Hyperbolic curtain wall unit assembly platform and method

Abstract

The invention relates to the technical field of curtain walls, and discloses a hyperbolic curtain wall unit assembly platform and method. The platform comprises a platform main body, and universal wheels with brakes are arranged at the bottom; an X-axis driving mechanism; a Y-axis driving mechanism; the clamping device comprises a six-degree-of-freedom platform and a centering clamp, the six-degree-of-freedom platform is installed on the Y-axis driving mechanism, and the centering clamp is arranged on the six-degree-of-freedom platform; the control module is used for acquiring a digital model corresponding to the hyperbolic curtain wall unit piece, analyzing the digital model, extracting a hyperbolic curvature radius, a normal vector and a key control point coordinate of a hyperbolic aluminum material corresponding to the hyperbolic curtain wall unit piece, and generating a six-dimensional control parameter sequence corresponding to a space coordinate and an attitude angle; and according to the six-dimensional control parameter sequence, the servo motor, the linear module and the six-degree-of-freedom platform are controlled and driven to cooperatively act, so that the space coordinates and the posture angle of the centering clamp are matched with the curved surface shape of the hyperbolic aluminum material. The problems of positioning and fixing in the assembling process of the hyperbolic curtain wall unit piece are solved.

Description

Technical Field

[0001] The present application relates to the field of curtain wall technology, and in particular to a hyperbolic curtain wall unit component assembly platform and method. Background Art

[0002] At present, the assembly of curtain wall units is carried out on a simple working platform or mobile unit frame, without limit and positioning functions, and the assembly is entirely done by manually supporting and fixing the aluminum materials. When encountering non-straight aluminum materials (such as aluminum materials for hyperbolic curtain walls) during the assembly process, the aluminum materials cannot be fixed well in the original way. Since there is no benchmark, the shape and position errors of the assembled units are large.

[0003] As the current curtain wall modeling has more and more curved and hyperbolic designs, the difficulty of production and manufacturing has increased greatly. Therefore, a hyperbolic curtain wall unit assembly platform is urgently needed to achieve accurate assembly of curtain wall unit components. Summary of the invention

[0004] The present application provides a hyperbolic curtain wall unit component assembly platform and method, which aims to solve the problem that the mechanical clamping force relies on manual experience adjustment, the pressure fluctuation range is large, and the cumulative error of the manually calibrated separation spacing is high, which seriously affects the standardized operation.

[0005] In a first aspect, the present application provides a hyperbolic curtain wall unit assembly platform, comprising:

[0006] A platform body, wherein a universal wheel with a brake is provided at the bottom of the platform body;

[0007] The X-axis driving mechanism comprises a driving servo motor, a transmission synchronous belt and a linear guide rail arranged on the platform body;

[0008] The Y-axis driving mechanism comprises a linear module arranged on the X-axis driving mechanism;

[0009] A clamping device, comprising a six-degree-of-freedom platform and a centering fixture, wherein the six-degree-of-freedom platform is mounted on the Y-axis driving mechanism, and the centering fixture is arranged on the six-degree-of-freedom platform;

[0010] A control module is used to obtain a digital model corresponding to a hyperbolic curtain wall unit, analyze the digital model, extract the hyperbolic surface curvature radius, normal vector and key control point coordinates of the hyperbolic aluminum material corresponding to the hyperbolic curtain wall unit, and generate a six-dimensional control parameter sequence corresponding to the spatial coordinates and attitude angle; according to the six-dimensional control parameter sequence, the coordinated action of the drive servo motor, the linear module and the six-degree-of-freedom platform is controlled to make the spatial coordinates and attitude angle of the centering fixture adapt to the hyperbolic aluminum material surface shape corresponding to the hyperbolic curtain wall unit.

[0011] In some embodiments, the digital model is parsed to extract the hyperbolic surface curvature radius, normal vector and key control point coordinates of the hyperbolic aluminum material corresponding to the hyperbolic curtain wall unit, including: converting the digital model into a preset surface expression form; calculating the hyperbolic surface curvature radius and the corresponding normal vector at the mesh vertices corresponding to the surface expression form; screening the key control area with drastic surface changes in the surface expression form according to the hyperbolic surface curvature radius and normal vector; and extracting the key control point coordinates in the key control area.

[0012] Exemplarily, extracting the key control point coordinates in the key control area includes: extracting a set of key control point coordinates in the key control area; converting the normal vector and the set of key control point coordinates to a coordinate system corresponding to the platform body, and obtaining the key control point coordinates in the coordinate system corresponding to the platform body.

[0013] In some embodiments, the generating of a six-dimensional control parameter sequence corresponding to spatial coordinates and attitude angles includes: obtaining the joint displacement of the six-degree-of-freedom platform according to the hyperbolic curvature radius, normal vector and key control point coordinates based on an inverse kinematics algorithm to construct a posture matrix; using a cubic spline interpolation method to generate continuous trajectory points corresponding to the posture matrix, wherein the time interval between adjacent trajectory points in the continuous trajectory points is less than or equal to 50 ms; and generating the six-dimensional control parameter sequence according to preset constraints and the continuous trajectory points.

[0014] Exemplarily, the constraints include: the range of the clamping force is 50 to 200 N, the platform movement speed of the six-degree-of-freedom platform is less than or equal to 0.2 m / s, and the adjacent posture angle deviation corresponding to adjacent trajectory points is less than or equal to 2°.

[0015] In some embodiments, controlling the coordinated action of the driving servo motor, linear module and six-degree-of-freedom platform according to the six-dimensional control parameter sequence includes: controlling the servo motor and the linear module according to a position-speed dual-loop PID control algorithm according to the six-dimensional control parameter sequence, wherein the proportional coefficient of the position-speed dual-loop PID control algorithm is 1.2, and the integration time is 0.05s; obtaining the joint encoder feedback value, IMU attitude angle data and laser ranging value corresponding to the six-degree-of-freedom platform in the six-dimensional control parameter sequence, for controlling the six-degree-of-freedom platform to work.

[0016] In some embodiments, the method of adapting the spatial coordinates and posture angle of the centering fixture to the hyperbolic aluminum material surface shape corresponding to the hyperbolic curtain wall unit includes: before the centering fixture contacts the hyperbolic aluminum material, if a preset force sensor detects that the contact force corresponding to the centering fixture is greater than or equal to 5N, switching the centering fixture to a preset impedance control mode and activating a preset dynamic compensation mode.

[0017] Exemplarily, the impedance control mode adopts a six-dimensional Cartesian space impedance mode, and its dynamic equation satisfies: ;in is the equivalent mass matrix, is the velocity damping matrix, is the stiffness matrix, is the deviation vector between the actual displacement of the centering fixture and the expected trajectory, is the contact force.

[0018] Exemplarily, the dynamic compensation mode includes: obtaining the rate of change corresponding to the contact force, and adjusting the coefficient of the velocity damping matrix online; wherein, when the rate of change is greater than 10N / s, the damping coefficient of the velocity damping matrix in the z-axis direction is increased by 20%-50%; based on the IMU attitude angle data collected by the IMU attitude sensor installed at the end of the centering fixture, a dynamic alignment model of the coordinate system of the end of the centering fixture and the normal vector of the hyperbolic aluminum surface is constructed to obtain the compensation torque feedforward; the transmission error of the transmission synchronous belt and the thermal deformation of the linear module are obtained; and the dynamic supplement of the contact force is completed according to the updated velocity damping matrix, compensation torque feedforward, transmission error and thermal deformation.

[0019] In some embodiments, the platform also includes an integrated force sensor, an IMU posture sensor, a laser rangefinder and a visual sensor; the control module collects the contact force, posture, distance and visual information of the centering fixture in real time according to the integrated force sensor, the IMU posture sensor, the laser rangefinder and the visual sensor; the control module fuses the contact force, posture, distance and visual information through a multi-sensor fusion algorithm to generate environmental perception information, so as to generate a motion control strategy for the centering fixture according to the environmental perception information.

[0020] In some embodiments, the control module constructs a virtual model of the hyperbolic curtain wall unit based on virtual reality technology to display the motion trajectory and posture of the centering fixture; the control module transmits the motion data of the virtual model and the centering fixture to a preset remote monitoring center in real time to realize remote monitoring and operation.

