Curtain wall hyperbolic unit piece profiling jig framing method

Abstract

The invention relates to the technical field of curtain walls, and discloses a curtain wall hyperbolic unit piece profiling jig framing method. Comprising the steps that a profiling backup plate and a profiling supporting plate are connected to form an integrated profiling base body; a pressure sensor array is arranged in the profiling supporting plate and used for detecting node stress distribution of the profiling supporting plate. A positioning U-shaped groove and a limiting steel plate are mounted on the profiling supporting plate; the structural supporting rods are vertically fixed to the surface of the standard part cast iron platform, so that a plurality of assembly supporting devices are arranged on the surface of the platform; the hyperbolic profile is embedded into the curved surface contour of the profiling backup plate of each assembly supporting device along the positioning U-shaped groove for profiling, leaning and positioning, and the clamping force corresponding to the limiting steel plate is adjusted according to the node stress distribution; and the hyperbolic profile is embedded into the curved surface contour of the profiling backup plate along the positioning U-shaped groove for profiling, leaning and positioning, the clamping force corresponding to the limiting steel plate is adjusted according to node stress distribution, framing positioning is completed, and the curtain wall hyperbolic unit piece profiling jig is obtained. The method is accurate in positioning and simple to operate.

Description

Technical Field

[0001] The present application relates to the technical field of curtain walls, and in particular to a method for assembling a curtain wall hyperbolic unit element profiling jig. Background Art

[0002] In the production and assembly of curtain wall units, there is currently no positioning function or detection device when assembling the frames of hyperbolic units and hyperbolic twisted units. Positioning or detection can only be done manually using pads and primitive measurement methods, which requires repeated debugging of the frame. The finished product of the units assembled in the above manner has large deviations.

[0003] The existing assembly method has at least the following defects:

[0004] (1) The process of making contoured support pads is cumbersome and takes a long time: first, when the BIM model unit is obtained, the fixed positioning plate and contoured support pads must be designed, modeled and drawn, and then classified and contoured using an engraving machine. The contoured plates are then assembled on the mobile vehicle support frame and the cast iron platform, and finally the hyperbolic profiles can be framed on the contoured pads.

[0005] (2) The precision of the contoured support pad is not high, and the quality is difficult to guarantee: When the unit is assembled, the contoured pad will be wider in cross-section to bear the weight. The processing precision of the wood material is not high, and the overall assembly will have deviations. Because the contoured support block and the fixed positioning plate are not integrated, it is difficult to detect the twisting of the profile, which requires repeated inspection and debugging to complete. In addition, repeated removal of the screws will enlarge the screw slot, affecting the structural strength, and the material must be replaced.

[0006] (3) The overall replacement time of the contoured support pad is too long, and the efficiency is very low: after each unit frame is assembled, a new contour plate must be replaced and then assembled again, because the entire set of bottom molds needs to be replaced, which places high demands on the on-site operators, and the assembly time of the template is too long, which is inefficient.

[0007] Therefore, a method is urgently needed to solve at least one of the above problems. Summary of the invention

[0008] The present application provides a curtain wall hyperbolic unit component profiling jig framing method, which aims to solve the problem that in the production and assembly of curtain wall units, when framing hyperbolic units and hyperbolic twisting units, there is currently no positioning function and detection device, and positioning or detection can only be performed manually using pads and primitive measurement methods, which requires repeated debugging of the framing, and the finished product deviation of the units assembled in the above manner is large.

[0009] In a first aspect, the present application provides a curtain wall hyperbolic unit element profiling jig assembling method, comprising:

[0010] The profiling backing plate is connected with the profiling support plate to form an integrated profiling base; the profiling support plate has a built-in pressure sensor array for detecting the force distribution of the nodes of the profiling support plate;

[0011] Installing a positioning U-shaped groove and a limiting steel plate on the contoured support plate;

[0012] The structural support rod is fixed vertically to the surface of the standard cast iron platform to set an assembly support device on the surface of the standard cast iron platform; the contoured support plate is connected to the structural support rod in a detachable manner; and a plurality of assembly support devices are formed on the surface of the standard cast iron platform;

[0013] Embed the hyperbolic profile along the positioning U-shaped groove into the curved surface contour of the contoured support plate of each assembly support device for contoured positioning, and adjust the clamping force corresponding to the limiting steel plate according to the force distribution of the node;

[0014] Obtain the fitting gap between the surface of the hyperbolic profile and the profiling support plate. If the gap value of the fitting gap is less than or equal to the preset gap value, complete the assembly frame positioning and obtain the curtain wall hyperbolic unit element profiling fixture; wherein, the preset gap value is 0.3mm; the profiling support plate has a three-dimensional curved surface that is completely consistent with the hyperbolic unit theoretical model corresponding to the curtain wall hyperbolic unit element profiling fixture, the positioning U-shaped grooves are continuously distributed along the edge of the profiling support plate, and the limiting steel plate is provided with a quick locking mechanism that matches the structural support rod.

[0015] In some embodiments, the installation of the positioning U-shaped groove and the limiting steel plate on the contoured support plate includes: acquiring the reference mark point information on the surface of the contoured support plate according to a preset image acquisition module, and generating the optimal hole distribution scheme of the positioning pin according to the reference mark point information based on a convolutional neural network algorithm; wherein, the positioning pin adopts a tapered pin structure with a taper of 1:50, and its surface is coated with a hard anodized layer with a thickness of 20-30μm, and a contact displacement sensor is embedded in the inner wall of the pin hole to provide real-time feedback on the insertion depth of the positioning pin to complete the installation of the positioning U-shaped groove and the limiting steel plate.

[0016] Exemplarily, the installation angle of the limiting steel plate is dynamically calibrated by a six-axis gyroscope, and the calibration data corresponding to the dynamic calibration is compared with the BIM model theoretical value of the limiting steel plate. When the error corresponding to the comparison exceeds 0.1°, the automatic compensation mechanism of the installation angle of the limiting steel plate is triggered.

[0017] In some embodiments, the structural support rod is vertically fixed to the surface of the standard cast iron platform, including: pre-embedding a matrix electromagnetic adsorption unit on the surface of the standard cast iron platform, embedding a permanent magnet at the bottom of the structural support rod, and achieving verticality calibration with an accuracy of 0.02mm through magnetic flux closed-loop control, thereby completing the vertical fixation of the structural support rod to the surface of the standard cast iron platform; wherein, the structural support rod has an integrated strain sensor array for monitoring the bending deformation of the rod body of the structural support rod, and the vertical fixation of the structural support rod is stopped when the deformation corresponding to the bending deformation of the rod body exceeds 70% of the elastic limit of the structural support rod.

[0018] In some embodiments, the method of embedding the hyperbolic profile into the curved surface contour of the contoured support plate along the positioning U-shaped groove for contoured positioning, and adjusting the corresponding clamping force of the limiting steel plate according to the force distribution of the node includes: acquiring the surface point cloud data of the hyperbolic profile in real time according to a preset laser tracker, performing three-dimensional matching with the hyperbolic unit theoretical model through a preset point cloud alignment algorithm, and generating a deviation heat map; when it is detected according to the deviation heat map that the local fit deviation exceeds 0.2 mm, driving the servo motor to adjust the clamping angle of the limiting steel plate; in the process of embedding the hyperbolic profile into the contoured support plate, the pressure distribution data generated by the pressure sensor array is input into a preset support vector machine model to predict the optimal force application path and generate operation instructions, so as to complete the contoured positioning according to the optimal force application path and the operation instructions.

[0019] Exemplarily, the driving servo motor to adjust the clamping angle of the limit steel plate includes: establishing a fuzzy control model corresponding to the node force distribution and the clamping force, the membership function of the fuzzy control model is a triangular distribution, and the defuzzification method adopts the centroid method; if the single-point pressure value determined according to the node force distribution exceeds 15% of the material yield strength, the driving servo motor adjusts the output pressure of the pneumatic clamping mechanism corresponding to the clamping force to complete the adjustment of the clamping force.

[0020] In some embodiments, if the gap value is greater than a preset gap value, the method further includes: determining a compensation strategy based on the ratio of the curvature radius of the hyperbolic profile to the curvature radius of the contoured backing plate; when the curvature radius of the hyperbolic profile and / or the curvature radius of the contoured backing plate is greater than or equal to 0.95 and less than 1, performing local compensation based on the shape memory alloy gasket.

[0021] Exemplarily, if the curvature radius of the hyperbolic profile and / or the curvature radius of the contouring plate is less than 0.95, the five-axis fine-tuning mechanism is activated to perform online correction on the contouring plate.

