A Hyperbolic Curtain Wall Unit Assembly Platform and Method

Abstract

The present application relates to the technical field of curtain walls, and discloses a hyperbolic curtain wall unit assembly platform and method. The platform includes a platform main body, with universal wheels with brakes provided at the bottom; an X-axis driving mechanism; a Y-axis driving mechanism; a clamping device, including a six-degree-of-freedom platform and a centering fixture. The six-degree-of-freedom platform is installed on the Y-axis driving mechanism, and the centering fixture is arranged on the six-degree-of-freedom platform; a control module, which is used to obtain the digital model corresponding to the hyperbolic curtain wall unit, parse the digital model, extract the hyperbolic curvature radius, normal vector and key control point coordinates of the hyperbolic aluminum material corresponding to the hyperbolic curtain wall unit, and is used to generate a six-dimensional control parameter sequence corresponding to the spatial coordinates and attitude angles; according to the six-dimensional control parameter sequence, control the coordinated actions of the driving servo motor, the linear module and the six-degree-of-freedom platform, so that the spatial coordinates and attitude angles of the centering fixture adapt to the curved surface shape of the hyperbolic aluminum material. Solve the positioning and fixing problems in the assembly process of hyperbolic curtain wall units.

Description

Technical Field

[0001] This application relates to the technical field of curtain walls, and particularly to a double-curved curtain wall unit assembly platform and method. Background Art

[0002] Currently, the assembly of curtain wall units is carried out on a simple working platform or a mobile unit vehicle frame, without limiting and positioning functions. The assembly entirely depends on manual support and fixation of aluminum materials by hand. When encountering non-straight aluminum materials during the assembly process (such as the aluminum materials of double-curved curtain walls), the aluminum materials cannot be well fixed in the original way. Due to the lack of a reference, the shape and position errors of the assembled units are large.

[0003] With the increasing number of curved and double-curved designs in current curtain wall shapes, the manufacturing difficulty has increased significantly. Therefore, there is an urgent need for a double-curved curtain wall unit assembly platform to achieve precise assembly of curtain wall units. Summary of the Invention

[0004] This application provides a double-curved curtain wall unit assembly platform and method, aiming to solve the problem that when attempting to introduce a quick clamp structure in the improvement of technology, the mechanical clamping force depends on manual experience for adjustment, the pressure fluctuation range is large, and at the same time, the cumulative error of manual calibration of the separation distance is relatively high, seriously affecting the standardization of operations.

[0005] In the first aspect, this application provides a double-curved curtain wall unit assembly platform, including:

[0006] A platform main body, with brake universal wheels provided at the bottom of the platform main body;

[0007] An X-axis drive mechanism, including a drive servo motor, a transmission synchronous belt, and a linear guide rail provided on the platform main body;

[0008] A Y-axis drive mechanism, including a linear module provided on the X-axis drive mechanism;

[0009] A clamping device, including a six-degree-of-freedom platform and a centering fixture. The six-degree-of-freedom platform is installed on the Y-axis drive mechanism, and the centering fixture is provided on the six-degree-of-freedom platform;

[0010] A control module, used to obtain the digital model corresponding to the double-curved curtain wall unit, parse the digital model, extract the hyperbolic curvature radius, normal vector, and key control point coordinates of the hyperbolic aluminum material corresponding to the double-curved curtain wall unit, for generating a six-dimensional control parameter sequence corresponding to the spatial coordinates and attitude angles; according to the six-dimensional control parameter sequence, control the coordinated actions of the drive servo motor, the linear module, and the six-degree-of-freedom platform, so that the spatial coordinates and attitude angles of the centering fixture adapt to the hyperbolic aluminum material curved surface shape corresponding to the double-curved curtain wall unit.

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

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

[0013] In some embodiments, generating a six-dimensional control parameter sequence corresponding to the spatial coordinates and attitude angles includes: obtaining the joint displacement amounts of the six-degree-of-freedom platform based on the inverse kinematics algorithm according to the hyperbolic curvature radius, normal vector, and key control point coordinates to construct a pose matrix; generating continuous trajectory points corresponding to the pose matrix by using the cubic spline interpolation method, where 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 constraint conditions and the continuous trajectory points.

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

[0015] In some embodiments, controlling the coordinated actions 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 the position-velocity double-loop PID control algorithm according to the six-dimensional control parameter sequence, where the proportional coefficient of the position-velocity double-loop PID control algorithm is 1.2 and the integral time is 0.05 s; and 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, adapting the spatial coordinates and attitude angles of the centering fixture to the hyperbolic aluminum material curved surface shape corresponding to the hyperbolic curtain wall unit member includes: before the centering fixture contacts the hyperbolic aluminum material, when the contact force corresponding to the centering fixture detected by a preset force sensor 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: ; where 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 desired trajectory, is the contact force.