[0021] In a second aspect, the present application provides a method for assembling a hyperbolic curtain wall unit element, which is applied to a control module of a hyperbolic curtain wall unit element assembly platform provided in any embodiment of the present application; the method comprises:

[0022] Obtain the digital model corresponding to the hyperbolic curtain wall unit element;

[0023] Analyze the digital model to extract the hyperbolic surface curvature radius, normal vector and key control point coordinates of the hyperbolic aluminum material corresponding to the hyperbolic curtain wall unit element;

[0024] Generate a six-dimensional control parameter sequence corresponding to the space coordinates and the attitude angle according to the hyperboloid curvature radius, the normal vector and the key control point coordinates;

[0025] The coordinated actions of the driving servo motor, the linear module and the six-degree-of-freedom platform are controlled according to the six-dimensional control parameter sequence, so that the spatial coordinates and the posture angle of the centering fixture are adapted to the hyperbolic aluminum material surface shape corresponding to the hyperbolic curtain wall unit element.

[0026] The present application provides a hyperbolic curtain wall unit assembly platform and method, with a universal wheel with brake at the bottom: a universal wheel with brake function is installed at the bottom of the platform body to facilitate the movement and fixation of the platform and ensure the stability of the platform during the assembly process.

[0027] The driving servo motor provides precise power output to ensure the motion accuracy in the X-axis direction. The transmission synchronous belt transmits the power of the servo motor to the linear guide rail to ensure the synchronization and smoothness of the motion. The linear guide rail guides the linear motion of the platform in the X-axis direction to ensure the accuracy and stability of the motion. The linear module is installed on the X-axis drive mechanism to achieve precise movement of the platform in the Y-axis direction. The six-degree-of-freedom platform is installed on the Y-axis drive mechanism to provide six degrees of freedom of motion, including translation and rotation, to adapt to the complex curved surface shape of the hyperbolic aluminum material. It is set on the six-degree-of-freedom platform to clamp and position the hyperbolic aluminum material to ensure its precise centering during the assembly process. The digital model of the hyperbolic curtain wall unit is obtained, and the hyperbolic curvature radius, normal vector and key control point coordinates of the hyperbolic aluminum material are analyzed and extracted. A six-dimensional control parameter sequence corresponding to the spatial coordinates and attitude angle is generated according to the analysis results. According to the six-dimensional control parameter sequence, the coordinated action of the driving servo motor, linear module and six-degree-of-freedom platform is controlled to make the spatial coordinates and attitude angle of the centering fixture adapt to the curved surface shape of the hyperbolic aluminum material.

[0028] Through the automatic control of the control module, the errors caused by manual operation are reduced and the assembly accuracy is improved. The six-degree-of-freedom motion capability is provided to ensure that the centering fixture can accurately adapt to the complex curved surface shape of the hyperbolic aluminum material.

[0029] The introduction of quick clamp structure reduces clamping time and improves assembly efficiency. Through the automatic adjustment of the control module, the manual adjustment time is reduced and the overall work efficiency is improved. Through automatic control, the dependence on manual experience is reduced and the errors caused by manual operation are reduced. Through precise automatic control, the cumulative error of manual calibration of separation distance is reduced and the level of standardized operation is improved.

[0030] Universal wheels with brakes ensure the stability of the platform during assembly and prevent the movement of the platform from affecting the assembly accuracy. Linear guides and linear modules provide stable linear motion to ensure the motion accuracy and stability of the platform in the X-axis and Y-axis directions.

[0031] In summary, the hyperbolic curtain wall unit component assembly platform significantly improves assembly accuracy and efficiency, reduces manual dependence, and enhances stability through automated control and precise mechanical structure design, providing reliable technical support for the standardized operation of hyperbolic curtain wall units.

[0032] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are 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.

[0034] Figure 1 It is a structural schematic diagram of a hyperbolic curtain wall unit assembly platform provided in one embodiment of the present application;

[0035] Figure 2 It is a schematic diagram of the use of a hyperbolic curtain wall unit assembly platform provided in one embodiment of the present application;

[0036] Figure 3 It is a structural schematic diagram of a six-degree-of-freedom platform provided in one embodiment of the present application;

[0037] Figure 4 It is a schematic block diagram of the structure of a control module provided in one embodiment of the present application.

[0038] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0040] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0041] It should be understood that, in order to clearly describe the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, words such as "first" and "second" are used to distinguish the same or similar items with substantially the same functions and effects. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit the difference.

[0042] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0043] It should also be understood that the term “and / or” used in the specification and appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0044] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0045] At present, the assembly of curtain wall units is carried out on a simple working platform or mobile unit frame, without limit and positioning functions, and the assembly is entirely done by manually supporting and fixing the aluminum materials. When encountering non-straight aluminum materials (such as aluminum materials for hyperbolic curtain walls) during the assembly process, the aluminum materials cannot be fixed well in the original way. Since there is no benchmark, the shape and position errors of the assembled units are large.

[0046] As the current curtain wall modeling has more and more curved and hyperbolic designs, the difficulty of production and manufacturing has increased greatly. Therefore, a hyperbolic curtain wall unit assembly platform is urgently needed to achieve accurate assembly of curtain wall unit components.

[0047] To solve the above problems, please refer to Figures 1 to 3 The present application provides a hyperbolic curtain wall unit assembly platform, comprising: a platform body 1, wherein the bottom of the platform body is provided with a universal wheel with a brake; an X-axis drive mechanism, comprising a drive servo motor 3, a transmission synchronous belt 2 and a linear guide 4 arranged on the platform body; a Y-axis drive mechanism, comprising a linear module 5.1 arranged on the X-axis drive mechanism; a clamping device, comprising a six-degree-of-freedom 5.2 platform and a centering fixture 5.3, wherein the six-degree-of-freedom platform is installed on the Y-axis drive mechanism, and the centering fixture is arranged on the six-degree-of-freedom platform; a control module, for obtaining a digital model corresponding to a hyperbolic curtain wall unit, parsing the digital model, extracting the hyperbolic surface curvature radius, normal vector and key control point coordinates of the hyperbolic aluminum material corresponding to the hyperbolic curtain wall unit, for generating a six-dimensional control parameter sequence corresponding to the spatial coordinates and the attitude angle; according to the six-dimensional control parameter sequence, controlling the coordinated action of the drive servo motor, the linear module and the six-degree-of-freedom platform, so that the spatial coordinates and the attitude angle of the centering fixture are adapted to the hyperbolic aluminum material curved surface shape corresponding to the hyperbolic curtain wall unit.

[0048] Specifically, the hyperbolic curtain wall unit assembly platform is a device specially used for the precise assembly of hyperbolic curtain wall units, which solves the problems of large shape and position errors and low assembly efficiency caused by the lack of limit and positioning functions in traditional assembly methods. The platform integrates the X-axis drive mechanism, Y-axis drive mechanism, six-degree-of-freedom platform, centering fixture and control module to achieve high-precision positioning and fixation of hyperbolic aluminum materials, ensuring that the assembled curtain wall units meet the design requirements.

[0049] The platform body is the basic structure of the entire equipment, and is equipped with universal wheels with brakes at the bottom to facilitate the movement and fixation of the equipment.

[0050] The X-axis drive mechanism includes a drive servo motor, a transmission synchronous belt and a linear guide rail. The drive servo motor drives the slider on the linear guide rail to move along the X-axis direction through the transmission synchronous belt to achieve horizontal positioning of the aluminum material.

[0051] The Y-axis drive mechanism is arranged on the X-axis drive mechanism, and includes a linear module. The linear module moves along the Y-axis direction and cooperates with the X-axis drive mechanism to realize the two-dimensional positioning of the aluminum material.

[0052] The clamping device includes a six-degree-of-freedom platform and a centering fixture. The six-degree-of-freedom platform is installed on the Y-axis drive mechanism, which can realize the six-degree-of-freedom adjustment of the aluminum material in space (three degrees of freedom in translation and three degrees of freedom in rotation). The centering fixture is set on the six-degree-of-freedom platform to clamp and fix the aluminum material to ensure that its position and posture are consistent with the design requirements.

