping component (3) to rotate horizontally around the base (101) to the target orientation; Step S3, the linkage motor (202) drives the rotating main arm (204) to adjust the pitch angle along the connecting shaft (203), and at the same time, the rotating motor (501) of the rotating component (5) controls the axial angle of the rotating support arm (503), and the adjusting component (6) fine-tunes the spatial posture of the clamping frame (606) through the meshing of the active bevel gear (603) and the driven bevel gear (605); In step S4, the clamping motor (301) of the clamping assembly (3) drives the rotating disk (302) to rotate, and through the meshing of the gears of the driving wheel (701) and the driven wheel (702), the clamping arm (303) and the driven arm (703) are controlled to open and close synchronously, thereby clamping the curtain wall panel and feeding back the clamping force to the main controller (401) in real time. The main controller (401) dynamically adjusts the speed of each motor according to the real-time position error and load torque through the PID control algorithm, thereby improving the positioning accuracy of the end effector of the robot arm.

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