[0022] In some embodiments, the positioning U-shaped groove is continuously distributed along the edge of the contoured support plate to achieve continuous constraint of the edge of the hyperbolic profile; a pressure-sensitive conductive rubber layer is laid at the bottom of the positioning U-shaped groove to monitor the friction state of the sliding hyperbolic profile through the resistance change rate of the pressure-sensitive conductive rubber layer; wherein the inclination angle of the positioning U-shaped groove wall is dynamically adjusted according to the cross-sectional moment of inertia of the hyperbolic profile.

[0023] In some embodiments, a QR code mark is provided on the surface of the hyperbolic profile; an RFID tag array is embedded inside the positioning U-shaped groove, forming a double verification mechanism with the QR code mark to ensure the uniqueness of the installation position of the hyperbolic profile.

[0024] The present application discloses a method for framing a curtain wall hyperbolic unit component profiling jig. The method aims to solve the problem of framing and positioning of hyperbolic units and hyperbolic twisting units during the production and assembly of curtain wall units. Through innovative designs such as an integrated profiling matrix, intelligent sensor feedback, and modular rapid mold change, the framing of curtain wall hyperbolic unit components is upgraded from a workshop-style operation that relies on manual experience to a data-driven precision manufacturing process. Its value lies not only in the improvement of single-process efficiency (such as a significant reduction in framing time), but also through the digitization of the entire process (real-time monitoring and tracing of pressure and gap data), it provides a reusable technical paradigm for the intelligent transformation of the curtain wall manufacturing industry.

[0025] 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

[0026] 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.

[0027] Figure 1 is a structural schematic diagram of an assembly support device provided in one embodiment of the present application;

[0028] Figure 2 It is a schematic diagram of the assembly principle of a curtain wall hyperbolic unit element profiling jig provided in one embodiment of the present application;

[0029] Figure 3 It is a schematic flow chart of the steps of a method for assembling a hyperbolic unit profiling fixture provided in one embodiment of the present application;

[0030] Figure 4 It is a schematic block diagram of the structure of a control terminal provided in one embodiment of the present application.

[0031] 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

[0032] 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.

[0033] 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.

[0034] It should be understood that, in order to facilitate the clear description of the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, the words "first", "second", etc. are used to distinguish the same items or similar items with substantially the same functions and effects. Those skilled in the art can understand that the words "first", "second", etc. do not limit the quantity and execution order, and the words "first", "second", etc. do not necessarily limit the difference.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] In the production and assembly of curtain wall units, there is currently no positioning function or detection device when assembling the frames of hyperbolic units and hyperbolic twisted units. Positioning or detection can only be done manually using pads and primitive measurement methods, which requires repeated debugging of the frame. The finished product of the units assembled in the above manner has large deviations.

[0039] The existing assembly method has at least the following defects:

[0040] (1) The process of making contoured support pads is cumbersome and takes a long time: first, when the BIM model unit is obtained, the fixed positioning plate and contoured support pads must be designed, modeled and drawn, and then classified and contoured using an engraving machine. The contoured plates are then assembled on the mobile vehicle support frame and the cast iron platform, and finally the hyperbolic profiles can be framed on the contoured pads.

[0041] (2) The precision of the contoured support pad is not high, and the quality is difficult to guarantee: When the unit is assembled, the contoured pad will be wider in cross-section to bear the weight. The processing precision of the wood material is not high, and the overall assembly will have deviations. Because the contoured support block and the fixed positioning plate are not integrated, it is difficult to detect the twisting of the profile, which requires repeated inspection and debugging to complete. In addition, repeated removal of the screws will enlarge the screw slot, affecting the structural strength, and the material must be replaced.

[0042] (3) The overall replacement time of the contoured support pad is too long, and the efficiency is very low: after each unit frame is assembled, a new contour plate must be replaced and then assembled again, because the entire set of bottom molds needs to be replaced, which places high demands on the on-site operators, and the assembly time of the template is too long, which is inefficient.

[0043] Therefore, a method is urgently needed to solve at least one of the above problems.

[0044] To solve the above problems, please refer to Figure 1 The present application provides an assembly support device 10, which at least includes a profiling backing plate 11, a profiling support plate 12, a U-shaped groove 13, a structural support rod 14 and a limiting steel plate 15. The profiling backing plate is connected to the profiling support plate to form an integrated profiling base body, and the profiling support plate has a built-in pressure sensor array for detecting the node force distribution of the profiling support plate. The integrated profiling base body is inserted into the U-shaped groove. The profiling support plate is connected to the structural support rod in a detachable manner (such as Figure 1 It is fixed by fastening screws 16 (such as M8 fastening screws). The positioning U-shaped grooves are continuously distributed along the edge of the contoured support plate, and the limiting steel plate is provided with a quick locking mechanism that matches the structural support rod.

[0045] like Figure 2 As shown, the structural support rods of the multiple assembly support devices 10 are vertically fixed to the surface of the standard cast iron platform 20. By inserting the hyperbolic profile 30 into the contoured support plate (such as Figure 2 The curved surface contours of the 8 assembly support devices 10) are used for contour-fitting positioning, and the clamping force corresponding to the limiting steel plate is adjusted according to the force distribution of the node.

[0046] At the same time, the fitting gap between the surface of the hyperbolic profile and the corresponding profiling plate is obtained to satisfy that the gap value of the fitting gap is less than or equal to the preset gap value; wherein the preset gap value is 0.3 mm; the profiling plate has a three-dimensional curved surface that is completely consistent with the hyperbolic unit theoretical model corresponding to the curtain wall hyperbolic unit element profiling fixture.

[0047] Through Figure 2 The hyperbolic profiles are assembled on multiple assembly support devices as shown. In actual tests, the original set of curtain wall hyperbolic unit element profiling jigs took 6-8 hours to process, but now it takes 20 minutes to complete a set. The original assembly of curtain wall hyperbolic unit element profiling jigs required 3-4 people and 2 hours, but now it only takes 2 people and 15 minutes to complete the assembly of the entire set of profiling jigs. Figure 2 The bent and twisted hyperbolic profiles can be placed on the assembly support device, and the twist deviation can be directly seen through the contour tracking, and the detection accuracy can be controlled within 0.3mm. Other auxiliary detection tools can be reduced and the overall assembly process can be improved.

[0048] The core of the assembly support device is an integrated profiling base, which is formed by directly connecting a profiling backing plate and a profiling support plate through precision machining, eliminating the assembly error of the traditional split profiling plate and the support block.

[0049] The three-dimensional surface of the contoured backing plate is strictly designed based on the hyperbolic unit theoretical model in the BIM model, and is formed by a CNC five-axis machining center. The surface contour error is ≤0.1mm, ensuring that it is completely consistent with the theoretical model.

[0050] The profiling support plate is made of high-strength aluminum alloy, with an array of pressure sensors (such as piezoelectric or strain sensors) embedded inside, distributed in a grid pattern (e.g. 10cm×10cm spacing), to monitor the pressure distribution of the profile contact point in real time with an accuracy of ±0.05N. The integrated structure avoids the splicing error of the traditional split profiling plate, improves the overall rigidity by more than 50%, and reduces the risk of deformation. Through the pressure sensor data, it is possible to determine in real time whether the profile is evenly fitted, avoiding the blind spots of manual visual inspection or caliper sampling.

[0051] The U-shaped groove is continuously distributed along the edge of the profile support plate, the groove width tolerance is controlled at ±0.1mm, and the depth matches the profile section. The inner wall of the groove is hard chrome plated to reduce friction loss when the profile is embedded. At the same time, the laser marking instrument is used to assist in calibration to ensure that the axis of the hyperbolic profile is aligned with the center line of the groove.

[0052] The limit steel plate can adopt a composite mechanism of pneumatic clamp + electromagnetic lock. The pneumatic clamp provides the initial clamping force (adjustable range 50-200N) to quickly fix the position of the profile. The electromagnetic lock achieves instantaneous locking through magnetic attraction (about 300N), avoiding the time-consuming operation of repeatedly tightening traditional bolts. The clamping surface of the limit steel plate is covered with a polyurethane buffer layer to prevent scratches on the profile surface.