[0053] The control module is the core of the entire platform. It is responsible for obtaining the digital model of the hyperbolic curtain wall unit and parsing the model to extract the hyperbolic curvature radius, normal vector and key control point coordinates of the hyperbolic aluminum material. Based on these data, the control module generates a six-dimensional control parameter sequence corresponding to the spatial coordinates and attitude angle, and controls the coordinated action of the drive servo motor, linear module and six-degree-of-freedom platform to make the spatial coordinates and attitude angle of the centering fixture adapt to the surface shape of the hyperbolic aluminum material.

[0054] Through the precise adjustment of the six-degree-of-freedom platform and the centering fixture, the position and posture of the hyperbolic aluminum material are ensured to be consistent with the design model, which significantly reduces the form and position errors and improves the assembly accuracy. The collaborative work of the automated drive mechanism and the control module reduces the time and labor intensity of manual operation and improves the assembly efficiency. The platform can adapt to the curtain wall design of various complex curved surfaces and hyperbolic surfaces, solving the problem that the traditional assembly method cannot effectively fix non-straight aluminum materials. The universal wheel with brake design at the bottom of the platform body allows the equipment to be easily moved and fixed to adapt to different working environments and needs. The control module generates control parameters by analyzing the digital model, realizes the digital and intelligent assembly process, and improves the controllability and consistency of production.

[0055] Exemplarily, the parameters of the six-degree-of-freedom platform can be shown in the following table:

[0056]

[0057] In summary, the hyperbolic curtain wall unit component assembly platform provides strong technical support for the production and manufacturing of hyperbolic curtain walls through its high precision, high efficiency, strong adaptability and digital control, and significantly improves the assembly quality and production efficiency of curtain wall units.

[0058] In some embodiments, the digital model is parsed to extract the hyperbolic surface curvature radius, normal vector and key control point coordinates of the hyperbolic aluminum material corresponding to the hyperbolic curtain wall unit, including: converting the digital model into a preset surface expression form; calculating the hyperbolic surface curvature radius and the corresponding normal vector at the mesh vertices corresponding to the surface expression form; screening the key control area with drastic surface changes in the surface expression form according to the hyperbolic surface curvature radius and normal vector; and extracting the key control point coordinates in the key control area.

[0059] The digital model is converted into a preset surface expression form; the surface expression form is a NURBS surface expression, and the triangular mesh corresponding to the NURBS surface expression is divided into 0.5 mm; the hyperbolic surface curvature radius and the corresponding normal vector are calculated at the mesh vertices corresponding to the surface expression form; the key control area is screened in the surface expression form according to the hyperbolic surface curvature radius and the normal vector; the curvature change rate corresponding to the key control area exceeds 10%; and the coordinates of the key control point are extracted in the key control area.

[0060] The embodiment mainly relates to how to extract the hyperbolic surface curvature radius, normal vector and key control point coordinates of the hyperbolic aluminum material from the digital model of the hyperbolic curtain wall unit, so as to provide accurate control parameters for subsequent assembly.

[0061] By converting the digital model of the hyperbolic curtain wall unit into a preset surface expression form. In this embodiment, the surface expression form adopts NURBS (non-uniform rational B-spline) surface expression. NURBS surface is a surface representation method widely used in computer-aided design (CAD) and can accurately describe complex surfaces. The NURBS surface is triangulated with a meshing accuracy of 0.5 mm. This means that the surface is divided into many small triangles, and the side length of each triangle does not exceed 0.5 mm. This high-precision meshing helps the subsequent curvature calculation and extraction of key control points. The hyperbolic surface curvature radius and the corresponding normal vector are calculated at the mesh vertex corresponding to the NURBS surface expression. The curvature radius describes the degree of curvature of the surface at a certain point, and the normal vector represents the surface direction of the point. These parameters are the basis for subsequent key control area screening. According to the calculated hyperbolic surface curvature radius and normal vector, the key control area is screened in the NURBS surface expression. The key control area refers to the area where the curvature change rate exceeds 10%. These areas are usually places where the surface changes more drastically and have a greater impact on the overall shape. The coordinates of key control points are extracted from the selected key control areas. These key control points are the positions that need to be precisely controlled in the subsequent assembly process to ensure that the assembled curtain wall units meet the design requirements.

[0062] Exemplarily, extracting the key control point coordinates in the key control area includes: extracting a set of key control point coordinates in the key control area; converting the normal vector and the set of key control point coordinates to a coordinate system corresponding to the platform body, and obtaining the key control point coordinates in the coordinate system corresponding to the platform body.

[0063] A set of key control point coordinates is extracted from the key control area based on the Delaunay triangulation algorithm; the normal vector and the set of key control point coordinates are converted to a coordinate system corresponding to the platform body, and the coordinates of the key control points are obtained in the coordinate system corresponding to the platform body.

[0064] The example further details how to extract the coordinates of key control points in the key control area and transform these coordinates into the coordinate system corresponding to the platform body.

[0065] Based on the Delaunay triangulation algorithm, the key control point coordinate set is extracted in the key control area. Delaunay triangulation is a commonly used mesh generation method that can ensure that the generated triangles are as close to equilateral triangles as possible, thereby improving the stability and accuracy of the calculation. The extracted key control point coordinate set and the corresponding normal vector are converted to the coordinate system corresponding to the platform body. This step ensures that the subsequent control parameters can match the actual position and posture of the platform to achieve precise control. The key control point coordinates are obtained in the coordinate system corresponding to the platform body. These coordinates will be used to generate a six-dimensional control parameter sequence to control the coordinated action of the drive servo motor, linear module and six-degree-of-freedom platform.

[0066] The above-mentioned embodiments and corresponding examples ensure the extraction and positioning of key control points with high precision through Delaunay triangulation algorithm and coordinate transformation, and provide reliable basic data for subsequent assembly. Accurate key control point coordinates can effectively reduce the shape and position errors in the assembly process, and ensure that the assembled curtain wall units meet the design requirements. This example method can adapt to the curtain wall design of various complex curved surfaces and hyperbolic surfaces, and solves the problem that traditional methods cannot effectively handle non-straight aluminum materials. The automated key control point extraction and coordinate transformation process reduces the time and labor intensity of manual operation and improves production efficiency. By extracting and transforming the key control point coordinates through digital methods, digital and intelligent control of the assembly process is realized, and the controllability and consistency of production are improved.

[0067] In summary, the above embodiments and corresponding examples provide strong technical support for the precise assembly of hyperbolic curtain wall units through high-precision digital model analysis, key control point extraction and coordinate conversion, and significantly improve assembly accuracy and production efficiency.

[0068] In some embodiments, the generating of a six-dimensional control parameter sequence corresponding to spatial coordinates and attitude angles includes: obtaining the joint displacement of the six-degree-of-freedom platform according to the hyperbolic curvature radius, normal vector and key control point coordinates based on an inverse kinematics algorithm to construct a posture matrix; using a cubic spline interpolation method to generate continuous trajectory points corresponding to the posture matrix, wherein the time interval between adjacent trajectory points in the continuous trajectory points is less than or equal to 50 ms; and generating the six-dimensional control parameter sequence according to preset constraints and the continuous trajectory points.

[0069] The embodiment mainly involves how to generate a six-dimensional control parameter sequence corresponding to the spatial coordinates and the attitude angles to accurately control the movement of the six-degree-of-freedom platform and ensure that the assembly process of the hyperbolic curtain wall unit meets the design requirements.

[0070] Based on the inverse kinematics algorithm, the joint displacement of the six-degree-of-freedom platform is calculated according to the curvature radius of the hyperboloid, the normal vector and the coordinates of the key control points. The inverse kinematics algorithm is a method of inferring the joint displacement through the target posture, which can ensure that the motion trajectory of the six-degree-of-freedom platform is consistent with the target posture. According to the calculated joint displacement, the posture matrix of the six-degree-of-freedom platform is constructed. The posture matrix describes the position and posture of the platform in space and is the basis for subsequent trajectory generation. The cubic spline interpolation method is used to generate continuous trajectory points corresponding to the posture matrix. The cubic spline interpolation method can generate a smooth trajectory, ensure that there is no sudden change during the movement of the six-degree-of-freedom platform, and improve the stability and accuracy of the movement. The time interval between adjacent trajectory points is less than or equal to 50ms, ensuring the continuity and real-time performance of the movement process. According to the preset constraints and continuous trajectory points, a six-dimensional control parameter sequence is generated. These parameter sequences will be used to control the movement of the six-degree-of-freedom platform to ensure that the assembly process meets the design requirements.

