A profiling fixture framing method for double-curved elements of curtain walls

Abstract

The present application relates to the field of curtain wall technology, and discloses a method for assembling a curtain wall hyperbolic unit element profiling jig. The method includes connecting a profiling backing plate and a profiling support plate to form an integrated profiling base; a pressure sensor array is built into the profiling support plate to detect the node force distribution of the profiling support plate; a positioning U-shaped groove and a limiting steel plate are installed on the profiling support plate; a structural support rod is vertically fixed to the surface of a standard cast iron platform to set a plurality of assembly support devices on the platform surface; a hyperbolic profile is embedded into the curved surface contour of the profiling backing plate of each assembly support device along the positioning U-shaped groove for profiling and positioning, and the corresponding clamping force of the limiting steel plate is adjusted according to the node force distribution; a hyperbolic profile is embedded into the curved surface contour of the profiling backing plate along the positioning U-shaped groove for profiling and positioning, and the corresponding clamping force of the limiting steel plate is adjusted according to the node force distribution, and the framing positioning is completed, and a curtain wall hyperbolic unit element profiling jig is obtained. The method has accurate positioning and is easy to operate.

Description

Technical Field

[0001] The present application relates to the technical field of curtain walls, and particularly to a profiling fixture framing method for double-curved unit components of curtain walls. Background Art

[0002] In the production and assembly of curtain wall units, when framing double-curved units and double-curved twisting units, there is currently no positioning function and detection device. Only manual positioning or detection can be carried out using pads and primitive measurement methods, which requires repeated debugging of the framing. The finished products assembled in the above manner have large deviations.

[0003] The existing assembly methods have at least the following defects:

[0004] (1) The process of manufacturing profiling support pads is cumbersome and the cycle time is long: First, when obtaining the BIM model unit components, it is necessary to design, model, and draw the fixed positioning plate and profiling support pads, then classify and carry out profiling processing with a carving machine, then assemble the profiling plate on the mobile vehicle support frame and cast iron platform, and finally, the double-curved profiles can be framed on the profiling pads.

[0005] (2) The accuracy of the profiling support pads is not high and the quality is difficult to guarantee: When framing the unit, in order to bear the weight, the cross-section of the profiling pad will be relatively wide. The processing accuracy of the wood material is not high, and there will be deviations in the overall framing. Since the profiling support block and the fixed positioning plate are not integrated, it is difficult to detect the twisting of the profiles and it needs to be repeatedly detected and debugged to complete. Moreover, when repeatedly disassembling the screws, the screw slots will become larger, affecting the structural force, and the materials must be replaced.

[0006] (3) The overall replacement time of the profiling support pads is too long and the efficiency is very low: After each unit framing is completed, a new profiling plate needs to be replaced and then framed again. Because the entire bottom mold needs to be replaced, it has high requirements for on-site operators, the assembly template time is too long, and the efficiency is low.

[0007] Therefore, there is an urgent need for a method to solve at least one of the above problems. Summary of the Invention

[0008] The present application provides a profiling fixture framing method for double-curved unit components of curtain walls, aiming to solve the problem that in the production and assembly of curtain wall units, when framing double-curved units and double-curved twisting units, there is currently no positioning function and detection device, and only manual positioning or detection can be carried out using pads and primitive measurement methods, which requires repeated debugging of the framing, and the finished products assembled in the above manner have large deviations.

[0009] In a first aspect, the present application provides a profiling fixture framing method for double-curved unit components of curtain walls, including:

[0010] Connect the profiling template and the profiling support plate to form an integrated profiling matrix; the profiling support plate is internally provided with a pressure sensor array for detecting the force distribution of the nodes of the profiling support plate;

[0011] Install a positioning U-groove and a limiting steel plate on the profiling support plate;

[0012] Vertically fix the structural support rod on the surface of the standard cast iron platform to set up an assembly support device on the surface of the standard cast iron platform; the profiling support plate is connected to the structural support rod in a detachable manner; multiple assembly support devices are formed on the surface of the standard cast iron platform;

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

[0014] Obtain the fitting gap between the surface of the hyperbolic profile and the profiling template. If the gap value of the fitting gap is less than or equal to the preset gap value, complete the frame positioning and obtain the profiling fixture for the curtain wall hyperbolic unit; wherein, the preset gap value is 0.3 mm; the profiling template has a three-dimensional curved surface that completely coincides with the hyperbolic unit theoretical model corresponding to the profiling fixture for the curtain wall hyperbolic unit, the positioning U-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.