[0053] The structural support rod and the contour support plate are connected by a quick-release pin + conical positioning sleeve. After the pin is inserted, it is automatically locked by a spring steel ball. When disassembling, just press the release button. The support rod is made of hollow steel tube (wall thickness ≥5mm) and filled with damping material to reduce the influence of external vibration on positioning accuracy. An electronic level can be integrated at the bottom of the support rod. During installation, the verticality error is ≤0.1° / m by adjusting the base bolts (M12 fine thread) to ensure the stability of the overall device. The pressure sensor array data is transmitted to the control terminal through a bus such as RS485, and a pressure distribution thermal map is generated in combination with finite element analysis software to intuitively display the profile fitting status. If the pressure at a certain node exceeds the threshold (such as ±10% of the theoretical value), the system automatically alarms and prompts to adjust the clamping force or profile position. A laser rangefinder sensor (accuracy ±0.02mm) is used to scan the fitting surface of the profile and the contour support plate to generate a three-dimensional gap cloud map, automatically calculate the maximum gap value and compare it with the preset threshold (0.3mm).

[0054] At the same time, the surface of the standard cast iron platform 20 is tested for flatness by using a high-precision total station (required to be ≤0.05mm / m²), and anti-rust oil is sprayed after cleaning the surface. According to the BIM model coordinates, the support rod installation point is marked on the platform (error ≤0.5mm). The structural support rod is vertically inserted into the preset positioning hole of the platform. After calibrating the verticality with an electronic level, the bottom flange bolt is tightened (torque value 30N·m). Align the interface between the profiling support plate and the profiling support plate, and insert the quick-release pin to complete the locking. Slide the integrated base into the top of the support rod along the U-shaped groove, and automatically align it through the conical sleeve to ensure that there is no gap on the contact surface. The operator hoists the hyperbolic profile to the top of the device through the lifting equipment, slowly lowers it along the U-shaped groove, and initially embeds it into the curved surface contour of the profiling support plate. Observe the pressure thermodynamic diagram. If the local pressure is too high, manually fine-tune the profile angle or tap the profile with a rubber hammer until the pressure is evenly distributed.

[0055] Start the pneumatic gripper to apply the initial clamping force (default 100N), and then trigger the electromagnetic lock to complete the final fixation. Automatically record the clamping parameters as reference data for similar unit assembly frames. Start the laser rangefinder to scan the fitting surface. If the maximum gap is greater than 0.3mm, the system prompts an adjustment plan (such as local grinding of the profile or fine-tuning the position of the support rod). When disassembling, press the support rod quick release button to pull out the integrated profiling base as a whole and replace it with the base of the next unit model (the whole process takes ≤5 minutes). The old base can be returned to the warehouse for refurbishment (re-spraying the wear-resistant layer or calibrating the curved surface) to achieve recycling.

[0056] The assembly support device completely solves the pain points of low efficiency, poor precision, and reliance on manual experience in traditional processes through the three core technologies of integrated profiling base, intelligent sensor feedback, and modular rapid changeover. Its value is not only reflected in the optimization of a single process, but also in promoting the transformation and upgrading of curtain wall manufacturing from "experience-driven" to "data-driven", providing a reusable technical path for the intelligent upgrading of the industry.

[0057] See also Figure 3 , Figure 3 The method is a schematic flow chart of the steps of the curtain wall hyperbolic unit element profiling jig assembly method provided in one embodiment of the present application. The execution device of the method is a control terminal.

[0058] like Figure 3 As shown, the provided method includes steps S101 to S105. The control terminal may be a handheld terminal, a notebook computer, a wearable device or a robot, etc., for implementing steps S101 to S105 and their corresponding embodiments.

[0059] Step S101: Connect the profiling backing plate and the profiling support plate to form an integrated profiling base; the profiling support plate has a built-in pressure sensor array for detecting the force distribution of the nodes of the profiling support plate.

[0060] Specifically, through the hyperbolic unit theoretical model derived from BIM (Building Information Model), the three-dimensional point cloud data is generated through the non-uniform rational B-spline (NURBS) surface algorithm to ensure the accuracy of the mathematical expression of the surface. For example, when a five-axis linkage CNC machine tool (such as DMG MORI DMU 200) is used for milling, the equal residual height algorithm is used in tool path planning to ensure that the surface roughness is ≤Ra 1.6μm and the contour error is ≤0.1mm. The contour support plate is made of 7075-T6 aviation aluminum alloy with a tensile strength of ≥530MPa, and the surface is hard anodized (film thickness 25-30μm) to improve wear resistance and corrosion resistance.

[0061] The pressure sensor uses a miniature piezoresistive sensor with a single-point range of 0-500N, a linear error of ≤±0.1% FS, and a temperature drift of ≤0.01% FS / ℃. It is evenly embedded in the support plate with a 10cm×10cm grid density, with a total of 121 measurement points (11×11 array), covering an effective support area of ​​1.2m×1.2m. The sensor is connected to the central acquisition module through a flexible FPC (flexible printed circuit), and time division multiplexing (TDM) technology is used to reduce wiring complexity. The sampling frequency is 1kHz, and the real-time error is <1ms.

[0062] The double positioning structure of "dovetail tenon + tapered pin" is used between the contoured support plate and the support plate. The tenon width tolerance is ±0.02mm, the taper of the tapered pin is 1:50, and it is locked by the hydraulic expansion mechanism after insertion. The contact surface preload force is ≥2000N. The first-order natural frequency of the matrix is ​​tested by the modal analyzer to be ≥300Hz to avoid structural deformation caused by resonance during processing.

[0063] For an integrated contoured substrate, the substrate pre-assembly process may include:

[0064] Cleaning and alignment: Use anhydrous ethanol to wipe the contact surface between the contour plate and the support plate, use a laser interferometer (such as Zygo Verifire) to project the crosshairs, and manually fine-tune the alignment error to ≤ 0.05mm.

[0065] Pin pressing: Use a pneumatic press (pressure adjustable range 0-10kN) to press the tapered pin vertically into the pin hole. The pressing speed is controlled at 5mm / s to avoid damage to the sensor due to impact load.

[0066] Sealing: Apply silicone rubber sealant (such as Dow Corning 732) to the joints. After curing, the waterproof level reaches IP67 to prevent cutting fluid or dust from invading the sensor area.

[0067] Under no-load condition, the initial voltage value of each sensor is collected through the control terminal, and the software automatically compensates for zero drift to ensure that the initial error is less than ±0.1N. Use standard weights (accuracy M1 level) to apply loads of 100N, 200N, and 500N to the four corners and center of the support plate in turn to verify the linearity of the sensor output (R²≥0.999). Place the substrate in a constant temperature box (-10℃ to 50℃), record the temperature-output characteristic curve, and implant a polynomial compensation algorithm to eliminate the influence of temperature drift.

[0068] Among them, the basic acceptance standards include: Geometric accuracy: Use a three-coordinate measuring machine to scan the contoured support surface, and the deviation between any point and the theoretical model is ≤0.1mm. The effective measurement point rate of the pressure sensor array is ≥99% (one spare sensor is allowed to fail), and the communication bit error rate is <10⁻ 6The integrated structure eliminates the cumulative error of the traditional split profile plate, and the profile positioning repetitive accuracy is improved. The assembly time and manpower requirements are greatly shortened.

[0069] Step S102: Install a positioning U-shaped groove and a limiting steel plate on the contoured support plate.

[0070] Specifically, the U-shaped groove body can be made of precipitation hardened stainless steel 17-4PH (H1150 state), formed by wire cutting (accuracy ±0.01mm), and the inner wall is mirror polished (roughness Ra≤0.2μm) to reduce the sliding friction coefficient of the profile (μ<0.1). The groove width is processed according to the nominal size of the profile section +0.1mm / -0mm, the depth tolerance is ±0.05mm, and the side wall verticality is ≤0.02mm / m.

[0071] The composite locking mechanism of the limit steel plate may include:

[0072] The pneumatic gripper adopts a double-acting cylinder with a cylinder diameter of 32mm and a stroke of 50mm. The built-in magnetic ring sensor provides real-time feedback of the piston position, and the repeat positioning accuracy is ±0.1mm.

[0073] The electromagnetic lock uses a 600N holding force electromagnetic lock, the response time is less than 50ms, and it can be quickly released through the manual emergency pull rod after power failure. The polyurethane clamping surface has a Shore hardness of 70A, a compression permanent deformation rate of less than 5% (70℃×22h), and oil resistance meets ISO1817 standards.

[0074] The U-shaped groove installation process can be based on the edge of the contoured support plate, using a high-precision marble platform with a lever micrometer (resolution 0.001mm) to measure the straightness of the groove body and adjust it to ≤0.05mm / m. The tightening strategy uses M6×12 stainless steel hexagon socket screws (strength grade 12.9), which are tightened three times in a cross-cross sequence. The torque values ​​are 5N·m, 10N·m, and 15N·m, respectively, and the final preload error is ≤±3%. At the same time, by spraying molybdenum disulfide dry film lubricant (thickness 5-8μm) in the groove, the friction coefficient is reduced to 0.05-0.08, extending the service life to more than 100,000 times.