[0071] Exemplarily, the constraints include: the range of the clamping force is 50 to 200 N, the platform movement speed of the six-degree-of-freedom platform is less than or equal to 0.2 m / s, and the adjacent posture angle deviation corresponding to adjacent trajectory points is less than or equal to 2°.

[0072] The example further details the constraints adopted in the process of generating the six-dimensional control parameter sequence.

[0073] The corresponding range of clamping force is 50 to 200N. This range ensures that the centering fixture can provide sufficient clamping force without damaging the aluminum material when clamping the hyperbolic aluminum material. The platform movement speed corresponding to the six-degree-of-freedom platform is less than or equal to 0.2m / s. This speed limit ensures that the platform remains stable during movement and avoids vibration and errors caused by excessive speed. The adjacent posture angle deviation corresponding to adjacent trajectory points is less than or equal to 2°. This limit ensures that the posture changes of the six-degree-of-freedom platform are smooth during movement and avoids assembly errors caused by sudden changes in posture.

[0074] Through the inverse kinematics algorithm and cubic spline interpolation method, an accurate six-dimensional control parameter sequence is generated to ensure that the motion trajectory of the six-degree-of-freedom platform is consistent with the target posture and improve assembly accuracy. The smooth trajectory generated by the cubic spline interpolation method and the preset constraints ensure that the six-degree-of-freedom platform remains stable during movement and avoids vibration and errors caused by excessive speed or sudden changes in posture. The setting of the clamping force range ensures that the centering fixture can provide sufficient clamping force when clamping hyperbolic aluminum materials without causing damage to the aluminum materials, thereby protecting the integrity of the aluminum materials. The automated six-dimensional control parameter sequence generation process reduces the time and labor intensity of manual operations and improves production efficiency. The preset constraints can adapt to the curtain wall design of various complex curved surfaces and hyperbolic surfaces, solving the problem that traditional methods cannot effectively handle non-straight aluminum materials.

[0075] In some embodiments, controlling the coordinated action of the driving servo motor, linear module and six-degree-of-freedom platform according to the six-dimensional control parameter sequence includes: controlling the servo motor and the linear module according to a position-speed dual-loop PID control algorithm according to the six-dimensional control parameter sequence, wherein the proportional coefficient of the position-speed dual-loop PID control algorithm is 1.2, and the integration time is 0.05s; obtaining the joint encoder feedback value, IMU attitude angle data and laser ranging value corresponding to the six-degree-of-freedom platform in the six-dimensional control parameter sequence, for controlling the six-degree-of-freedom platform to work.

[0076] The embodiment mainly relates to how to control the coordinated actions of the drive servo motor, the linear module and the six-degree-of-freedom platform according to a six-dimensional control parameter sequence to achieve precise assembly of hyperbolic curtain wall units.

[0077] According to the six-dimensional control parameter sequence, the position-speed dual-loop PID control algorithm is used to control the drive servo motor and linear module. The position-speed dual-loop PID control algorithm is a commonly used motion control algorithm. Through the outer loop position control and the inner loop speed control, it ensures that the motion system can reach the target position quickly and accurately. The proportional coefficient is 1.2 and the integral time is 0.05s. These parameters ensure the response speed and stability of the control system and avoid oscillation or overshoot caused by improper parameter settings. The joint encoder feedback value, IMU attitude angle data and laser ranging value corresponding to the six-degree-of-freedom platform are obtained in the six-dimensional control parameter sequence. These data are used to monitor and adjust the position and attitude of the six-degree-of-freedom platform in real time to ensure that its motion trajectory is consistent with the target posture. Provide the displacement information of each joint of the six-degree-of-freedom platform for precise control of the position of the platform. The IMU attitude angle data provides the attitude angle information of the six-degree-of-freedom platform for precise control of the attitude of the platform. Laser ranging value: Provides the distance information between the six-degree-of-freedom platform and the target position for precise control of the moving distance of the platform. The six-degree-of-freedom platform is controlled to work according to the obtained joint encoder feedback value, IMU attitude angle data and laser ranging value. By adjusting the position and attitude of the platform in real time, the spatial coordinates and attitude angle of the centering fixture are ensured to adapt to the curved surface shape of the hyperbolic aluminum material to achieve precise assembly.

[0078] Through the position-speed dual-loop PID control algorithm and real-time feedback data, the motion trajectory of the driving servo motor, linear module and six-degree-of-freedom platform is ensured to be consistent with the target posture, thereby improving the assembly accuracy. The proportional coefficient and integral time setting of the position-speed dual-loop PID control algorithm ensure that the control system can respond quickly and reduce delays and errors during the movement process. By combining the encoder feedback value, IMU attitude angle data and laser ranging value, the position and posture of the six-degree-of-freedom platform are monitored and adjusted in real time to ensure that its motion trajectory is consistent with the target posture, thereby improving the accuracy and stability of assembly. The automated collaborative action control process reduces the time and labor intensity of manual operation and improves production efficiency. Real-time feedback data and the position-speed dual-loop PID control algorithm can adapt to the curtain wall design of various complex curved surfaces and hyperbolic surfaces, solving the problem that traditional methods cannot effectively handle non-straight aluminum materials.

[0079] In summary, the embodiment provides strong technical support for the precise assembly of hyperbolic curtain wall units through a high-precision position-speed dual-loop PID control algorithm and real-time feedback data, and significantly improves assembly accuracy, response speed, and production efficiency.

[0080] In some embodiments, the method of adapting the spatial coordinates and posture angle of the centering fixture to the hyperbolic aluminum material surface shape corresponding to the hyperbolic curtain wall unit includes: before the centering fixture contacts the hyperbolic aluminum material, if a preset force sensor detects that the contact force corresponding to the centering fixture is greater than or equal to 5N, switching the centering fixture to a preset impedance control mode and activating a preset dynamic compensation mode.

[0081] The embodiments mainly involve how to make the spatial coordinates and posture angles of the centering clamp adapt to the hyperbolic aluminum material surface shape corresponding to the hyperbolic curtain wall unit element, especially when the centering clamp contacts the hyperbolic aluminum material, by switching to the impedance control mode and activating the dynamic compensation mode, the stability and accuracy of the clamping process are ensured.

[0082] Before the centering fixture contacts the hyperbolic aluminum material, the preset force sensor detects the contact force corresponding to the centering fixture in real time. If the contact force is greater than or equal to 5N, the system automatically switches the centering fixture to the preset impedance control mode and activates the preset dynamic compensation mode.

[0083] Exemplarily, the impedance control mode adopts a six-dimensional Cartesian space impedance mode, and its dynamic equation satisfies: ;in is the equivalent mass matrix, is the velocity damping matrix, is the stiffness matrix, is the deviation vector between the actual displacement of the centering fixture and the expected trajectory, is the contact force. 5N is F_desired, i.e. the desired force. The formula states that when the centering fixture contacts the environment (hyperbolic aluminum material) to generate an external force F_ext, the system dynamically adjusts the displacement deviation Δx so that the difference between the contact force F_ext and the desired force 5N drives the mechanical system to produce compliant motion. At the same time, the dimensions on both sides of the formula are unified to Newton (N). By combining the six-dimensional Cartesian spatial impedance model with the special working conditions of curtain wall assembly, and setting the contact force threshold of F_desired=5N, the reliability of assembly contact is guaranteed, while the deformation of aluminum material caused by excessive clamping force is avoided.

[0084] The equivalent mass matrix M describes the inertial characteristics of the system and affects the acceleration response of the system. The velocity damping matrix D describes the damping characteristics of the system and affects the velocity response of the system. The stiffness matrix K describes the stiffness characteristics of the system and affects the displacement response of the system. The contact force F_ext is the interaction force between the centering fixture and the hyperbolic aluminum material. The movement of the centering fixture is adjusted through feedback. Through the impedance control mode, the centering fixture can achieve compliance control when contacting the hyperbolic aluminum material to avoid damage to the aluminum material caused by rigid contact. The damping matrix and stiffness matrix in the dynamic equation ensure that the system remains stable during the contact process to avoid oscillation and overshoot. Through real-time feedback of the contact force, the movement of the centering fixture is adjusted to ensure the accuracy of the clamping process.