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

[0019] In some embodiments, the platform further includes an integrated force sensor, an IMU attitude sensor, a laser rangefinder and a vision sensor; the control module real-time collects the contact force, attitude, distance and visual information of the centering fixture according to the integrated force sensor, IMU attitude sensor, laser rangefinder and vision sensor; the control module fuses the contact force, attitude, 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 member based on virtual reality technology for displaying the motion trajectory and attitude of the centering fixture; the control module real-time transmits the virtual model and the motion data of the centering fixture to a preset remote monitoring center to achieve remote monitoring and operation.

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

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

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

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

[0025] Control the coordinated actions of the driving servo motor, linear module, and 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 adapt to the hyperbolic aluminum material curved surface shape corresponding to the hyperbolic curtain wall unit component.

[0026] The present application provides a hyperbolic curtain wall unit component assembly platform and method, and is provided with brake universal wheels at the bottom: universal wheels with a braking function are installed at the bottom of the platform main body, which facilitates the movement and fixation of the platform and ensures 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 synchronism 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 driving 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 driving mechanism to provide six degrees of freedom of motion ability, including translation and rotation, to adapt to the complex curved surface shape of the hyperbolic aluminum material. It is arranged on the six-degree-of-freedom platform and is used for clamping and positioning the hyperbolic aluminum material to ensure its precise centering during the assembly process. Obtain the digital model of the hyperbolic curtain wall unit component, analyze and extract the hyperbolic curvature radius, normal vector, and key control point coordinates of the hyperbolic aluminum material. Generate a six-dimensional control parameter sequence corresponding to the spatial coordinates and attitude angles according to the analysis results. According to the six-dimensional control parameter sequence, control the coordinated actions of the driving servo motor, linear module, and six-degree-of-freedom platform, so that the spatial coordinates and attitude angles of the centering fixture adapt to the curved surface shape of the hyperbolic aluminum material.

[0028] Through the automatic control of the control module, reduce the errors caused by manual operations and improve the assembly accuracy. Provide six degrees of freedom of motion ability to ensure that the centering fixture can precisely adapt to the complex curved surface shape of the hyperbolic aluminum material.

[0029] The quick clamp structure is introduced to reduce the clamping time and improve the assembly efficiency. Through the automatic adjustment of the control module, the manual adjustment time is reduced, and the overall working efficiency is improved. Through automatic control, the dependence on manual experience is reduced, and the errors caused by manual operation are decreased. Through precise automatic control, the cumulative error of manually calibrating the separation distance is reduced, and the standardization operation level is improved.

[0030] The casters with brakes ensure the stability of the platform during the assembly process and prevent the assembly accuracy from being affected by the movement of the platform. The linear guide rails and linear modules provide stable linear motion, ensuring the motion accuracy and stability of the platform in the X-axis and Y-axis directions.

[0031] In summary, through automatic control and precise mechanical structure design, the assembly platform for double-curved curtain wall unit components significantly improves the assembly accuracy and efficiency, reduces the dependence on manual labor, enhances the stability, and provides reliable technical support for the standardized operation of double-curved curtain wall unit components.

[0032] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit this application. Brief Description of the Drawings

[0033] In order to more clearly illustrate the technical solutions of the embodiments of this application, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0034] Figure 1 It is a schematic structural diagram of an assembly platform for double-curved curtain wall unit components provided by an embodiment of this application;

[0035] Figure 2 It is a schematic use diagram of the assembly platform for double-curved curtain wall unit components provided by an embodiment of this application;

[0036] Figure 3 It is a schematic structural diagram of a six-degree-of-freedom platform provided by an embodiment of this application;

[0037] Figure 4 It is a schematic block diagram of the structure of the control module provided by an embodiment of this application.

[0038] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit this application. Detailed Description of the Specific Embodiment

[0039] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

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

[0041] It should be understood that, in order to facilitate the clear description of the technical solutions in the embodiments of the present invention, in the embodiments of the present invention, terms such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that the terms "first" and "second" do not limit the quantity and execution order, and the terms "first" and "second" do not necessarily mean different.

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

[0043] It should also be understood that the term " / and / or" used in the specification of the present application and the appended claims refers to any combination and all possible combinations of one or more of the related listed items, and includes these combinations.

[0044] Next, in conjunction with the accompanying drawings, some embodiments of the present application will be described in detail. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0045] Currently, the assembly of curtain wall unit components is carried out on a simple working platform or a mobile unit vehicle frame, without limit and positioning functions. It entirely depends on manual workers to support and fix the aluminum materials by hand for assembly. When encountering non-straight aluminum materials during the assembly process (such as the aluminum materials of double-curved curtain walls), the aluminum materials cannot be well fixed in the original way. Due to the lack of a reference, the form and position errors of the assembled unit components are large.

[0046] With the increasing number of curved and double-curved designs in current curtain wall shapes, the production and manufacturing difficulty have increased significantly. Therefore, there is an urgent need for an assembly platform for double-curved curtain wall unit components to achieve the precise assembly of curtain wall unit components.