[0075] The debugging steps of the limit steel plate may include using a PU tube (Φ6×1mm) to connect the clamping jaws to the factory air source (0.6MPa), configuring a pressure reducing valve and an oil mist collector to ensure that the air pressure fluctuation is less than ±0.02MPa. Set the clamping force gradient (50N, 100N, 150N, 200N) at the control terminal, and measure and calibrate the pressure-current relationship curve using a dynamometer (such as IMADA ZTS-50N). Simulate power-off and air-off conditions to verify whether the electromagnetic lock can trigger the mechanical self-locking within 300ms to prevent the profile from accidentally falling off.

[0076] By embedding the standard calibration profile (tolerance ±0.05mm), the lateral clearance of the U-shaped groove is detected with a feeler gauge, which is required to be ≤0.03mm. 100 clamping-release cycles are performed continuously, and the position repeatability error is statistically calculated (3σ≤0.1mm).

[0077] The straightness error of the U-shaped groove is lower than that of the traditional guide rail, and the success rate of profile embedding can be greatly improved. The clamping force stability of the pneumatic-electromagnetic composite locking mechanism is greatly improved compared with the pure mechanical locking efficiency. The lubricating coating extends the replacement cycle of the U-shaped groove from one month / time to one year / time, and the annual maintenance cost is reduced by 92%.

[0078] Step S103. Fix the structural support rod vertically to the surface of the standard cast iron platform to set an assembly support device on the surface of the standard cast iron platform; connect the contour support plate to the structural support rod in a detachable manner; and form multiple assembly support devices on the surface of the standard cast iron platform.

[0079] Specifically, the support rod is made of high-strength cold-drawn seamless steel pipe (material Q345B, outer diameter Φ60mm, wall thickness 5mm), the surface is hot-dip galvanized (zinc layer thickness ≥85μm), and the salt spray corrosion resistance is up to 2000 hours. The top is integrated with a conical positioning sleeve (taper 1:10, tolerance h6), and the bottom is connected to the cast iron platform through a flange (material QT500-7 ductile iron, thickness 20mm). The flange is pre-embedded with M16 bolt holes (tolerance H7), and the repeated positioning accuracy is ≤0.02mm through a conical pin (material 40Cr, hardness HRC45-50). The middle part of the support rod is integrated with an electronic level (such as SICK TBS / T18, resolution 0.001°), and with the four-way adjustment bolts of the base (M12 fine pitch 1mm), the verticality error can be achieved ≤0.05° / m.

[0080] The cast iron platform (such as material HT250, hardness HB180-220) is treated with artificial aging three times to eliminate internal stress, and the surface is ground to a flatness of ≤0.05mm / m² and a roughness of Ra≤0.8μm. Pre-drill Φ20H7 positioning holes according to the BIM model coordinates, with a hole spacing tolerance of ±0.1mm, and copper bushings (material C93700, inner diameter Φ20mm, outer diameter Φ25mm) are embedded in the holes to reduce wear.

[0081] The control terminal can establish the platform coordinate system based on the total station, and calibrate the three-dimensional coordinates of each support rod through the laser tracker to ensure that the spacing error between adjacent devices is ≤0.5mm. According to the weight distribution of the hyperbolic profile (such as a single-span profile weighing 300kg), calculate the number and spacing of support rods to ensure that the single-rod load is ≤150kg to avoid local overload deformation. Use acetone to wipe the surface of the platform, spray WD-40 rust inhibitor, and let it stand for 24 hours to form a protective film. Use the BIM model coordinates to mark the support rod installation point. If the error is greater than 0.5mm, it is necessary to re-drill and insert the sleeve for repair.

[0082] Align the bottom flange of the support rod with the positioning hole of the platform, insert the M16×100 high-strength bolt (strength grade 10.9), and tighten it three times in diagonal order. The final torque value is 120N·m (error ±5%). Start the electronic level, observe the tilt direction of the support rod, and adjust the four-way bolts of the base (fine-tune 0.5 turns ≈ 0.05mm each time) until the verticality meets the standard. Insert the contoured base conical pin into the top conical sleeve of the support rod. Press it manually without loosening. The clearance feeler gauge detection is ≤0.03mm.

[0083] The distance between adjacent support rods was measured using a laser rangefinder and adjusted to within ±0.5mm of the design value. A 150kg counterweight was applied to the top of the support rod and the verticality change was tested to be ≤0.01° after 24 hours to confirm the structural stability.

[0084] The modular quick-release design reduces the installation time of a single support rod from 30 minutes to 5 minutes, and increases the efficiency of multi-device collaborative layout by 6 times. The overall flatness error of the support system is reduced by 90% compared with the traditional welded frame. A single platform can be expanded to 50 support devices, supporting the continuous assembly of super-large curtain wall units (such as 30m span).

[0085] Step S104: embed the hyperbolic profile into the curved surface contour of the contoured support plate of each assembly support device along the positioning U-shaped groove for contoured positioning, and adjust the clamping force corresponding to the limiting steel plate according to the node force distribution.

[0086] Specifically, a suction cup group (single suction cup gripping force 300N) is used, and a vacuum generator (flow rate 600L / min) is controlled by PLC to achieve smooth transportation and precise placement of profiles. The sensor array generates a pressure thermogram in real time, and the system reversely infers the contact stress between the profile and the contoured support plate through finite element analysis (FEA). If the local pressure is greater than 120% or less than 80% of the theoretical value, an alarm is triggered.

[0087] The pneumatic gripper pressure value (P), pressure change rate (D), and cumulative error (I) are input into the PID controller, and the output signal adjusts the proportional valve. When the instantaneous peak value of the clamping force is greater than 500N, the solenoid valve releases pressure urgently to prevent plastic deformation of the profile.

[0088] At the same time, the operator can wear AR glasses and project the BIM model outline into the operator's field of view to compare the actual position of the profile with the theoretical path in real time. When the deviation is greater than 0.5mm, a visual warning (highlighted in red) will be triggered.

[0089] In some embodiments, the profile embedding operation process includes: calculating the optimal suction point of the suction cup (spacing ≤ 1m) according to the curvature distribution of the profile to avoid distortion of the profile due to bending moment. The profile slides in along the U-shaped groove at a speed of 5mm / s. The operator observes the virtual guide line through AR glasses and manually fine-tunes the angle to an alignment error of ≤0.2mm. The control terminal displays the pressure distribution. If the pressure in the edge area (such as 10cm at both ends) is less than 50N, the operator taps the profile with a nylon hammer (impact energy ≤5J) until the pressure is uniform (standard deviation ≤10N). The initial clamping force is set to 100N, gradually increasing to 200N, staying at each level for 10 seconds to observe the displacement of the profile. If the displacement is greater than 0.1mm, return to the previous level and lock. When the pressure distribution meets the standard, the system sends a 24V DC pulse signal to the electromagnetic lock, the locking action time is less than 0.5 seconds, and the clamping force is instantly increased to 300N and maintained. The pressure curve, adjustment times, final clamping force and other parameters during the clamping process are automatically generated into a PDF report and stored in the SQL database for reference.

[0090] Step S105. Obtain the fitting gap between the surface of the hyperbolic profile and the profiling support plate. If the gap value of the fitting gap is less than or equal to the preset gap value, complete the assembly frame positioning and obtain the curtain wall hyperbolic unit element profiling fixture; wherein the preset gap value is 0.3mm; the profiling support plate has a three-dimensional curved surface that is completely consistent with the hyperbolic unit theoretical model corresponding to the curtain wall hyperbolic unit element profiling fixture, the positioning U-shaped grooves are continuously distributed along the edge of the profiling support plate, and the limiting steel plate is provided with a quick locking mechanism that matches the structural support rod.

[0091] Specifically, a line laser sensor is used, with a measurement range of ±50mm, a resolution of 0.5μm, a scanning speed of 64kHz, and a point cloud density of 1000 points / cm². The measured point cloud is aligned with the theoretical model through the ICP (iterative closest point) algorithm, and the Hausdorff distance is calculated as the gap value. After removing the noise points, the maximum value is taken as the basis for judgment. At the same time, a feeler gauge set (thickness 0.02-1.00mm, step length 0.02mm) is used to perform manual insertion detection in the high-risk area (gap>0.2mm) indicated by the laser scan, and the insertion force is ≤3N to avoid profile displacement. Fluorescent penetrant is sprayed on the contact surface between the profile and the profiling plate, and the width of the seepage line is observed under ultraviolet light to determine the microscopic gap (sensitivity 0.01mm). The detection data is uploaded to the preset MES (manufacturing execution system) in real time, and a unique QR code is generated and attached to the fixture. Scanning the code can trace the entire process information such as the person in charge of the process, the detection time, and the process parameters. Automatically calculate CPK (process capability index). If CPK is less than 1.33 for 10 consecutive sets of data, a process optimization warning will be triggered.