[0085] In the above formula, the left-hand side terms: [M·Δẍ] = kg·m / s² = N; [D·Δẋ] = (N·s / m)·m / s = N; [K·Δx] = N / m·m = N; M (equivalent mass matrix): 6×6D (velocity damping matrix): 6×6K (stiffness matrix): 6×6Δẍ, Δẋ, Δx (posture deviation vector): 6×1Calculation result: 6×1 force vector (dimension: Newton); right-hand side terms: [F_ext -5N] = N - N = N; F_ext (measured contact force): 6×1 force vector; 5N (desired contact force): 6×1 force vector; Calculation result: 6×1 force vector (dimension: Newton). The dimensions of both sides of the equation are unified to Newton (N) in accordance with the laws of physics. Among them, regarding F_ext and 5N, in the six-dimensional Cartesian space impedance control, F_desired corresponding to F_ext and 5N is defined as:

[0086] ;

[0087] Where: Fx, Fy, Fz are the desired contact forces in the X / Y / Z axis (unit: N). For example, in the curtain wall assembly process, the normal contact force (Z axis direction) is the key factor causing material deformation. Therefore, Fz=5N; the other components are zero. That is, the vector corresponding to the final F_desired is [0,0,5,0,0,0] T . At this time, the normal (Z axis) activates impedance control, with F_desired,z=5 N as the desired value. Tangential (X / Y axis): Keep F_desired,x=F_desired,y=0 to allow free sliding; Torque component: Maintain zero desired torque to suppress torsion. Therefore, the formula provided can be selectively mapped to the normal component of the six-dimensional force vector and keep other components zero to meet the process requirements of hyperbolic curtain wall assembly. And it conforms to the laws of physics.

[0088] Exemplarily, the dynamic compensation mode includes: obtaining the rate of change corresponding to the contact force, and adjusting the coefficient of the velocity damping matrix online; wherein, when the rate of change is greater than 10N / s, the damping coefficient of the velocity damping matrix in the z-axis direction is increased by 20%-50%; based on the IMU attitude angle data collected by the IMU attitude sensor installed at the end of the centering fixture, a dynamic alignment model of the coordinate system of the end of the centering fixture and the normal vector of the hyperbolic aluminum surface is constructed to obtain the compensation torque feedforward; the transmission error of the transmission synchronous belt and the thermal deformation of the linear module are obtained; and the dynamic supplement of the contact force is completed according to the updated velocity damping matrix, compensation torque feedforward, transmission error and thermal deformation.

[0089] The example details the specific implementation steps of the dynamic compensation mode. By real-time monitoring the change rate of the contact force, when the change rate is greater than 10N / s, the damping coefficient of the velocity damping matrix in the z-axis direction is increased by 20%-50% to suppress the rapid change of the contact force and avoid impact on the aluminum material.

[0090] According to the IMU attitude angle data collected by the IMU attitude sensor installed at the end of the centering fixture, a dynamic alignment model between the coordinate system of the end of the centering fixture and the normal vector of the hyperbolic aluminum surface is constructed to obtain the compensation torque feedforward amount and ensure that the attitude of the centering fixture is aligned with the normal vector of the aluminum surface.

[0091] The transmission error of the synchronous belt and the thermal deformation of the linear module are obtained. These errors and deformations will affect the positioning accuracy of the centering fixture. According to the updated velocity damping matrix, compensation torque feedforward, transmission error and thermal deformation, the contact force is dynamically supplemented to ensure the stability and accuracy of the clamping process.

[0092] By increasing the damping coefficient of the velocity damping matrix, the rapid change of contact force can be effectively suppressed to avoid impact on the aluminum material. The dynamic alignment model ensures that the posture of the centering fixture is aligned with the normal vector of the aluminum surface to improve the clamping accuracy. By obtaining the transmission error and thermal deformation and dynamically supplementing them, the positioning accuracy of the centering fixture is ensured to improve the assembly quality. The dynamic compensation mode ensures the stability of the clamping process by adjusting the contact force in real time to avoid errors caused by external interference.

[0093] In some embodiments, by using a high-precision laser scanner and a depth camera, the surface shape of the hyperbolic curtain wall unit is scanned in real time to generate high-precision point cloud data. Through the point cloud data processing algorithm, the curvature, normal vector and key control points of the surface are extracted, and the complex features of the surface are automatically identified. Based on the extracted surface features, a dynamic path planning algorithm is used to generate the motion path of the centering fixture. The path planning algorithm takes into account the curvature changes and key control points of the surface to ensure that the motion path is smooth and accurate. During the movement, the path planning is adjusted in real time to adapt to slight changes in the surface and external interference. The contact force and posture of the centering fixture are monitored in real time through force sensors and IMU attitude sensors, and feedback is fed back to the control system. According to the feedback data, the motion path and clamping force are dynamically adjusted to ensure the stability and accuracy of the clamping process.

[0094] High-precision laser scanners and depth cameras enable accurate recognition of curved surfaces and improve assembly accuracy. Dynamic path planning algorithms can adapt to small changes in curved surfaces and external interference to ensure smooth and accurate motion paths. Real-time feedback and control mechanisms ensure stability and accuracy of the clamping process and improve assembly quality.

[0095] In some embodiments, the platform also includes an integrated force sensor, an IMU posture sensor, a laser rangefinder and a visual sensor; the control module collects the contact force, posture, distance and visual information of the centering fixture in real time according to the integrated force sensor, the IMU posture sensor, the laser rangefinder and the visual sensor; the control module fuses the contact force, posture, distance and visual information through a multi-sensor fusion algorithm to generate environmental perception information, so as to generate a motion control strategy for the centering fixture according to the environmental perception information.

[0096] By integrating force sensors, IMU attitude sensors, laser rangefinders and visual sensors, the contact force, attitude, distance and visual information of the centering fixture are collected in real time. Through the multi-sensor fusion algorithm, the data of different sensors are fused to generate comprehensive environmental perception information. Based on the fused environmental perception information, the intelligent decision-making algorithm is used to generate the motion control strategy of the centering fixture. The intelligent decision-making algorithm considers the curvature, contact force, attitude and distance of the surface to ensure the rationality and accuracy of the motion control strategy. During the movement, the control strategy is adjusted in real time to adapt to environmental changes and external interference. Through the machine learning algorithm, historical data is analyzed and learned, the motion control strategy and path planning algorithm are optimized, and the intelligence level of the system is improved.

[0097] Through the multi-sensor fusion mechanism, comprehensive environmental perception information is generated to improve the system's perception ability. Through the intelligent decision-making algorithm, reasonable and accurate motion control strategies are generated to improve assembly accuracy and efficiency. Through the autonomous learning and optimization mechanism, the system's intelligence level is improved to adapt to complex and changing assembly environments.

[0098] This embodiment further refines the multi-sensor collaborative control architecture and integrates a force sensor group: a six-dimensional force / torque sensor (such as ATI Mini40) is embedded and installed between the end flange of the six-degree-of-freedom platform and the centering fixture to collect the three-dimensional contact force (Fx, Fy, Fz) and torque (Mx, My, Mz) of the contact surface between the fixture and the hyperbolic aluminum material in real time, with a sampling frequency of ≥1kHz. The sensor output signal is transmitted to the FPGA preprocessing unit of the control module via the RS485 bus for noise filtering and temperature drift compensation.

[0099] IMU attitude sensor unit: A MEMS inertial measurement unit (such as ADI ADIS16470) is integrated at the base of the dynamic platform of the six-degree-of-freedom platform, including a three-axis gyroscope (range ±2000° / s) and an accelerometer (range ±40g), which outputs the pitch angle, roll angle, yaw angle and angular velocity data of the platform body at a frequency of 200Hz. The IMU data is connected to the real-time motion controller (such as Beckhoff CX9020) of the control module through the SPI interface.

[0100] Laser ranging array: 4 sets of laser triangulation ranging sensors (such as Keyence IL-300) are arranged at the four corners of the platform body, with a measurement range of 0-500mm and a resolution of 0.01mm, forming a three-dimensional ranging network for the fixture working area. The ranging data is transmitted to the control module via the Ethernet EtherCAT protocol to construct the relative distance field between the fixture and the curtain wall unit.