[0047] To solve the above problems, please refer to Figures 1 to 3 , this application provides an assembly platform for hyperbolic curtain wall unit components, including: a platform main body 1, with brake universal wheels provided at the bottom of the platform main body; an X-axis drive mechanism, including a drive servo motor 3, a transmission synchronous belt 2, and a linear guide rail 4 provided on the platform main body; a Y-axis drive mechanism, including a linear module 5.1 provided on the X-axis drive mechanism; a clamping device, including a six-degree-of-freedom 5.2 platform and a centering fixture 5.3, the six-degree-of-freedom platform is installed on the Y-axis drive mechanism, and the centering fixture is provided on the six-degree-of-freedom platform; a control module, used to obtain the digital model corresponding to the hyperbolic curtain wall unit component, parse the digital model, extract the hyperbolic curvature radius, normal vector, and key control point coordinates of the hyperbolic aluminum material corresponding to the hyperbolic curtain wall unit component, for generating a six-dimensional control parameter sequence corresponding to the spatial coordinates and attitude angles; and controlling the coordinated actions of the drive servo motor, linear module, and 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 adapt to the curved surface shape of the hyperbolic aluminum material corresponding to the hyperbolic curtain wall unit component.

[0048] Specifically, the assembly platform for hyperbolic curtain wall unit components is a device specifically used for precisely assembling hyperbolic curtain wall unit components, solving problems such as large shape and position errors and low assembly efficiency caused by the lack of limiting and positioning functions in traditional assembly methods. This platform realizes high-precision positioning and fixing of hyperbolic aluminum materials through the integration of an X-axis drive mechanism, a Y-axis drive mechanism, a six-degree-of-freedom platform, a centering fixture, and a control module, ensuring that the assembled curtain wall unit components meet the design requirements.

[0049] The platform main body is the basic structure of the entire device, with brake universal wheels provided at the bottom, facilitating the movement and fixing of the device.

[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, realizing the horizontal positioning of the aluminum material.

[0051] The Y-axis drive mechanism is provided on the X-axis drive mechanism and includes a linear module. The linear module moves along the Y-axis direction and works in coordination 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 and can realize six-degree-of-freedom adjustment of the aluminum material in space (three translational degrees of freedom and three rotational degrees of freedom). The centering fixture is provided on the six-degree-of-freedom platform and is used to clamp and fix the aluminum material to ensure that its position and attitude 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] By converting the digital model into a preset surface expression form; the surface expression form is NURBS surface expression, and the triangular mesh corresponding to the NURBS surface expression is 0.5 mm; calculating the hyperbolic curvature radius and the corresponding normal vector at the mesh vertices corresponding to the surface expression form; screening key control areas in the surface expression form according to the hyperbolic curvature radius and the normal vector; the curvature change rate corresponding to the key control areas exceeds 10%; extracting the coordinates of the key control points in the key control areas.

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

[0061] By converting the digital model of the hyperbolic curtain wall unit component 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), which can accurately describe complex surfaces. Triangular mesh division is performed on the NURBS surface, and the division accuracy is 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 division helps subsequent curvature calculation and extraction of key control points. Calculate the hyperbolic curvature radius and the corresponding normal vector at the mesh vertices 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 at that point. These parameters are the basis for subsequent screening of key control areas. According to the calculated hyperbolic curvature radius and normal vector, key control areas are 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 where the surface changes relatively violently and have a greater impact on the overall shape. Extract the coordinates of the key control points in the screened key control areas. These key control points are the positions that need to be accurately controlled during the subsequent assembly process to ensure that the assembled curtain wall unit components meet the design requirements.

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

[0063] Extract the set of key control point coordinates in the key control area based on the Delaunay triangulation algorithm; convert the normal vector and the set of key control point coordinates to the coordinate system corresponding to the platform body, and obtain the key control point coordinates in the coordinate system corresponding to the platform body.

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

[0065] Extract the set of key control point coordinates in the key control area based on the Delaunay triangulation algorithm. 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 calculations. Convert the extracted set of key control point coordinates and the corresponding normal vector to the coordinate system corresponding to the platform body. This step ensures that the subsequent control parameters can match the actual position and orientation of the platform, enabling precise control. Obtain the key control point coordinates 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 movement of the drive servo motor, linear module, and six-degree-of-freedom platform.

[0066] The above embodiments and corresponding examples, through the Delaunay triangulation algorithm and coordinate transformation, ensure that the extraction and positioning of key control points have high precision, providing reliable basic data for subsequent assembly. Accurate key control point coordinates can effectively reduce the geometric errors during the assembly process and ensure that the assembled curtain wall unit components meet the design requirements. The example method can adapt to the curtain wall designs of various complex curved surfaces and hyperbolic surfaces, solving the problem that traditional methods cannot effectively handle non-straight aluminum materials. The automated process of key control point extraction and coordinate transformation reduces the time and labor intensity of manual operations and improves production efficiency. By digitally extracting and transforming key control point coordinates, the digital and intelligent control of the assembly process is achieved, improving the controllability and consistency of production.