[0092] In some embodiments, a six-axis robot equipped with a laser sensor is used to scan along the length of the profile at a speed of 50mm / s to generate three-dimensional point cloud data (about 300,000 points for a single profile). After the point cloud is denoised by Gaussian filtering (σ=0.1mm), it is compared with the BIM model to output the maximum gap value and position coordinates (such as X=1250mm, Y=560mm, Gap=0.28mm). If the gap at a certain point = 0.32mm (>0.3mm threshold), the operator uses a rubber hammer to tap the profile or fine-tune the support rod coordinates (±0.5mm) and rescan until it meets the standard. For the linear seepage (width 0.05mm) found in the fluorescent inspection, ultra-fine sandpaper (grain size P2000) is used for local grinding to ensure the continuity of the contact surface. The management terminal corresponding to the quality inspection supervisor reviews the data at the MES terminal, triggers the ERP system to generate a work order after electronic signature, and arranges logistics hoisting. The fixture surface is sprayed with VCI (vapor phase rust inhibitor), covered with PE film (thickness 0.1mm), and packed in wooden boxes (humidity <10%RH) for shipment.

[0093] In some embodiments, the installation of the positioning U-shaped groove and the limiting steel plate on the contoured support plate includes: acquiring the reference mark point information on the surface of the contoured support plate according to a preset image acquisition module, and generating the optimal hole distribution scheme of the positioning pin according to the reference mark point information based on a convolutional neural network algorithm; wherein, the positioning pin adopts a tapered pin structure with a taper of 1:50, and its surface is coated with a hard anodized layer with a thickness of 20-30μm, and a contact displacement sensor is embedded in the inner wall of the pin hole to provide real-time feedback on the insertion depth of the positioning pin to complete the installation of the positioning U-shaped groove and the limiting steel plate.

[0094] For example, an industrial camera (resolution 2448×2048 pixels, frame rate 120fps) is used with a ring LED light source (color temperature 5600K, illumination 1000lux) to spray high-contrast fluorescent markers (diameter Φ5mm, spacing 100mm×100mm grid distribution) on the surface of the profiling support plate. The OpenCV library is used to locate the markers, and the center coordinates are extracted through the sub-pixel edge detection algorithm (accuracy 0.1 pixel). The coordinate data is transmitted to the control terminal in JSON format.

[0095] A U-Net CNN model was constructed, with the input layer being the heat map of the coordinates of the marked points (256×256 pixels), and the output layer being the probability distribution map of the optimal hole position. The training data contained 1,000 sets of historical installation cases, using the cross entropy loss function and the Adam optimizer (learning rate 0.001). After the model outputs the hole coordinates, the system automatically avoids the sensor array and the reinforcing rib structure inside the support plate, and generates a hole distribution scheme with the minimum stress concentration path (hole spacing error ≤±0.2mm). The tapered pin (material 40CrNiMoA) was machined by a CNC grinder (such as Studer S33), with a taper of 1:50 (angle tolerance ±0.01°), and the surface was hard anodized (film thickness 25±2μm, microhardness ≥400HV). The Kaman KD-2300 series eddy current displacement sensor (range ±1mm, resolution 0.5μm) was embedded in the inner wall of the pin hole to monitor the insertion depth of the tapered pin in real time (target value 12.5±0.05mm). When the tolerance was exceeded, the servo motor was triggered to fine-tune the pressing force. The contact resistance between the tapered pin and the pin hole was measured using a Keysight 34465A digital multimeter (standard value <10mΩ) to ensure the continuity of the conductivity. The axial tensile force was applied to 500N using an Instron 5967 universal testing machine, and the displacement sensor monitored the pin body slippage ≤0.02mm.

[0096] Exemplarily, the installation angle of the limiting steel plate is dynamically calibrated by a six-axis gyroscope, and the calibration data corresponding to the dynamic calibration is compared with the BIM model theoretical value of the limiting steel plate. When the error corresponding to the comparison exceeds 0.1°, the automatic compensation mechanism of the installation angle of the limiting steel plate is triggered.

[0097] Use a six-axis IMU (accelerometer range ±16g, gyroscope range ±2000dps), directly installed on the back of the limit steel plate, and transmit data via the CAN bus. Establish a local coordinate system of the limit steel plate (the origin is the geometric center), and convert the IMU raw data into Euler angles (pitch / roll / yaw angles) through the quaternion method, with a sampling frequency of 1kHz.

[0098] The theoretical attitude angle of the limit steel plate (accuracy 0.001°) is extracted from the BIM model and compared with the actual value measured by the IMU in real time. When the pitch angle or roll angle deviation is greater than 0.1°, the system drives the Delta robot arm (such as ABB IRB 360) to adjust the installation angle of the limit steel plate with a compensation step of 0.01°.

[0099] A servo motor (encoder resolution 17bit) is used to drive the limit plate to rotate through a harmonic reducer (reduction ratio 1:100), with an angular resolution of 0.0005°. After compensation is completed, the electromagnetic lock (holding force 800N) instantly locks the limit plate to prevent subsequent vibration from causing angular deviation.

[0100] Among them, the compensation formula corresponding to the installation angle includes:

[0101] ;

[0102] is the installation angle offset to be compensated, in degrees (°). The value range is [−0.1, 0.1], that is, the compensation angle needs to be controlled within the range of ±0.1° to avoid stress concentration in the profile due to excessive adjustment. When the installation platform tilts slightly due to vibration or load changes, the posture of the clamping mechanism is corrected by the compensation angle to ensure the fit accuracy between the profile and the contouring plate.

[0103] is the yaw deviation measured by the gyroscope (IMU), in radians (rad). The condition for triggering compensation is | ∣≥0.0017 rad (about 0.1°). Values ​​below this value are considered system noise and do not trigger adjustments. Reflects the angular deviation between the actual and theoretical postures of the mounting platform, such as instantaneous offsets caused by wind loads or mechanical vibrations.

[0104] is the arm length of the limit steel plate (the distance from the rotation axis to the force application point), in millimeters (mm). For example, Larm=500 mm, the design needs to be matched according to the weight of the profile and the torque of the servo motor (for example, the arm needs to be shortened for heavy profiles to reduce the load torque). The arm length directly affects the lever effect of the compensation angle, which is expressed in the formula by Deviate the angle ( ) is converted into linear displacement demand.

[0105] is the calibration gain factor of the IMU sensor, dimensionless. =0.85 Determined by calibration experiment (such as comparing high-precision laser tracker data and adjusting the gain to eliminate the IMU system error). Correct the nonlinear error or temperature drift of the IMU measurement value. For example, when the gyroscope output signal is attenuated in a high temperature environment, the gain coefficient can be adjusted dynamically (combined with the temperature sensor data).

[0106] is the response delay time of the servo motor, in seconds (s). ≤0.02 s. If the delay exceeds the limit, the control algorithm needs to be optimized or the motor drive module needs to be upgraded. By representing the time difference from the instruction to the actual action of the actuator, the formula is Correct the phase lag problem in dynamic control to ensure that the compensation action is synchronized with the real-time deviation.

[0107] The numerator of the above expression converts the angular deviation into a linear displacement requirement (in mm·rad), reflecting "angular error × arm length = linear displacement to be compensated". The denominator combines sensor error correction with control delay to suppress overshoot oscillations caused by measurement noise or response lag.

[0108] At the same time, the linear approximation error is avoided by mapping the ratio of the linear displacement to the time parameter into an angle output.

[0109] In some embodiments, the structural support rod is vertically fixed to the surface of the standard cast iron platform, including: pre-embedding a matrix electromagnetic adsorption unit on the surface of the standard cast iron platform, embedding a permanent magnet at the bottom of the structural support rod, and achieving verticality calibration with an accuracy of 0.02mm through magnetic flux closed-loop control, thereby completing the vertical fixation of the structural support rod to the surface of the standard cast iron platform; wherein, the structural support rod has an integrated strain sensor array for monitoring the bending deformation of the rod body of the structural support rod, and the vertical fixation of the structural support rod is stopped when the deformation corresponding to the bending deformation of the rod body exceeds 70% of the elastic limit of the structural support rod.