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

[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 theoretical value of the BIM model of the limiting steel plate. When the error corresponding to the comparison exceeds 0.1°, the automatic compensation mechanism for the installation angle of the limiting steel plate is triggered.

[0017] In some embodiments, vertically fixing the structural support rod to the surface of the standard cast iron platform includes: embedding a matrix-type electromagnetic adsorption unit in the surface of the standard cast iron platform, embedding a permanent magnet at the bottom of the structural support rod, and achieving perpendicularity calibration with an accuracy of 0.02 mm 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, 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 amount 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.

[0018] In some embodiments, embedding the hyperbolic profile along the positioning U-shaped groove into the curved surface contour of the profiling template for profiling and positioning, and adjusting the clamping force corresponding to the limiting steel plate according to the node force distribution includes: obtaining the surface point cloud data of the hyperbolic profile in real time according to a preset laser tracker, performing three-dimensional matching with the theoretical model of the hyperbolic unit through a preset point cloud registration algorithm, and generating a deviation heat map; when it is detected according to the deviation heat map that the local fitting deviation exceeds 0.2 mm, driving a servo motor to adjust the clamping angle of the limiting steel plate; during the process of embedding the hyperbolic profile into the profiling template, 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 an operation guide, so as to complete the profiling and positioning according to the optimal force application path and the operation guide.

[0019] Exemplarily, driving the servo motor to adjust the clamping angle of the limiting steel plate includes: establishing a fuzzy control model corresponding to the node force distribution and the clamping force, where the membership function of the fuzzy control model is 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, driving the servo motor to adjust 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 the preset gap value, the method further includes: determining a compensation strategy according to the ratio of the curvature radius of the hyperbolic profile to the curvature radius of the profiling template; when the curvature radius of the hyperbolic profile and / or the curvature radius of the profiling template is greater than or equal to 0.95 and less than 1, performing local compensation according to the shape memory alloy gasket.

[0021] Exemplarily, if the curvature radius of the hyperbolic profile and / or the curvature radius of the profiling template is less than 0.95, starting a five-axis fine-tuning mechanism to perform on-line correction on the profiling template.

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

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

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

[0025] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit 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 the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

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

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

[0029] Figure 3 It is a schematic flow chart of the steps of a hyperbolic unit profiling and framing method provided by an embodiment of the present application;

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

[0031] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and do not limit this application. Detailed implementation manners

[0032] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some, but not all, of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the protection scope of this application.

[0033] The flowcharts shown in the accompanying drawings are merely illustrative, and do not necessarily include all contents and operations / steps, nor do they necessarily need to be executed in the described order. For example, some operations / steps can also be decomposed, combined, or partially merged. Therefore, the actual execution order may be changed according to the actual situation.

[0034] It should be understood that, for the convenience of clearly describing 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", "second", etc. do not limit the quantity and execution order, and the terms "first", "second", etc. do not necessarily mean different.

[0035] It should be understood that the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. As used in the specification of this 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.

[0036] It should also be understood that the term "and / or" used in the specification of this 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.

[0037] The following will describe in detail some implementation manners of this application with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0038] In the production and assembly of curtain wall units, when assembling the frames of hyperbolic units and hyperbolic torsion units, there is currently no positioning function and detection device. Only manual use of pads and primitive measurement methods can be used for positioning or detection, which requires repeated debugging of the frame assembly, and the deviation of the assembled finished products of the units in the above manner is large.