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

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

[0069] The embodiment mainly relates to how to generate a six-dimensional control parameter sequence corresponding to spatial coordinates and attitude angles to precisely control the movement of a 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, according to the hyperbolic curvature radius, normal vector, and key control point coordinates, calculate the joint displacement of the six-degree-of-freedom platform. The inverse kinematics algorithm is a method of inversely calculating the joint displacement through the target pose, which can ensure that the movement trajectory of the six-degree-of-freedom platform is consistent with the target pose. According to the calculated joint displacement, construct the pose matrix of the six-degree-of-freedom platform. The pose matrix describes the position and attitude of the platform in space and is the basis for subsequent trajectory generation. Use the cubic spline interpolation method to generate continuous trajectory points corresponding to the pose matrix. The cubic spline interpolation method can generate a smooth trajectory to ensure that there are no sudden changes during the movement of the six-degree-of-freedom platform, improving the stability and accuracy of the movement. The time interval between adjacent trajectory points is less than or equal to 50 ms to ensure the continuity and real-time nature of the movement process. Generate the six-dimensional control parameter sequence according to preset constraint conditions and continuous trajectory points. 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 constraint conditions include: the range of the clamping force is 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 pose angle deviation corresponding to adjacent trajectory points is less than or equal to 2°.

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

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

[0074] Through the inverse kinematics algorithm and the 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 pose, improving the assembly accuracy. The smooth trajectory generated by the cubic spline interpolation method and the preset constraint conditions ensure that the six-degree-of-freedom platform remains stable during movement, avoiding vibrations and errors caused by excessive speed or sudden attitude changes. The setting of the clamping force range ensures that the centering fixture can provide sufficient clamping force when clamping the hyperbolic aluminum material without damaging the aluminum material and protecting the integrity of the aluminum material. The automated six-dimensional control parameter sequence generation process reduces the time and labor intensity of manual operations and improves production efficiency. The preset constraint conditions can adapt to the curtain wall designs of various complex curved surfaces and hyperboloids, solving the problem that traditional methods cannot effectively process non-straight aluminum materials.

[0075] In some embodiments, the coordinated operation of the driving servo motor, the linear module, and the six-degree-of-freedom platform according to the six-dimensional control parameter sequence includes: controlling the servo motor and the linear module according to the position-velocity double-loop PID control algorithm based on the six-dimensional control parameter sequence, where the proportional coefficient of the position-velocity double-loop PID control algorithm is 1.2 and the integral time is 0.05 s; obtaining the joint encoder feedback value, the IMU attitude angle data, and the 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 operation of the driving servo motor, the linear module, and the six-degree-of-freedom platform according to the six-dimensional control parameter sequence to achieve the precise assembly of the hyperbolic curtain wall unit.

[0077] By using the position and velocity dual-loop PID control algorithm to control the driving servo motor and linear module according to the six-dimensional control parameter sequence. The position and velocity dual-loop PID control algorithm is a commonly used motion control algorithm. Through the outer-loop position control and inner-loop velocity 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 0.05 s. These parameters ensure the response speed and stability of the control system, avoiding oscillations or overshoots caused by improper parameter settings. Obtain 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. 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 pose. Provide the displacement information of each joint of the six-degree-of-freedom platform for precise control of the platform's position. The IMU attitude angle data provides the attitude angle information of the six-degree-of-freedom platform for precise control of the platform's attitude. Laser ranging value: Provide the distance information between the six-degree-of-freedom platform and the target position for precise control of the platform's moving distance. Control the six-degree-of-freedom platform 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, ensure that the spatial coordinates and attitude angles of the centering fixture are adapted to the curved surface shape of the hyperbolic aluminum material to achieve precise assembly.

[0078] Through the position and velocity dual-loop PID control algorithm and real-time feedback data, ensure that the motion trajectories of the driving servo motor, linear module, and six-degree-of-freedom platform are consistent with the target pose, improving the assembly accuracy. The settings of the proportional coefficient and integral time of the position and velocity dual-loop PID control algorithm ensure that the control system can respond quickly, reducing delays and errors during the motion process. Through the joint encoder feedback value, IMU attitude angle data, and laser ranging value, 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 pose, improving the accuracy and stability of the assembly. The automated collaborative motion control process reduces the time and labor intensity of manual operations and improves production efficiency. The real-time feedback data and position and velocity dual-loop PID control algorithm can adapt to various complex curved and hyperbolic curtain wall designs, solving the problem that traditional methods cannot effectively handle non-flat aluminum materials.

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

[0080] In some embodiments, adapting the spatial coordinates and attitude angles of the centering fixture to the hyperbolic aluminum material curved surface shape corresponding to the hyperbolic curtain wall unit member includes: before the centering fixture contacts the hyperbolic aluminum material, if the contact force corresponding to the centering fixture detected by a preset force sensor 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 relate to how to adapt the spatial coordinates and attitude angles of the centering fixture to the hyperbolic aluminum material curved surface shape corresponding to the hyperbolic curtain wall unit member. Especially when the centering fixture 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, a preset force sensor detects the contact force corresponding to the centering fixture in real time. If the detected contact force is greater than or equal to 5N, the system automatically switches the centering fixture to a preset impedance control mode and activates a preset dynamic compensation mode.