[0110] The array permanent magnet (material NdFeB N52, unipolar magnetic flux density 1.4T) is embedded in the cast iron platform, and the magnetic pole distribution is optimized by finite element simulation to make the magnetic field uniformity of the adsorption surface greater than 95%. The Hall sensor at the bottom of the structural support rod monitors the magnetic flux in real time, and adjusts the excitation current (0-10A) through the PID algorithm to achieve dynamic calibration of verticality. 20 FBG (fiber Bragg grating) strain sensors (wavelength resolution 1pm, strain resolution 1με) are mounted at equal intervals on the inner wall of the support rod to form a distributed monitoring network. When the strain value in a certain area exceeds 700με (corresponding to 70% of the elastic limit of Q345B), the electromagnetic adsorption power supply is immediately cut off and the pneumatic legs (carrying capacity 200kg) are started for temporary support. The electromagnetic adsorption unit quickly adsorbs the support rod with a current of 5A, so that the initial verticality error is ≤1° / m. The current is fine-tuned according to the Hall sensor data (step length 0.1A), and the final verticality is ≤0.02° / m, and the calibration time is less than 30 seconds.

[0111] In some embodiments, the method of embedding the hyperbolic profile into the curved surface contour of the contoured support plate along the positioning U-shaped groove for contoured positioning, and adjusting the corresponding clamping force of the limiting steel plate according to the force distribution of the node includes: acquiring the surface point cloud data of the hyperbolic profile in real time according to a preset laser tracker, performing three-dimensional matching with the hyperbolic unit theoretical model through a preset point cloud alignment algorithm, and generating a deviation heat map; when it is detected according to the deviation heat map that the local fit deviation exceeds 0.2 mm, driving the servo motor to adjust the clamping angle of the limiting steel plate; in the process of embedding the hyperbolic profile into the contoured support plate, the pressure distribution data generated by the pressure sensor array is input into a preset support vector machine model to predict the optimal force application path and generate operation instructions, so as to complete the contoured positioning according to the optimal force application path and the operation instructions.

[0112] A laser tracker (distance measurement accuracy ±0.5μm / m, angle accuracy ±0.15°) was used in conjunction with a handheld scanner (sampling rate 1000 points / second) to capture point cloud data on the surface of the hyperbolic profile in real time. The ICP (iterative closest point) algorithm was used to align the measured point cloud with the BIM model, calculate the Hausdorff distance as the deviation benchmark, and generate an RGB heat map (red: deviation > 0.2mm, green: deviation ≤ 0.1mm). When the deviation of a local area was > 0.2mm for three consecutive scans, it was automatically marked as a high-risk area, and a command was sent to the servo motor (rated torque 45N·m) to drive the limit steel plate to adjust the clamping angle at an angular velocity of 0.01° / s. The support vector machine (SVM) model predicted the optimal force application path based on historical pressure data (training set: 500 groups of samples, kernel function RBF, penalty factor C=1.0) and output operation instructions (such as "rotate 5° clockwise and then pressurize vertically"). 64 pressure sensors (range 0-500N, accuracy ±2.5%) are embedded on the surface of the contoured support plate and distributed in an 8×8 grid to generate a real-time pressure distribution matrix. According to the force path output by the SVM, the servo motor drives the pneumatic gripper (Festo DHEF) to load the pressure in stages (initial 50N, increasing by 25N each stage) until the pressure is uniform (standard deviation ≤15N).

[0113] Exemplarily, the driving servo motor to adjust the clamping angle of the limit steel plate includes: establishing a fuzzy control model corresponding to the node force distribution and the clamping force, the membership function of the fuzzy control model is a triangular distribution, and the defuzzification method adopts the centroid method; if the single-point pressure value determined according to the node force distribution exceeds 15% of the material yield strength, the driving servo motor adjusts the output pressure of the pneumatic clamping mechanism corresponding to the clamping force to complete the adjustment of the clamping force.

[0114] Node pressure value (domain 0-500N, divided into three levels: "low, medium, high"), pressure change rate (domain -50~+50N / s, divided into three levels: "negative, zero, positive"). Membership function uses triangular distribution (such as "medium" pressure: 150-350N, peak 250N), output clamping force adjustment (domain -20~+20N). Calculate the exact output value (such as "adjustment +12.3N") through the center of gravity method.

[0115] The pneumatic clamping mechanism uses a proportional valve (flow rate 0-100L / min), receives the PWM signal (frequency 1kHz) output by the fuzzy controller, and dynamically adjusts the clamping force (steady-state error ≤±1N). When the single-point pressure is greater than 15% of the material yield strength (such as 6061 aluminum alloy: 275MPa) (i.e., the pressure value corresponding to 41.25MPa is 413N), the system triggers emergency pressure relief (response time <50ms). The pressure distribution cloud map and clamping force adjustment curve are displayed through the HMI interface, and the operator can manually intervene in the adjustment strategy. All adjustment records are stored in the SQL database, supporting SPC analysis (such as Cp / Cpk calculation).

[0116] In some embodiments, if the gap value is greater than a preset gap value, the method further includes: determining a compensation strategy based on the ratio of the curvature radius of the hyperbolic profile to the curvature radius of the contoured backing plate; when the curvature radius of the hyperbolic profile and / or the curvature radius of the contoured backing plate is greater than or equal to 0.95 and less than 1, performing local compensation based on the shape memory alloy gasket.

[0117] The curvature measurement uses an optical measuring instrument (accuracy ±1μm) to scan the cross-section of the profile and the profiling plate, and calculates the least square fitting curvature radius (R profile and R support plate). If 0.95≤R profile / R support plate<1.0, the system determines it as the "elastic deformation compensable area"; if R profile / R support plate<0.95, it is determined as the "plastic deformation correction area". Ni-Ti alloy (phase transition temperature 35℃, recovery strain 8%) is used to pre-process into a wedge-shaped gasket with a thickness of 0.1-0.5mm. The robot automatically selects the gasket according to the gap position and uses UV curing glue to stick it to the surface of the profiling plate. The curing time is 30 seconds. After compensation, the laser scan is re-performed. If the gap is still>0.2mm, the iterative compensation is started (up to 3 times). The shape memory alloy gasket is used. The counter records the number of times a single gasket is used. The maximum number of times it is used is ≤50 times (to prevent fatigue failure).

[0118] Exemplarily, if the curvature radius of the hyperbolic profile and / or the curvature radius of the contouring plate is less than 0.95, the five-axis fine-tuning mechanism is activated to perform online correction on the contouring plate.

[0119] By adopting a parallel five-axis platform (X / Y / Z axis travel ±50mm, A / C axis rotation ±5°), the repeat positioning accuracy is ±1μm, and a diamond trimming tool (edge ​​radius 0.1mm) is equipped. The ball screw (lead 1mm) is driven by a servo motor (17bit encoder), and the moving speed is adjustable from 0.1-10mm / s. According to the measured R profile / R backing plate ratio, the margin to be removed from the profiling backing plate (such as ΔR=0.5mm) is calculated to generate a B-spline tool path. The surface of the profiling backing plate is finely trimmed with a diamond tool at a cutting depth of 0.01mm and a feed speed of 5mm / s, and the surface roughness Ra≤0.2μm. The cutting force is fed back in real time through a dynamometer (the threshold is set to 50N), and the tool is automatically retracted when the limit is exceeded. The integrated vacuum dust collection system (flow rate 30m³ / h) ensures that the processing environment cleanliness reaches ISO 5 level.

[0120] In some embodiments, the positioning U-shaped groove is continuously distributed along the edge of the contoured support plate to achieve continuous constraint of the edge of the hyperbolic profile; a pressure-sensitive conductive rubber layer is laid at the bottom of the positioning U-shaped groove to monitor the friction state of the sliding hyperbolic profile through the resistance change rate of the pressure-sensitive conductive rubber layer; wherein the inclination angle of the positioning U-shaped groove wall is dynamically adjusted according to the cross-sectional moment of inertia of the hyperbolic profile.

[0121] By using pressure-sensitive conductive rubber (resistance range 10 4 -10 8 Ω, pressure sensitivity 0.1Ω / N), cut into 5mm wide strips and embedded in the bottom of the U-shaped groove. When the resistance change rate ΔR / R0>10%, it is judged as sliding friction (need lubrication), and when ΔR / R0<5%, it is static friction (normal state). 4 ), automatically calculate the groove wall inclination angle θ=arctan(Ixx / 1000) (for example: when Ixx=5000, θ=78.7°). The groove wall is adjusted by a hydraulic cylinder (thrust 20kN), with an angle resolution of 0.01° and an adjustment time of <10 seconds. When sliding friction is detected, the preset spray lubrication system sprays molybdenum disulfide lubricant (particle size 1-3μm) with an oil injection volume of 0.1mL / time. When the accumulated friction work is greater than 100J / mm², the groove body replacement prompt is triggered.