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

[0040] (1) The process of manufacturing the profiling support pads is cumbersome and time-consuming. First, when receiving the BIM model unit parts, it is necessary to design, model, and draw the fixed positioning plate and the profiling support pads, then classify and use a carving machine for profiling processing, and then assemble the profiling plate on the mobile vehicle support frame and the cast iron platform. Finally, the double-curved profiles can be framed on the profiling pads.

[0041] (2) The accuracy of the profiling support pads is not high, and the quality is difficult to guarantee. When the unit is being framed, in order to bear the weight, the cross-section of the profiling pads will be relatively wide. The processing accuracy of the wood material is not high, and there will be deviations in the overall framing. Since the profiling support block and the fixed positioning plate are not integrated, it is difficult to detect the twisting of the profiles. It needs to be repeatedly detected and adjusted to complete. Moreover, when repeatedly disassembling the screws, the screw slots will become larger, affecting the structural strength, and the materials must be replaced.

[0042] (3) The overall replacement time of the profiling support pads is too long, and the efficiency is very low. After each unit is framed, a new profiling plate needs to be replaced and then framed again. Because the entire bottom mold needs to be replaced, it has high requirements for on-site operators, and the time for assembling the template is too long, resulting in low efficiency.

[0043] Therefore, there is an urgent need for a method 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 limit steel plate 15. The profiling backing plate is connected to the profiling support plate to form an integrated profiling matrix. The profiling support plate is internally provided with a pressure sensor array for detecting the node force distribution of the profiling support plate. The integrated profiling matrix 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 fixed by fastening screws 16 (such as M8 fastening screws)). The positioning U-shaped grooves are continuously distributed along the edge of the profiling support plate, and the limit steel plate is provided with a quick locking mechanism matching the structural support rod.

[0045] Such as Figure 2 shown, the structural support rods of multiple assembly support devices 10 are vertically fixed on the surface of the standard part cast iron platform 20. By embedding the double-curved profile 30 along the positioning U-shaped groove of each assembly support device 10 against the curved surface contour of the profiling backing plate (such as Figure 2 includes 8 assembly support devices 10), the profiling positioning is carried out, and the clamping force corresponding to the limit steel plate is adjusted according to the node force distribution.

[0046] Meanwhile, obtain the fitting gap between the surface of the hyperbolic profile and the corresponding profiling template to meet the requirement that the gap value of the fitting gap is less than or equal to the preset gap value; where the preset gap value is 0.3 mm; the profiling template has a three-dimensional surface that exactly matches the hyperbolic unit theoretical model corresponding to the curtain wall hyperbolic unit jig.

[0047] Group the hyperbolic profiles through multiple assembly support devices as shown in Figure 2 . In actual tests, originally, it took 6 - 8 hours to process a set of curtain wall hyperbolic unit jigs, but now it only takes 20 minutes to complete a set. The original assembled curtain wall hyperbolic unit jig required 3 - 4 people and 2 hours, but now only 2 people are needed and the whole jig assembly can be completed in 15 minutes. As shown in Figure 2 For the bent and twisted hyperbolic profiles, as long as they are placed on the assembly support device and profiled and adhered, the twist deviation can be directly seen, and the detection accuracy can be controlled within 0.3 mm. 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 matrix, which is directly connected by precision machining of the profiling template and the profiling support plate, eliminating the assembly error between the traditional split profiling plate and the support block.

[0049] The three-dimensional surface of the profiling template 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 profile error ≤ 0.1 mm to ensure exact matching with the theoretical model.

[0050] The profiling support plate is made of high-strength aluminum alloy, with a pressure sensor array (such as piezoelectric or strain gauges) embedded inside, distributed in a grid pattern (for example, at a spacing of 10 cm × 10 cm), to monitor the pressure distribution at the profile contact points in real time with an accuracy of ±0.05 N. The integrated structure avoids the splicing error of the traditional split profiling plate, the overall stiffness is increased by more than 50%, and the deformation risk is reduced. Through the pressure sensor data, it can be judged in real time whether the profile fits evenly, avoiding the blind spots of manual visual inspection or caliper sampling inspection.