[0083] Exemplarily, the impedance control mode adopts a six-dimensional Cartesian space impedance mode, and its dynamic equation satisfies: ; where 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 desired trajectory, is the contact force. 5N is F_desired, that is, the magnitude of the desired force. The formula is such that when an external force F_ext is generated when the centering fixture contacts the environment (hyperbolic aluminum material), the system dynamically adjusts the displacement deviation Δx, and the difference between the contact force F_ext and the desired force 5N drives the mechanical system to produce a compliant motion. At the same time, the dimensions on both sides of the formula are unified as Newton (N). By combining the six-dimensional Cartesian space impedance mode with the special working conditions of curtain wall assembly, by setting the contact force threshold of F_desired = 5N, both the reliability of assembly contact is ensured and the deformation of the 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, and the movement of the centering fixture is adjusted through feedback. Through the impedance control mode, the centering fixture can achieve compliant control when contacting the hyperbolic aluminum material, avoiding 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, avoiding oscillation and overshoot. By 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, for the left 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): 6×6, D (velocity damping matrix): 6×6, K (stiffness matrix): 6×6, Δẍ, Δẋ, Δx (pose deviation vector): 6×1, operation result: 6×1 force vector (dimension: Newton); for the right 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; operation result: 6×1 force vector (dimension: Newton). The dimensions on both sides of the equation are unified to Newton (N), which conforms to the physical laws. Among them, regarding F_ext and 5N, in the six-dimensional Cartesian space impedance control, the 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 axial directions (unit: N). For example, during 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 the impedance control, with F_desired,z = 5 N as the expected value. For the tangential (X / Y axes): keep F_desired,x = F_desired,y = 0 to allow free sliding; for the moment components: maintain zero expected moment to suppress torsion. Therefore, for the provided formula, by selectively mapping to the normal component of the six-dimensional force vector and keeping other components zero, it meets the process requirements of the hyperbolic curtain wall assembly and conforms to the physical laws.

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

[0090] 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 between the coordinate system at the end of the centering fixture and the normal vector of the hyperbolic aluminum material surface is constructed to obtain the feedforward quantity of the compensation torque and ensure the alignment of the attitude of the centering fixture with the normal vector of the aluminum material surface.

[0091] The transmission error of the transmission synchronous belt and the thermal deformation of the linear module are obtained, and these errors and deformations will affect the positioning accuracy of the centering fixture. According to the updated velocity damping matrix, feedforward quantity of the compensation torque, transmission error and thermal deformation, the dynamic compensation of the contact force is completed 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 the contact force is effectively suppressed, avoiding impacting the aluminum material. The dynamic alignment model ensures the alignment of the attitude of the centering fixture with the normal vector of the aluminum material surface, improving the clamping accuracy. By obtaining the transmission error and thermal deformation and performing dynamic compensation, the positioning accuracy of the centering fixture is ensured, improving the assembly quality. The dynamic compensation mode ensures the stability of the clamping process through real-time adjustment of the contact force, avoiding errors caused by external interference.

[0093] In some embodiments, by using a high-precision laser scanner and a depth camera, the curved 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 curved surface are extracted to automatically identify the complex features of the curved surface. Based on the extracted curved 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 curved surface to ensure that the motion path is smooth and accurate. During the motion process, the path planning is adjusted in real time to adapt to the minor changes of the curved surface and external disturbances. Through the force sensor and the IMU attitude sensor, the contact force and attitude of the centering fixture are monitored in real time and fed back to the control system. According to the feedback data, the motion path and the clamping force are dynamically adjusted to ensure the stability and accuracy of the clamping process.

[0094] The accurate identification of the curved surface is achieved through a high-precision laser scanner and a depth camera, improving the assembly accuracy. The dynamic path planning algorithm can adapt to the minor changes of the curved surface and external disturbances, ensuring the smoothness and accuracy of the motion path. The real-time feedback and control mechanism ensure the stability and accuracy of the clamping process and improve the assembly quality.

[0095] In some embodiments, the platform further includes an integrated force sensor, an IMU attitude sensor, a laser rangefinder, and a vision sensor; the control module acquires the contact force, attitude, distance, and vision information of the centering fixture in real time according to the integrated force sensor, the IMU attitude sensor, the laser rangefinder, and the vision sensor; the control module fuses the contact force, attitude, distance, and vision information through a multi-sensor fusion algorithm to generate environmental perception information, and generates the motion control strategy of the centering fixture according to the environmental perception information.