[0101] Visual sensing system: A binocular stereo camera (such as Basler ace 2) is installed on the top of the Y-axis drive mechanism with a ring LED light source. The camera resolution is 2448×2048 and the frame rate is 30fps. The visual system uses the GPU-accelerated OpenCV algorithm to extract the edge feature points of the hyperbolic aluminum material in real time, generate 3D point cloud data of the workpiece surface and match it with the preset CAD model reference coordinate system.

[0102] The control module deploys an asynchronous multi-threaded data processing framework based on ROS (Robot Operating System). The specific process includes: Spatiotemporal alignment module: The data of each sensor is unified to the same time base through the hardware timestamp synchronization mechanism, and the quaternion interpolation method is used to perform motion compensation on the IMU attitude data to eliminate the posture error caused by transmission delay. Feature-level fusion layer: The visual point cloud data is ICP (Iterative Closest Point) registered with the laser ranging grid to generate a three-dimensional dense map of the environment with sub-millimeter accuracy; the extended Kalman filter (EKF) is used to fuse the IMU angular velocity and visual SLAM (Simultaneous Localization and Mapping) posture data to build a motion state estimation model for the six-degree-of-freedom platform; the contact force data of the force sensor and the visual surface normal vector are integrated through the weighted least squares method to calculate the actual contact stiffness coefficient between the fixture and the workpiece.

[0103] Decision-level optimization layer: Establish a multi-objective cost function including position error, posture deviation, and contact force threshold: J=Σ(α‖P_actual-P_target‖² + β‖θ_actual-θ_target‖² + γ‖F-F_safe‖²), where α, β, and γ are dynamically adjusted weight coefficients; use the model predictive control (MPC) algorithm to roll and optimize the motion trajectory in the next three control cycles. The constraints include the maximum acceleration of the linear module (2m / s²), the joint angle limit of the six-degree-of-freedom platform (±30°), and the contact force safety threshold (F_safe=50N).

[0104] In the rough positioning stage, the AR tag (AprilTag) on ​​the curtain wall unit is identified by the visual system, and the X / Y axis linear module is driven to move the fixture to the target area within ±5mm at a speed of 0.5m / s. At this time, the six-degree-of-freedom platform remains in the zero-position locked state.

[0105] In the fine alignment stage, the high-precision mode is activated through the laser ranging array to scan the curvature change of the workpiece surface with a resolution of 0.1mm; the control module calls the NURBS surface interpolation algorithm to generate the continuous motion trajectory of the end of the fixture according to the coordinates of the key control points; the six-degree-of-freedom platform adopts the impedance control mode, and dynamically adjusts the end stiffness matrix K=diag([500,500,500,200,200,200] N / m) according to the contact force feedback to achieve adaptive and smooth fit of the surface. When it is detected that the contact force exceeds the safety threshold, the adaptive controller based on Lyapunov stability theory is triggered to reduce the contact force to a safe range within 50ms; the visual system continuously monitors the alignment of the workpiece edge. When a position deviation of >0.2mm is detected, the joint space compensation Δq=J⁻¹Δx is generated by the inverse solution of the Jacobian matrix to drive the linear module and the six-degree-of-freedom platform to compensate collaboratively.

[0106] The touch screen displays a 3D visualization interface after multi-sensor fusion, where the operator can manually adjust control parameters: overlay the theoretical NURBS surface (translucent blue) and the actual scan point cloud (red point set) to show the degree of fit; draw a contact force vector arrow diagram in real time, and trigger an audible and visual alarm when the force component in any direction exceeds the threshold; provide a "learning mode" function to record the sensor data sequence during the successful assembly process, and generate a process knowledge base through LSTM neural network training to optimize subsequent control parameters.

[0107] This embodiment achieves high-precision (±0.05mm), low-stress (<5MPa surface compressive stress) assembly of hyperbolic curtain wall units through high-frequency data fusion and model predictive control of multi-source heterogeneous sensors, which is more than 3 times more efficient than traditional tooling.

[0108] In some embodiments, the control module constructs a virtual model of the hyperbolic curtain wall unit based on virtual reality technology to display the motion trajectory and posture of the centering fixture; the control module transmits the motion data of the virtual model and the centering fixture to a preset remote monitoring center in real time to realize remote monitoring and operation.

[0109] By using virtual reality technology, a virtual model of the hyperbolic curtain wall unit is constructed to display the motion trajectory and posture of the centering fixture in real time. The operator uses VR equipment to monitor and adjust the motion of the centering fixture in real time to ensure the accuracy of the clamping process. Through the Internet, the motion data of the virtual model and the centering fixture are transmitted to the remote monitoring center in real time to achieve remote monitoring and operation. Remote experts can use VR equipment to guide on-site operations in real time and solve complex problems. Record the motion data and operation process of the centering fixture and generate a detailed assembly report. Through data analysis, optimize the motion control strategy and path planning algorithm to improve assembly efficiency and quality.

[0110] Through virtual reality assisted operation, an intuitive operation interface is provided to improve the operator's operation accuracy and efficiency. The remote monitoring mechanism enables remote experts to provide real-time guidance on on-site operations and solve complex problems. The data recording and analysis mechanism optimizes motion control strategies and path planning algorithms to improve assembly efficiency and quality.

[0111] In some embodiments, the centering fixture, drive servo motor, linear module and six-degree-of-freedom platform are designed as a modular structure to facilitate rapid replacement and maintenance. Each module has an independent control system and interface to ensure compatibility and interchangeability between modules. Through standardized interfaces and quick connectors, the centering fixture and drive module can be quickly replaced to reduce downtime. During the assembly process, the centering fixture and drive module can be quickly replaced according to the different shapes of hyperbolic aluminum materials to improve assembly efficiency. The integrated intelligent diagnostic system monitors the operating status of each module in real time, predicts potential failures, and provides maintenance suggestions. Through the remote maintenance system, remote diagnosis and maintenance can be achieved to reduce on-site maintenance time and costs.

[0112] Modular design and quick-change mechanism reduce downtime and improve assembly efficiency. According to different hyperbolic aluminum shapes, the centering fixture and drive module can be quickly replaced to improve assembly flexibility and adaptability. Intelligent diagnosis and maintenance system improves system reliability and maintenance efficiency and reduces maintenance costs.

[0113] In summary, these creative embodiments significantly improve the intelligence, flexibility and efficiency of the hyperbolic curtain wall unit assembly platform by introducing advanced technologies such as adaptive surface recognition, multi-sensor fusion, virtual reality assisted operation and modular design, providing strong technical support for the assembly of complex surfaces.

[0114] An embodiment of the present application provides a method for assembling a hyperbolic curtain wall unit. The execution device of the method is a control module of the hyperbolic curtain wall unit assembly platform provided in any embodiment of the present application.

[0115] The provided method includes steps S101 to S104, wherein the control module may be a handheld terminal, a notebook computer, a wearable device or a robot, etc. for implementing steps S101 to S104 and corresponding embodiments thereof.

[0116] Step S101: Obtain a digital model corresponding to a hyperbolic curtain wall unit element.

[0117] Specifically, step S101 mainly involves obtaining a digital model of a hyperbolic curtain wall unit, which is the basic data source for subsequent steps and contains information such as the geometric shape, size, and surface features of the hyperbolic aluminum material.

[0118] For example, digital models of hyperbolic curtain wall elements can be obtained through CAD software or BIM (Building Information Modeling) systems. These models are usually generated in the design phase and contain detailed geometry and material information. Alternatively, actual hyperbolic curtain wall elements can be scanned through high-precision laser scanners or depth cameras to generate point cloud data, and digital models can be generated through point cloud processing software. The acquired digital model is transmitted to the control module of the hyperbolic curtain wall element assembly platform. The control module can be a handheld terminal, a laptop, a wearable device, or a robot.

[0119] The digital model obtained through CAD or BIM system provides high-precision geometric and material information to ensure the accuracy of subsequent steps. Through laser scanning or depth camera, the digital model of the actual hyperbolic curtain wall unit can be flexibly obtained to adapt to different scenarios and needs.

[0120] Step S102: Analyze the digital model to extract the hyperbolic surface curvature radius, normal vector and key control point coordinates of the hyperbolic aluminum material corresponding to the hyperbolic curtain wall unit.