[0051] The U-shaped grooves are continuously distributed along the edge of the profiling support plate, with the groove width tolerance controlled within ±0.1 mm and the depth matching the profile cross-section. The inner wall of the groove is treated with hard chromium plating to reduce the frictional loss during profile insertion. At the same time, with the assistance of a laser line projector for calibration, it is ensured that the axis of the hyperbolic profile is aligned with the center line of the groove.

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

[0053] The structural support rod and the profiling support plate are connected by quick-release pins + tapered positioning sleeves. After the pins are inserted, they are automatically locked by spring steel balls. During disassembly, only the release button needs to be pressed. The support rod is made of a hollow steel pipe (wall thickness ≥ 5mm) filled with damping material inside to reduce the influence of external vibration on the 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 data of the pressure sensor array is transmitted to the control terminal through a bus such as RS485, and a pressure distribution thermal diagram is generated in combination with finite element analysis software to visually display the profile fitting state. 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 the position of the profile. A laser distance sensor (accuracy ±0.02mm) is used to scan the fitting surface of the profile and the profiling template to generate a three-dimensional gap cloud map, automatically calculate the maximum gap value and compare it with the preset threshold (0.3mm).

[0054] Meanwhile, the flatness of the surface of the standard cast iron platform 20 is detected by using a high-precision total station (requirement ≤ 0.05mm / m²). After cleaning the surface, anti-rust oil is sprayed. According to the BIM model coordinates, the installation points of the support rods are marked on the platform (error ≤ 0.5mm). The structural support rods are vertically inserted into the preset positioning holes on the platform. After calibrating the verticality with an electronic level, the bottom flange bolts are tightened (torque value 30N·m). Align the interface of the profiling support plate and the profiling template, and insert the quick-release pins to complete the locking. Slide the integrated base along the U-shaped groove to the top of the support rod and automatically center it through the tapered sleeve to ensure no gap at the contact surface. The operator hoists the hyperbolic profile above the device by a lifting equipment and slowly lowers it along the U-shaped groove, initially embedding it into the curved surface contour of the profiling template. Observe the pressure thermal diagram. If the local pressure is too high, manually fine-tune the profile angle or gently tap the profile with a rubber hammer until the pressure distribution is uniform.

[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 the same type of unit group frame. Start the laser distance sensor to scan the mating surface. If the maximum gap > 0.3mm, the system will prompt the adjustment plan (such as locally grinding the profile or finely adjusting the position of the support rod). When disassembling, press the quick-release button of the support rod and 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] This assembly support device uses three core technologies: integrated profiling base, intelligent sensing feedback, and modular rapid tool change, which completely solve the pain points of traditional processes such as low efficiency, poor accuracy, and dependence on manual experience. Its value is not only reflected in the optimization of a single process, but more importantly, it promotes 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] Please refer to Figure 3 , Figure 3 is a step schematic flow chart of the profiling jig group frame method for curtain wall double-curved unit components provided by an embodiment of the present application. The execution device of the method is the control terminal.

[0058] As Figure 3 shown, the provided method includes steps S101 to S105. Among them, the control terminal can be a handheld terminal, a laptop, a wearable device, or a robot, etc. It is used to implement steps S101 to S105 and their corresponding embodiments.

[0059] Step S101. Connect the profiling template and the profiling support plate to form an integrated profiling base; the profiling support plate is internally provided with a pressure sensor array for detecting the force distribution of the nodes of the profiling support plate.

[0060] Specifically, through the double-curved unit theoretical model exported based on BIM (Building Information Modeling), three-dimensional point cloud data is generated through the non-uniform rational B-spline (NURBS) surface algorithm to ensure the accuracy of the surface mathematical expression. For example, a five-axis linkage CNC machine tool (such as DMG MORI DMU 200) is used for milling. When planning the tool path, the equal scallop height algorithm is adopted to ensure that the surface roughness ≤ Ra 1.6μm and the contour error ≤ 0.1mm. The profiling template is made of 7075-T6 aerospace aluminum alloy with a tensile strength ≥ 530MPa, and the surface is subjected to hard anodizing treatment (film thickness 25 - 30μm) to improve wear resistance and corrosion resistance.