[0096] The contact force, attitude, distance, and vision information of the centering fixture are acquired in real time through an integrated force sensor, an IMU attitude sensor, a laser rangefinder, and a vision sensor. The data of different sensors are fused through a multi-sensor fusion algorithm to generate comprehensive environmental perception information. Based on the fused environmental perception information, an intelligent decision-making algorithm is used to generate the motion control strategy of the centering fixture. The intelligent decision-making algorithm takes into account the curvature, contact force, attitude, and distance of the curved surface to ensure the rationality and accuracy of the motion control strategy. During the motion process, the control strategy is adjusted in real time to adapt to the changes of the environment and external disturbances. Through machine learning algorithms, the historical data are analyzed and learned to optimize the motion control strategy and the path planning algorithm, improving the intelligent level of the system.

[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 the assembly accuracy and efficiency. Through the autonomous learning and optimization mechanism, the system's intelligence level is improved to adapt to the complex and changeable assembly environment.

[0098] In this embodiment, the multi-sensor collaborative control architecture is further refined, and a force sensor group is integrated: A six-axis force / torque sensor (such as ATI Mini40) is embedded between the end flange of the six-degree-of-freedom platform and the centering fixture to collect the three-dimensional contact forces (Fx, Fy, Fz) and torques (Mx, My, Mz) on the contact surface between the fixture and the hyperbolic aluminum material in real time, and the sampling frequency is ≥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 sensing unit: A MEMS inertial measurement unit (such as ADI ADIS16470) is integrated at the base of the moving platform of the six-degree-of-freedom platform, which includes a three-axis gyroscope (range ±2000° / s) and an accelerometer (range ±40g), and 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: Four groups of laser triangulation 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 for constructing the relative distance field between the fixture and the curtain wall unit.

[0101] Vision sensing system: A binocular stereo camera (such as Basler ace 2) is installed on the top of the Y-axis drive mechanism, with an annular LED light source. The camera resolution is 2448×2048 and the frame rate is 30fps. The vision system uses the GPU-accelerated OpenCV algorithm to extract the edge feature points of the hyperbolic aluminum material in real time, generate the three-dimensional point cloud data of the workpiece surface and match 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: Space-time alignment module: Unify the data of each sensor to the same time reference through the hardware timestamp synchronization mechanism, and use the quaternion interpolation method to perform motion compensation on the IMU attitude data to eliminate the pose error caused by transmission delay. Feature-level fusion layer: Perform ICP (Iterative Closest Point) registration on the visual point cloud data and the laser ranging grid to generate a three-dimensional dense map of the environment with sub-millimeter accuracy; use the Extended Kalman Filter (EKF) to fuse the IMU angular velocity and the visual SLAM (Simultaneous Localization and Mapping) pose data to construct a motion state estimation model for the six-degree-of-freedom platform; integrate the force sensor contact force data and the visual surface normal vector 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, attitude 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 within the next 3 control cycles, and the constraint conditions include the maximum acceleration of the linear module (2m / s²), the joint rotation 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, identify the AR marker (AprilTag) on the curtain wall unit through the vision system, and drive the X / Y-axis linear module to move the fixture to within ±5mm of the target area 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 a laser ranging array to scan the curvature change of the workpiece surface with a resolution of 0.1 mm. The control module calls the NURBS surface interpolation algorithm to generate a continuous motion trajectory of the fixture end according to the coordinates of the key control points. The six-degree-of-freedom platform adopts an impedance control mode and dynamically adjusts the end stiffness matrix K = diag([500, 500, 500, 200, 200, 200] N / m) based on the contact force feedback to achieve self-adaptive compliant fitting of the surface. When the detected contact force exceeds the safety threshold, an adaptive controller based on the Lyapunov stability theory is triggered to reduce the contact force to the safe range within 50 ms. The vision system continuously monitors the alignment of the workpiece edge. When a position deviation greater than 0.2 mm is detected, the joint space compensation amount Δq = J⁻¹Δx is generated through the inverse solution of the Jacobian matrix to drive the linear module and the six-degree-of-freedom platform to cooperate for compensation.

[0106] A three-dimensional visualization interface after multi-sensor fusion is displayed on the touch screen interface. The operator can manually adjust the control parameters: superimpose and display the fitting degree of the theoretical NURBS surface (semi-transparent blue) and the actual scanned point cloud (red point set); draw a real-time contact force vector arrow diagram, and trigger an audible and visual alarm when the component force 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 for optimizing subsequent control parameters.

[0107] Through the high-frequency data fusion of multi-source heterogeneous sensors and model predictive control, this embodiment realizes the high-precision (±0.05 mm) and low-stress (<5 MPa surface compressive stress) assembly of hyperbolic curtain wall unit components, with the efficiency more than 3 times higher than that of traditional tooling.

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

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

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

[0111] In some embodiments, by designing the centering fixture, driving servo motor, linear module, and six-degree-of-freedom platform as modular structures, it is convenient for quick 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, quick replacement of the centering fixture and driving module is achieved, reducing downtime. During the assembly process, according to the shapes of different hyperbolic aluminum materials, the appropriate centering fixture and driving module can be quickly replaced to improve assembly efficiency. An integrated intelligent diagnosis system is used to monitor the operating status of each module in real time, predict potential faults, and provide maintenance suggestions. Through a remote maintenance system, remote diagnosis and maintenance are realized, reducing on-site maintenance time and costs.