[0121] Specifically, step S102 mainly involves analyzing the digital model, extracting the hyperbolic surface curvature radius, normal vector and key control point coordinates of the hyperbolic aluminum material, which are key inputs for generating a six-dimensional control parameter sequence.

[0122] For example, digital model analysis software is used to analyze the digital model of the hyperbolic curtain wall unit and extract the geometric features of the hyperbolic aluminum material. The hyperbolic surface curvature radius, normal vector and key control point coordinates of the hyperbolic aluminum material are extracted. These data describe the surface shape and key positions of the hyperbolic aluminum material and are the basis for subsequent steps. The extracted data is verified to ensure its accuracy and completeness. If necessary, corrections are made through manual or automated tools.

[0123] The digital model analysis software is used to accurately extract the geometric features of the hyperbolic aluminum material to ensure the accuracy of subsequent steps. The extracted hyperbolic curvature radius, normal vector and key control point coordinates are the key inputs for generating a six-dimensional control parameter sequence to ensure the accuracy of the assembly process.

[0124] Step S103: Generate a six-dimensional control parameter sequence corresponding to the space coordinates and attitude angle according to the hyperboloid curvature radius, normal vector and key control point coordinates.

[0125] Specifically, step S103 mainly involves generating a six-dimensional control parameter sequence corresponding to the space coordinates and the attitude angle according to the hyperbolic curvature radius, the normal vector and the coordinates of the key control points, so as to control the movement of the six-degree-of-freedom platform.

[0126] Based on the inverse kinematics algorithm, the joint displacement of the six-degree-of-freedom platform is calculated according to the hyperboloid curvature radius, normal vector and key control point coordinates, and the pose matrix is ​​constructed. The continuous trajectory points corresponding to the pose matrix are generated by cubic spline interpolation to ensure smooth and accurate motion trajectory. The time interval between adjacent trajectory points is less than or equal to 50ms to ensure the continuity and real-time performance of the motion process. According to the preset constraints and continuous trajectory points, a six-dimensional control parameter sequence is generated. These parameter sequences will be used to control the motion of the six-degree-of-freedom platform to ensure that the assembly process meets the design requirements.

[0127] Through the inverse kinematics algorithm and cubic spline interpolation method, an accurate six-dimensional control parameter sequence is generated to ensure that the motion trajectory of the six-degree-of-freedom platform is consistent with the target posture and improve assembly accuracy. The smooth trajectory generated by the cubic spline interpolation method ensures that there is no sudden change during the motion of the six-degree-of-freedom platform, improving the stability and accuracy of the motion. The time interval between adjacent trajectory points is less than or equal to 50ms, ensuring the continuity and real-time nature of the motion process and improving assembly efficiency.

[0128] Step S104: Control the coordinated actions of the driving servo motor, the linear module and the six-degree-of-freedom platform according to the six-dimensional control parameter sequence, so that the spatial coordinates and the posture angle of the centering fixture are adapted to the hyperbolic aluminum material surface shape corresponding to the hyperbolic curtain wall unit element.

[0129] Specifically, step S104 mainly involves controlling the coordinated action of the driving servo motor, the linear module and the six-degree-of-freedom platform according to the six-dimensional control parameter sequence, so that the spatial coordinates and attitude angles of the centering fixture are adapted to the hyperbolic aluminum material surface shape, and accurate assembly is achieved. According to the six-dimensional control parameter sequence, the driving servo motor and the linear module are controlled by the position-speed dual-loop PID control algorithm. The proportional coefficient is 1.2, and the integral time is 0.05s, which ensures the response speed and stability of the control system. The joint encoder feedback value, IMU attitude angle data and laser ranging value corresponding to the six-degree-of-freedom platform are obtained in the six-dimensional control parameter sequence, which are used to monitor and adjust the position and attitude of the six-degree-of-freedom platform in real time to ensure that its motion trajectory is consistent with the target posture. According to the obtained joint encoder feedback value, IMU attitude angle data and laser ranging value, the six-degree-of-freedom platform is controlled to work. By adjusting the position and attitude of the platform in real time, it is ensured that the spatial coordinates and attitude angles of the centering fixture are adapted to the hyperbolic aluminum material surface shape, and accurate assembly is achieved.

[0130] Through the position-speed dual-loop PID control algorithm and real-time feedback data, the motion trajectory of the driving servo motor, linear module and six-degree-of-freedom platform is ensured to be consistent with the target posture, thereby improving the assembly accuracy. The proportional coefficient and integral time setting of the position-speed dual-loop PID control algorithm ensure that the control system can respond quickly and reduce delays and errors during the movement process. By combining the encoder feedback value, IMU attitude angle data and laser ranging value, the position and posture of the six-degree-of-freedom platform are monitored and adjusted in real time to ensure that its motion trajectory is consistent with the target posture, thereby improving the accuracy and stability of assembly. The automated collaborative motion control process reduces the time and labor intensity of manual operation and improves production efficiency.

[0131] In summary, steps S101 to S104 provide strong technical support for the precise assembly of hyperbolic curtain wall units through high-precision data acquisition, analysis, control parameter generation and coordinated action control, and significantly improve assembly accuracy, response speed and production efficiency.

[0132] It should be noted that, those skilled in the art can clearly understand that, for the convenience and simplicity of description, the above-described hyperbolic curtain wall unit component assembly method and the specific working process of each step can refer to the corresponding process in the embodiment of a hyperbolic curtain wall unit component assembly platform described in the above-mentioned embodiments, and will not be repeated here.

[0133] The embodiment of the present application also provides a hyperbolic curtain wall unit component assembly module. The hyperbolic curtain wall unit component assembly module is used to execute the steps of a hyperbolic curtain wall unit component assembly method shown in the above embodiments. The hyperbolic curtain wall unit component assembly module can be a single server or a server cluster, or the hyperbolic curtain wall unit component assembly module can be a terminal, which can be a handheld terminal, a laptop computer, a wearable device or a robot, etc.

[0134] The hyperbolic curtain wall unit assembly module includes:

[0135] A model extraction unit, used to obtain a digital model corresponding to a hyperbolic curtain wall unit element;

[0136] A model analysis unit, used to analyze the digital model and extract the hyperbolic surface curvature radius, normal vector and key control point coordinates of the hyperbolic aluminum material corresponding to the hyperbolic curtain wall unit element;

[0137] A sequence generating unit, used for generating a six-dimensional control parameter sequence corresponding to the space coordinates and the attitude angle according to the hyperboloid curvature radius, the normal vector and the key control point coordinates;

[0138] A collaborative control unit is used to control the collaborative action of the drive servo motor, the linear module and the six-degree-of-freedom platform according to the six-dimensional control parameter sequence, so that the spatial coordinates and the posture angle of the centering fixture are adapted to the hyperbolic aluminum material surface shape corresponding to the hyperbolic curtain wall unit element.

[0139] It should be noted that, those skilled in the art can clearly understand that, for the convenience and simplicity of description, the hyperbolic curtain wall unit component assembly module and the specific working process of each unit described above can refer to the corresponding process in the embodiment of a hyperbolic curtain wall unit component assembly method described in the above embodiments, and will not be repeated here.

[0140] The above-mentioned method for assembling hyperbolic curtain wall units is implemented in the form of a computer program, which can be run on the above-mentioned modules.

[0141] See also Figure 4 , Figure 4 : is a schematic block diagram of the structure of a control module provided in an embodiment of the present application. The control module includes a processor, a memory and a network interface connected via a device bus, wherein the memory may include a storage medium and an internal memory.

[0142] The storage medium can store an operating device and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any embodiment of the method for assembling a hyperbolic curtain wall unit.

[0143] The processor is used to provide computing and control capabilities and support the operation of the entire control module.

[0144] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, the processor can execute any basic hyperbolic curtain wall unit component assembly method.

[0145] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the terminal to which the scheme of the present application is applied. The specific control module may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0146] It should be understood that the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0147] In one embodiment, the processor is used to run a computer program stored in the memory to implement the following steps:

[0148] Obtain the digital model corresponding to the hyperbolic curtain wall unit element;

[0149] Analyze the digital model to extract the hyperbolic surface curvature radius, normal vector and key control point coordinates of the hyperbolic aluminum material corresponding to the hyperbolic curtain wall unit element;

[0150] Generate a six-dimensional control parameter sequence corresponding to the space coordinates and the attitude angle according to the hyperboloid curvature radius, the normal vector and the key control point coordinates;

[0151] The coordinated actions of the driving servo motor, the linear module and the six-degree-of-freedom platform are controlled according to the six-dimensional control parameter sequence, so that the spatial coordinates and the posture angle of the centering fixture are adapted to the hyperbolic aluminum material surface shape corresponding to the hyperbolic curtain wall unit element.