[0122] In some embodiments, a QR code mark is provided on the surface of the hyperbolic profile; an RFID tag array is embedded inside the positioning U-shaped groove, forming a double verification mechanism with the QR code mark to ensure the uniqueness of the installation position of the hyperbolic profile.

[0123] By using DataMatrix QR code (size 15×15mm, fault tolerance level ECC 200), laser engraved on the end face of the profile (depth 0.1mm), the profile ID, batch, and curvature parameters are stored. The U-shaped groove is embedded with an RFID tag (frequency 860-960MHz, storage capacity 512bit), and the groove body number, installation coordinates, and maintenance records are written. The operator reads the profile QR code through a barcode scanner, and the control terminal automatically retrieves the corresponding U-shaped groove RFID information in the BIM model. If the coordinate deviation between the QR code and the RFID is greater than 1mm, the system locks the installation process and triggers an audible and visual alarm (flashing red light + buzzer 85dB). Each verification record (timestamp, operator, equipment number) is uploaded to the chain for tamper-proof audit traceability. The MES system automatically generates daily / weekly / monthly error rate reports to support quality KPI assessment.

[0124] The embodiment of the present application also provides a curtain wall hyperbolic single-element profiling jig assembly frame module. The curtain wall hyperbolic single-element profiling jig assembly frame module is used to execute the steps of the curtain wall hyperbolic single-element profiling jig assembly frame method shown in the above embodiments. The curtain wall hyperbolic single-element profiling jig assembly frame module can be a single server or a server cluster, or the curtain wall hyperbolic single-element profiling jig assembly frame module can be a terminal, which can be a handheld terminal, a laptop computer, a wearable device or a robot, etc.

[0125] The curtain wall hyperbolic unit profiling fixture assembly module includes:

[0126] A matrix forming unit is used to connect the profiling backing plate and the profiling support plate to form an integrated profiling matrix; the profiling support plate has a built-in pressure sensor array for detecting the force distribution of the nodes of the profiling support plate;

[0127] A positioning installation unit, used for installing a positioning U-shaped groove and a limiting steel plate on the contoured support plate;

[0128] The support setting unit is used to vertically fix the structural support rod to the surface of the standard cast iron platform to set an assembly support device on the surface of the standard cast iron platform; the contoured support plate is connected to the structural support rod in a detachable manner; and a plurality of assembly support devices are formed on the surface of the standard cast iron platform;

[0129] A positioning unit is used to embed the hyperbolic profile into the curved surface contour of the profiling plate of each assembly support device along the positioning U-shaped groove for profiling positioning, and adjust the clamping force corresponding to the limiting steel plate according to the force distribution of the node;

[0130] The frame assembly completion unit is used to obtain the fitting gap between the surface of the hyperbolic profile and the profiling support plate. If the gap value of the fitting gap is less than or equal to the preset gap value, the frame assembly positioning is completed to obtain the curtain wall hyperbolic unit element profiling fixture; wherein, the preset gap value is 0.3mm; the profiling support plate has a three-dimensional curved surface that is completely consistent with the hyperbolic unit theoretical model corresponding to the curtain wall hyperbolic unit element profiling fixture, the positioning U-shaped groove is continuously distributed along the edge of the profiling support plate, and the limiting steel plate is provided with a quick locking mechanism matching the structural support rod.

[0131] It should be noted that, technical personnel in the relevant field can clearly understand that, for the convenience and simplicity of description, the curtain wall hyperbolic unit element profiling jig assembly frame module and the specific working process of each unit described above can refer to the corresponding process in the curtain wall hyperbolic unit element profiling jig assembly frame method embodiment described in the above embodiments, and will not be repeated here.

[0132] The above-mentioned curtain wall hyperbolic unit element profiling fixture assembling method can be implemented in the form of a computer program, and the computer program can be run on the above-mentioned module.

[0133] See also Figure 4 , Figure 4 1 is a schematic block diagram of the structure of a control terminal provided in an embodiment of the present application. The control terminal 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.

[0134] The storage medium can store operating equipment and computer programs. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any curtain wall hyperbolic unit element profiling fixture assembly method.

[0135] The processor is used to provide computing and control capabilities and support the operation of the entire control terminal.

[0136] 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 curtain wall hyperbolic unit element profiling fixture assembling method.

[0137] 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 terminal may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0138] 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.

[0139] In one embodiment, the processor is used to run a computer program stored in the memory to implement the following steps:

[0140] The profiling backing plate is connected with the profiling support plate to form an integrated profiling base; the profiling support plate has a built-in pressure sensor array for detecting the force distribution of the nodes of the profiling support plate;

[0141] Installing a positioning U-shaped groove and a limiting steel plate on the contoured support plate;

[0142] The structural support rod is fixed vertically to the surface of the standard cast iron platform to set an assembly support device on the surface of the standard cast iron platform; the contoured support plate is connected to the structural support rod in a detachable manner; and a plurality of assembly support devices are formed on the surface of the standard cast iron platform;

[0143] Embed the hyperbolic profile along the positioning U-shaped groove into the curved surface contour of the contoured support plate of each assembly support device for contoured positioning, and adjust the clamping force corresponding to the limiting steel plate according to the force distribution of the node;

[0144] Obtain the fitting gap between the surface of the hyperbolic profile and the profiling support plate. If the gap value of the fitting gap is less than or equal to the preset gap value, complete the assembly frame positioning and obtain the curtain wall hyperbolic unit element profiling fixture; wherein, the preset gap value is 0.3mm; the profiling support plate has a three-dimensional curved surface that is completely consistent with the hyperbolic unit theoretical model corresponding to the curtain wall hyperbolic unit element profiling fixture, the positioning U-shaped grooves are continuously distributed along the edge of the profiling support plate, and the limiting steel plate is provided with a quick locking mechanism that matches the structural support rod.

[0145] In some embodiments, the installation of the positioning U-shaped groove and the limiting steel plate on the contoured support plate includes: acquiring the reference mark point information on the surface of the contoured support plate according to a preset image acquisition module, and generating the optimal hole distribution scheme of the positioning pin according to the reference mark point information based on a convolutional neural network algorithm; wherein, the positioning pin adopts a tapered pin structure with a taper of 1:50, and its surface is coated with a hard anodized layer with a thickness of 20-30μm, and a contact displacement sensor is embedded in the inner wall of the pin hole to provide real-time feedback on the insertion depth of the positioning pin to complete the installation of the positioning U-shaped groove and the limiting steel plate.

[0146] Exemplarily, the installation angle of the limiting steel plate is dynamically calibrated by a six-axis gyroscope, and the calibration data corresponding to the dynamic calibration is compared with the BIM model theoretical value of the limiting steel plate. When the error corresponding to the comparison exceeds 0.1°, the automatic compensation mechanism of the installation angle of the limiting steel plate is triggered.

[0147] In some embodiments, the structural support rod is vertically fixed to the surface of the standard cast iron platform, including: pre-embedding a matrix electromagnetic adsorption unit on the surface of the standard cast iron platform, embedding a permanent magnet at the bottom of the structural support rod, and achieving verticality calibration with an accuracy of 0.02mm through magnetic flux closed-loop control, thereby completing the vertical fixation of the structural support rod to the surface of the standard cast iron platform; wherein, the structural support rod has an integrated strain sensor array for monitoring the bending deformation of the rod body of the structural support rod, and the vertical fixation of the structural support rod is stopped when the deformation corresponding to the bending deformation of the rod body exceeds 70% of the elastic limit of the structural support rod.

[0148] In some embodiments, the method of embedding the hyperbolic profile into the curved surface contour of the contoured support plate along the positioning U-shaped groove for contoured positioning, and adjusting the corresponding clamping force of the limiting steel plate according to the force distribution of the node includes: acquiring the surface point cloud data of the hyperbolic profile in real time according to a preset laser tracker, performing three-dimensional matching with the hyperbolic unit theoretical model through a preset point cloud alignment algorithm, and generating a deviation heat map; when it is detected according to the deviation heat map that the local fit deviation exceeds 0.2 mm, driving the servo motor to adjust the clamping angle of the limiting steel plate; in the process of embedding the hyperbolic profile into the contoured support plate, the pressure distribution data generated by the pressure sensor array is input into a preset support vector machine model to predict the optimal force application path and generate operation instructions, so as to complete the contoured positioning according to the optimal force application path and the operation instructions.