[0112] The modular design and quick replacement mechanism reduce downtime and improve assembly efficiency. According to the shapes of different hyperbolic aluminum materials, the appropriate centering fixture and driving module can be quickly replaced to improve the flexibility and adaptability of assembly. The intelligent diagnosis and maintenance system improve the reliability and maintenance efficiency of the system and reduce maintenance costs.

[0113] In summary, these creative embodiments significantly enhance 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 complex surface assembly.

[0114] An embodiment of the present application provides a method for assembling hyperbolic curtain wall units. The execution device of the method is the 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. Among them, the control module can be a handheld terminal, a laptop computer, a wearable device, or a robot, etc. It is used to implement steps S101 to S104 and their corresponding embodiments.

[0116] Step S101. Obtain the digital model corresponding to the hyperbolic curtain wall unit.

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

[0118] Obtain the digital model of the hyperbolic curtain wall unit through CAD software or BIM (Building Information Modeling) system. These models are usually generated in the design stage and contain detailed geometric and material information. Or scan the actual hyperbolic curtain wall unit with a high-precision laser scanner or depth camera to generate point cloud data, and generate a digital model through point cloud processing software. Transmit the obtained digital model to the control module of the hyperbolic curtain wall unit assembly platform. The control module can be a handheld terminal, a laptop, a wearable device, a robot, etc.

[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 requirements.

[0120] Step S102. Analyze the digital model and extract the hyperbolic 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 and extracting the hyperbolic curvature radius, normal vector and key control point coordinates of the hyperbolic aluminum material. These data are the key inputs for generating the six-dimensional control parameter sequence.

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

[0123] Through digital model analysis software, 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 the six-dimensional control parameter sequence, ensuring the accuracy of the assembly process.

[0124] Step S103. Generate a six-dimensional control parameter sequence corresponding to the spatial coordinates and attitude angles according to the hyperbolic 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 spatial coordinates and attitude angles according to the hyperbolic curvature radius, normal vector and key control point coordinates for controlling the movement of the six-degree-of-freedom platform.

[0126] Based on the inverse kinematics algorithm, according to the hyperbolic curvature radius, normal vector and key control point coordinates, calculate the joint displacement of the six-degree-of-freedom platform and construct the pose matrix. Use the cubic spline interpolation method to generate continuous trajectory points corresponding to the pose matrix to ensure that the motion trajectory is smooth and accurate. The time interval between adjacent trajectory points is less than or equal to 50 ms to ensure the continuity and real-time performance of the motion process. Generate a six-dimensional control parameter sequence according to the preset constraint conditions and continuous trajectory points. 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 the cubic spline interpolation method, generate an accurate six-dimensional control parameter sequence to ensure that the motion trajectory of the six-degree-of-freedom platform is consistent with the target pose and improve the assembly accuracy. The smooth trajectory generated by the cubic spline interpolation method ensures that there are no sudden changes 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 50 ms to ensure the continuity and real-time performance of the motion process and improve the assembly efficiency.

[0128] Step S104. Control the coordinated actions of the drive servo motor, linear module and 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 adapt to the hyperbolic aluminum material surface shape corresponding to the hyperbolic curtain wall unit.

[0129] Specifically, step S104 mainly involves controlling the coordinated actions of the drive servo motor, linear module and 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 adapt to the hyperbolic aluminum material surface shape to achieve precise assembly. According to the six-dimensional control parameter sequence, the position-velocity double-loop PID control algorithm is used to control the drive servo motor and linear module. The proportional coefficient is 1.2 and the integral time is 0.05 s to ensure the response speed and stability of the control system. Obtain 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 real-time monitoring and adjustment of the position and attitude of the six-degree-of-freedom platform to ensure that its motion trajectory is consistent with the target pose. Control the six-degree-of-freedom platform 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, ensure that the spatial coordinates and attitude angles of the centering fixture adapt to the hyperbolic aluminum material surface shape to achieve precise assembly.

[0130] Through the position-velocity double-loop PID control algorithm and real-time feedback data, it ensures that the motion trajectories of the drive servo motor, linear module, and six-degree-of-freedom platform are consistent with the target pose, improving the assembly accuracy. The setting of the proportional coefficient and integral time of the position-velocity double-loop PID control algorithm ensures that the control system can respond quickly, reducing delays and errors during the motion process. By combining the encoder feedback value, IMU attitude angle data, and laser ranging value, it monitors and adjusts the position and attitude of the six-degree-of-freedom platform in real time, ensuring that its motion trajectory is consistent with the target pose and improving the accuracy and stability of the assembly. The automated collaborative motion control process reduces the time and labor intensity of manual operations and improves production efficiency.