[0152] It should be noted that technicians in the relevant field can clearly understand that for the convenience and brevity of description, the specific working process of the processor described above can refer to the corresponding process in the method embodiments described in the above embodiments, and will not be repeated here.

[0153] A computer-readable storage medium is also provided in an embodiment of the present application. The computer-readable storage medium stores a computer program. The computer program includes program instructions. The processor executes the program instructions to implement the steps of a method for assembling hyperbolic curtain wall units provided in the above embodiments of the present application.

[0154] The computer-readable storage medium may be an internal storage unit of the control module described in the above embodiment, such as a hard disk or memory of the control module. The computer-readable storage medium may also be an external storage device of the control module, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the control module.

[0155] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A hyperbolic curtain wall unit assembly platform, characterized in that: include: A platform body, wherein a universal wheel with a brake is provided at the bottom of the platform body; The X-axis driving mechanism comprises a driving servo motor, a transmission synchronous belt and a linear guide rail arranged on the platform body; The Y-axis driving mechanism comprises a linear module arranged on the X-axis driving mechanism; A clamping device, comprising a six-degree-of-freedom platform and a centering fixture, wherein the six-degree-of-freedom platform is mounted on the Y-axis driving mechanism, and the centering fixture is arranged on the six-degree-of-freedom platform; A control module is used to obtain a digital model corresponding to a hyperbolic curtain wall unit, analyze the digital model, and extract the hyperbolic surface curvature radius, normal vector, and key control point coordinates of the hyperbolic aluminum material corresponding to the hyperbolic curtain wall unit, including: converting the digital model into a preset surface expression form; calculating the hyperbolic surface curvature radius and the corresponding normal vector at the mesh vertex corresponding to the surface expression form; screening a key control area with a drastic surface change in the surface expression form according to the hyperbolic surface curvature radius and the normal vector; extracting the key control point coordinates in the key control area, including: extracting a key control point coordinate set in the key control area; converting the normal vector and the key control point coordinate set to a coordinate system corresponding to the platform body, and obtaining the key control point coordinates in the coordinate system corresponding to the platform body, for generating a six-dimensional control parameter sequence corresponding to the spatial coordinates and the attitude angle; controlling the coordinated action of the drive servo motor, the linear module, and the six-degree-of-freedom platform according to the six-dimensional control parameter sequence, so that the spatial coordinates and the attitude angle of the centering fixture are adapted to the hyperbolic aluminum material surface shape corresponding to the hyperbolic curtain wall unit.

2. The platform according to claim 1, characterized in that The generating of the six-dimensional control parameter sequence corresponding to the spatial coordinates and the attitude angles includes: Based on the inverse kinematics algorithm, the joint displacement of the six-degree-of-freedom platform is obtained according to the hyperboloid curvature radius, the normal vector and the coordinates of the key control points to construct a posture matrix; A cubic spline interpolation method is used to generate continuous trajectory points corresponding to the pose matrix, wherein the time interval between adjacent trajectory points in the continuous trajectory points is less than or equal to 50 ms; The six-dimensional control parameter sequence is generated according to preset constraints and the continuous trajectory points.

3. The platform according to claim 2, characterized in that: The constraints include: The clamping force corresponds to a range of 50 to 200 N, the platform movement speed corresponding to the six-degree-of-freedom platform is less than or equal to 0.2 m / s, and the adjacent posture angle deviation corresponding to adjacent trajectory points is less than or equal to 2°.

4. The platform according to claim 1, characterized in that: The coordinated actions of the driving servo motor, the linear module and the six-degree-of-freedom platform are controlled according to the six-dimensional control parameter sequence, including: According to the six-dimensional control parameter sequence, the servo motor and the linear module are controlled according to the position-speed dual-loop PID control algorithm, wherein the proportional coefficient of the position-speed dual-loop PID control algorithm is 1.2 and the integral time is 0.05s; The joint encoder feedback value, IMU attitude angle data and laser ranging value corresponding to the six-degree-of-freedom platform are obtained in the six-dimensional control parameter sequence to control the six-degree-of-freedom platform to work.

5. The platform according to claim 1, characterized in that: The method of adapting the spatial coordinates and the posture angle of the centering fixture to the hyperbolic aluminum material curved surface shape corresponding to the hyperbolic curtain wall unit element includes: Before the centering fixture contacts the hyperbolic aluminum material, if a preset force sensor detects that the contact force corresponding to the centering fixture is greater than or equal to 5N, the centering fixture is switched to a preset impedance control mode and a preset dynamic compensation mode is activated.

6. The platform according to claim 5, characterized in that The impedance control mode adopts a six-dimensional Cartesian space impedance mode, and its dynamic equation satisfies: ； in is the equivalent mass matrix, is the velocity damping matrix, is the stiffness matrix, is the deviation vector between the actual displacement of the centering fixture and the expected trajectory, is the contact force.

7. The platform according to claim 6, characterized in that The motion compensation mode includes: Obtain the change rate corresponding to the contact force, and adjust the coefficient of the velocity damping matrix online; wherein, when the change rate is greater than 10N / s, increase the damping coefficient of the velocity damping matrix in the z-axis direction by 20%-50%; According to the IMU attitude angle data collected by the IMU attitude sensor installed at the end of the centering fixture, a dynamic alignment model between the coordinate system of the end of the centering fixture and the normal vector of the hyperbolic aluminum material surface is constructed to obtain the compensation torque feedforward amount; Obtaining the transmission error of the transmission synchronous belt and the thermal deformation of the linear module; The contact force is dynamically supplemented according to the updated velocity damping matrix, the compensation torque feedforward amount, the transmission error and the thermal deformation amount.

8. The platform according to claim 1, characterized in that The platform also includes an integrated force sensor, an IMU posture sensor, a laser rangefinder and a visual sensor; the control module collects the contact force, posture, distance and visual information of the centering fixture in real time based on the integrated force sensor, the IMU posture sensor, the laser rangefinder and the visual sensor; the control module fuses the contact force, posture, distance and visual information through a multi-sensor fusion algorithm to generate environmental perception information, so as to generate a motion control strategy for the centering fixture based on the environmental perception information.

9. The platform according to claim 1, characterized in that The control module constructs a virtual model of the hyperbolic curtain wall unit based on virtual reality technology to display the motion trajectory and posture of the centering fixture; the control module transmits the motion data of the virtual model and the centering fixture to a preset remote monitoring center in real time to realize remote monitoring and operation.

10. A method for assembling a hyperbolic curtain wall unit, characterized in that: A control module applied to the hyperbolic curtain wall unit assembly platform according to any one of claims 1 to 9, the method comprising: Obtain the digital model corresponding to the hyperbolic curtain wall unit element; Parsing the digital model, extracting the hyperbolic surface curvature radius, normal vector and key control point coordinates of the hyperbolic aluminum material corresponding to the hyperbolic curtain wall unit, including: converting the digital model into a preset surface expression form; calculating the hyperbolic surface curvature radius and the corresponding normal vector at the mesh vertex corresponding to the surface expression form; screening the key control area with drastic surface changes in the surface expression form according to the hyperbolic surface curvature radius and the normal vector; extracting the key control point coordinates in the key control area, including: extracting a key control point coordinate set in the key control area; converting the normal vector and the key control point coordinate set to the coordinate system corresponding to the platform body, and obtaining the key control point coordinates in the coordinate system corresponding to the platform body; Generate a six-dimensional control parameter sequence corresponding to the space coordinates and the attitude angle according to the hyperboloid curvature radius, the normal vector and the key control point coordinates; The coordinated actions of the driving servo motor, the linear module and the six-degree-of-freedom platform are controlled according to the six-dimensional control parameter sequence, so that the spatial coordinates and the posture angle of the centering fixture are adapted to the hyperbolic aluminum material surface shape corresponding to the hyperbolic curtain wall unit element.

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