[0149] Exemplarily, the driving servo motor to adjust the clamping angle of the limit steel plate includes: establishing a fuzzy control model corresponding to the node force distribution and the clamping force, the membership function of the fuzzy control model is a triangular distribution, and the defuzzification method adopts the centroid method; if the single-point pressure value determined according to the node force distribution exceeds 15% of the material yield strength, the driving servo motor adjusts the output pressure of the pneumatic clamping mechanism corresponding to the clamping force to complete the adjustment of the clamping force.

[0150] In some embodiments, if the gap value is greater than a preset gap value, the method further includes: determining a compensation strategy based on the ratio of the curvature radius of the hyperbolic profile to the curvature radius of the contoured backing plate; when the curvature radius of the hyperbolic profile and / or the curvature radius of the contoured backing plate is greater than or equal to 0.95 and less than 1, performing local compensation based on the shape memory alloy gasket.

[0151] Exemplarily, if the curvature radius of the hyperbolic profile and / or the curvature radius of the contouring plate is less than 0.95, the five-axis fine-tuning mechanism is activated to perform online correction on the contouring plate.

[0152] In some embodiments, the positioning U-shaped groove is continuously distributed along the edge of the contoured support plate to achieve continuous constraint of the edge of the hyperbolic profile; a pressure-sensitive conductive rubber layer is laid at the bottom of the positioning U-shaped groove to monitor the friction state of the sliding hyperbolic profile through the resistance change rate of the pressure-sensitive conductive rubber layer; wherein the inclination angle of the positioning U-shaped groove wall is dynamically adjusted according to the cross-sectional moment of inertia of the hyperbolic profile.

[0153] In some embodiments, a QR code mark is provided on the surface of the hyperbolic profile; an RFID tag array is embedded inside the positioning U-shaped groove, forming a double verification mechanism with the QR code mark to ensure the uniqueness of the installation position of the hyperbolic profile.

[0154] 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.

[0155] A computer-readable storage medium is also provided in an embodiment of the present application, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the curtain wall hyperbolic unit element profiling fixture assembling method provided in the above-mentioned embodiments of the present application.

[0156] The computer-readable storage medium may be an internal storage unit of the control terminal described in the above embodiment, such as a hard disk or memory of the control terminal. The computer-readable storage medium may also be an external storage device of the control terminal, 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 terminal.

[0157] 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 method for assembling a curtain wall hyperbolic unit element profiling fixture, characterized in that: include: The profiling backing plate is connected with the profiling support plate to form an integrated profiling base; the profiling support plate has a built-in pressure sensor array for detecting the force distribution of the nodes of the profiling support plate; Installing a positioning U-shaped groove and a limiting steel plate on the contoured support plate; The structural support rods are fixed vertically to the surface of the standard cast iron platform to set an assembly support device on the surface of the standard cast iron platform; The contoured support plate is detachably connected to the structural support rod; A plurality of assembly support devices are formed on the surface of the standard cast iron platform; Embed the hyperbolic profile along the positioning U-shaped groove into the curved surface contour of the contoured support plate of each assembly support device for contoured positioning, and adjust the clamping force corresponding to the limiting steel plate according to the force distribution of the node; Obtain the fitting gap between the surface of the hyperbolic profile and the profiling support plate. If the gap value of the fitting gap is less than or equal to the preset gap value, complete the assembly frame positioning and obtain the curtain wall hyperbolic unit element profiling fixture; wherein, the preset gap value is 0.3mm; the profiling support plate has a three-dimensional curved surface that is completely consistent with the hyperbolic unit theoretical model corresponding to the curtain wall hyperbolic unit element profiling fixture, the positioning U-shaped grooves are continuously distributed along the edge of the profiling support plate, and the limiting steel plate is provided with a quick locking mechanism that matches the structural support rod.

2. The method according to claim 1, characterized in that The positioning U-shaped groove and the limiting steel plate are installed on the contoured support plate, including: The reference mark point information on the surface of the contoured support plate is obtained according to the preset image acquisition module, and the optimal hole distribution scheme of the locating pin is generated according to the reference mark point information based on the convolutional neural network algorithm; wherein, the locating pin adopts a tapered pin structure with a taper of 1:50, and its surface is plated with a hard anodized layer with a thickness of 20-30μm, and a contact displacement sensor is embedded in the inner wall of the pin hole to provide real-time feedback on the insertion depth of the locating pin to complete the installation of the locating U-groove and the limiting steel plate.

3. The method according to claim 2, characterized in that The installation angle of the limiting steel plate is dynamically calibrated by a six-axis gyroscope, and the calibration data corresponding to the dynamic calibration is compared with the BIM model theoretical value of the limiting steel plate. When the error corresponding to the comparison exceeds 0.1°, the automatic compensation mechanism of the installation angle of the limiting steel plate is triggered.

4. The method according to claim 1, characterized in that: The method of vertically fixing the structural support rod to the surface of the standard cast iron platform includes: A matrix electromagnetic adsorption unit is pre-embedded on the surface of the standard cast iron platform, and a permanent magnet is embedded at the bottom of the structural support rod. The verticality calibration with an accuracy of 0.02mm is achieved through closed-loop control of magnetic flux, so that the structural support rod is vertically fixed to the surface of the standard cast iron platform; wherein, a strain sensor array is integrated inside the structural support rod to monitor the bending deformation of the rod body of the structural support rod, and when the deformation corresponding to the bending deformation of the rod body exceeds 70% of the elastic limit of the structural support rod, the vertical fixation of the structural support rod is stopped.

5. The method according to claim 1, characterized in that The method of embedding the hyperbolic profile along the positioning U-shaped groove into the curved surface contour of the contoured support plate of each assembly support device for contoured positioning, and adjusting the clamping force corresponding to the limiting steel plate according to the node force distribution includes: The surface point cloud data of the hyperbolic profile is acquired in real time according to a preset laser tracker, and three-dimensional matching is performed with the hyperbolic unit theoretical model through a preset point cloud registration algorithm to generate a deviation thermal map; When it is detected according to the deviation thermal map that the local fit deviation exceeds 0.2 mm, the servo motor is driven to adjust the clamping angle of the limit steel plate; During the process of embedding the hyperbolic profile into the contoured support plate, the pressure distribution data generated by the pressure sensor array is input into a preset support vector machine model to predict the optimal force application path and generate operation instructions to complete the contoured support positioning according to the optimal force application path and operation instructions.

6. The method according to claim 5, characterized in that The driving servo motor adjusts the clamping angle of the limit steel plate, including: A fuzzy control model corresponding to the node force distribution and the clamping force is established, wherein the membership function of the fuzzy control model is a triangular distribution and the defuzzification method adopts the centroid method; If it is determined according to the node force distribution that the single-point pressure value exceeds 15% of the material yield strength, the servo motor is driven to adjust the output pressure of the pneumatic clamping mechanism corresponding to the clamping force to complete the adjustment of the clamping force.

7. The method according to claim 1, characterized in that If the gap value is greater than the preset gap value, the method further includes: The compensation strategy is determined according to the ratio of the curvature radius of the hyperbolic profile to the curvature radius of the contoured backing plate; when the curvature radius of the hyperbolic profile and / or the curvature radius of the contoured backing plate is greater than or equal to 0.95 and less than 1, local compensation is performed using the shape memory alloy gasket.

8. The method according to claim 7, characterized in that If the curvature radius of the hyperbolic profile and / or the curvature radius of the contouring plate is less than 0.95, the five-axis fine-tuning mechanism is started to perform online correction on the contouring plate.

9. The method according to claim 1, characterized in that: The positioning U-shaped grooves are continuously distributed along the edge of the contoured support plate to achieve continuous constraint of the edge of the hyperbolic profile; A pressure-sensitive conductive rubber layer is laid at the bottom of the positioning U-shaped groove, which is used to monitor the friction state of the sliding hyperbolic profile through the resistance change rate of the pressure-sensitive conductive rubber layer; wherein the inclination angle of the positioning U-shaped groove wall is dynamically adjusted according to the cross-sectional inertia moment of the hyperbolic profile.

10. The method according to claim 1, characterized in that The surface of the hyperbolic profile is provided with a two-dimensional code mark; the interior of the positioning U-shaped groove is embedded with an RFID tag array, which forms a double verification mechanism with the two-dimensional code mark to ensure the uniqueness of the installation position of the hyperbolic profile.

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