[0131] In summary, steps S101 to S104 provide strong technical support for the precise assembly of the hyperbolic curtain wall unit components through high-precision data acquisition, parsing, control parameter generation, and collaborative motion control, significantly improving the 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 specific working processes of the above-described hyperbolic curtain wall unit component assembly method and each step can refer to the corresponding processes in the embodiments of a hyperbolic curtain wall unit component assembly platform described in the above embodiments, and will not be repeated here.

[0133] The embodiments of the present application also provide a hyperbolic curtain wall unit component assembly module. This 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. This hyperbolic curtain wall unit component assembly module can be a single server or a server cluster, or this hyperbolic curtain wall unit component assembly module can be a terminal, and this terminal can be a handheld terminal, a laptop computer, a wearable device, or a robot, etc.

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

[0135] A model extraction unit for obtaining the digital model corresponding to the hyperbolic curtain wall unit component;

[0136] A model parsing unit for parsing the digital model and extracting the hyperbolic curvature radius, normal vector, and key control point coordinates of the hyperbolic aluminum material corresponding to the hyperbolic curtain wall unit component;

[0137] A sequence generation unit for generating a six-dimensional control parameter sequence corresponding to the spatial coordinates and attitude angles according to the hyperbolic curvature radius, normal vector, and key control point coordinates;

[0138] A collaborative control unit is configured to control the collaborative actions of the drive servo motor, linear module, and 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 adapt to the hyperbolic aluminum material curved surface shape corresponding to the hyperbolic curtain wall unit component.

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

[0140] The above-described hyperbolic curtain wall unit component assembly method is implemented in the form of a computer program, and this computer program can run on the above module.

[0141] Please refer to Figure 4 , Figure 4 which is a schematic block diagram of the structure of the control module provided by the embodiment of the present application. The control module includes a processor, a memory, and a network interface connected through a device bus. Among them, the memory can include a storage medium and an internal memory.

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

[0143] The processor is used to provide computing and control capabilities to 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 this computer program is executed by the processor, the processor can execute any hyperbolic curtain wall unit component assembly method.

[0145] This network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art can understand that Figure 4 the structure shown in

[0146] It should be understood that the processor can be a Central Processing Unit (CPU), and the processor can also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0147] Among them, 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 component;

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

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

[0151] Control the coordinated actions of the drive servo motor, linear module, and 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 adapt to the hyperbolic aluminum material curved surface shape corresponding to the hyperbolic curtain wall unit component.

[0152] It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the above-described processor can refer to the corresponding process in the method embodiments described in the above various embodiments, and will not be elaborated here.

[0153] An embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and the computer program includes program instructions. The processor executes the program instructions to implement the steps of a method for assembling a hyperbolic curtain wall unit component provided in the above various embodiments of the present application.

[0154] Among them, the computer-readable storage medium may be an internal storage unit of the control module described in the foregoing embodiments, such as the 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 equipped on the control module, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc.

[0155] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of various equivalent modifications or replacements, and these modifications or replacements should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to 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 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 calculating the normal vector and the set of key control point coordinates in the coordinate system corresponding to the platform body. The coordinate system obtains the coordinates of the key control points, which are used to generate a six-dimensional control parameter sequence corresponding to the spatial coordinates and the attitude angle, including: based on the inverse kinematics algorithm, obtaining the joint displacement of the six-degree-of-freedom platform according to the hyperbolic surface curvature radius, the normal vector and the key control point coordinates to construct a posture matrix; using the 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 50ms; generating the six-dimensional control parameter sequence according to preset constraints and the continuous trajectory points; and 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 adapt to the hyperbolic aluminum material curved surface shape corresponding to the hyperbolic curtain wall unit.

2. The platform according to claim 1, wherein 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°.

3. 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.

4. 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 comprises: 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.

5. The platform according to claim 4, wherein The impedance control mode adopts a six-dimensional Cartesian space impedance model, and its dynamic equation satisfies: ； wherein is the equivalent mass matrix, is the velocity damping matrix, is the stiffness matrix, is the deviation between the actual displacement of the centering fixture and the desired trajectory, is the said contact force.

6. The platform according to claim 5, wherein 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 centering fixture end coordinate system 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.

7. 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.

8. The platform according to claim 1, wherein 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.

9. 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 8, 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 spatial coordinates and attitude angles based on the hyperboloid curvature radius, normal vector, and key control point coordinates, including: obtaining the joint displacement of the six-degree-of-freedom platform based on the hyperboloid curvature radius, normal vector, and key control point coordinates according to the inverse kinematics algorithm to construct a pose matrix; generating continuous trajectory points corresponding to the pose matrix using the cubic spline interpolation method, where the time interval between adjacent trajectory points in the continuous trajectory points is less than or equal to 50 ms; generating the six-dimensional control parameter sequence according to preset constraint conditions and the continuous trajectory points; Control the coordinated actions of the drive servo motor, linear module, and 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 adapt to the hyperbolic aluminum material surface shape corresponding to the hyperbolic curtain wall unit.

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