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

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

[0063] For the integrated profiling matrix, its matrix pre-assembly process can include:

[0064] Cleaning and alignment: Wipe the contact surface between the profiling template and the support plate with anhydrous ethanol, project a crosshair using a laser interferometer (such as Zygo Verifire), and manually fine-tune until the alignment error ≤ 0.05 mm.

[0065] Pressing the pin: Use a pneumatic press (pressure adjustable range 0 - 10 kN) to vertically press the tapered pin into the pin hole, and control the pressing speed at 5 mm / s to avoid damage to the sensor caused by impact load.

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

[0067] In the no-load state, the initial voltage values of each sensor are collected through the control terminal, and the software automatically compensates for zero drift to ensure an initial error < ±0.1N. Use standard weights (accuracy class M1) to apply 100N, 200N, and 500N loads at the four corners and the center of the support plate in sequence to verify the linearity of the sensor output (R² ≥ 0.999). Place the matrix in a constant temperature chamber (-10°C to 50°C), record the temperature-output characteristic curve, and implant a polynomial compensation algorithm to eliminate the influence of temperature drift.

[0068] Among them, the matrix acceptance criteria include: Geometric accuracy: Scan the surface of the profiling template with a coordinate measuring machine, and the deviation of any point from the theoretical model ≤ 0.1 mm. The effective measuring point rate of the pressure sensor array ≥ 99% (allowing 1 spare sensor to fail), and the communication error rate < 10⁻ 6. The cumulative error of the traditional split profiling plate is eliminated through an integrated structure, and the repeat positioning accuracy of the profile is improved. Both the assembly time and the manpower requirement are significantly shortened.

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

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

[0071] The composite locking mechanism of the limiting steel plate can include:

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

[0073] The electromagnetic lock is selected as an electromagnetic lock with a holding force of 600 N, the response time < 50 ms, and it can be quickly released manually through an emergency pull rod after power-off. The polyurethane clamping surface has a Shore hardness of 70A, a compression set rate < 5% (70°C × 22 h), and the oil resistance meets the ISO1817 standard.

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

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

[0076] By embedding standard calibration profiles (tolerance ±0.05 mm), use a feeler gauge to detect the lateral clearance of the U-groove, with the requirement ≤0.03 mm. Continuously perform 100 clamping-release cycles, and statistically analyze the position repeatability error (3σ ≤ 0.1 mm).

[0077] The straightness error of the U-groove is reduced compared to traditional guide rails, and the one-time success rate of profile embedding can also be significantly improved. The clamping force stability of the pneumatic-electromagnetic composite locking mechanism is significantly improved compared to that of pure mechanical locking. The lubrication coating extends the replacement cycle of the U-groove from, for example, once a month to once a year, and the annual maintenance cost is reduced by, for example, 92%.

[0078] Step S103. Vertically fix the structural support rod on the surface of the standard cast iron platform to set up an assembly support device on the surface of the standard cast iron platform; the profiling support plate is connected to the structural support rod in a detachable manner; multiple assembly support devices are formed 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 Φ60 mm, wall thickness 5 mm), with surface hot-dip galvanized treatment (zinc layer thickness ≥85 μm), and the salt spray corrosion resistance reaches 2000 hours. A conical positioning sleeve (taper 1:10, tolerance h6) is integrated at the top, and the bottom is connected to the cast iron platform through a flange (material QT500-7 ductile iron, thickness 20 mm). The flange is pre-embedded with M16 bolt holes (tolerance H7), and the repeat positioning accuracy ≤0.02 mm is achieved through a tapered pin (material 40Cr, hardness HRC45-50). An electronic level (such as SICK TBS / T18, resolution 0.001°) is integrated in the middle of the support rod, and with the four-way adjustment bolts (M12 fine pitch 1 mm) at the base, the perpendicularity error ≤0.05° / m can be achieved.

[0080] The cast iron platform (such as material HT250, hardness HB180-220) undergoes three artificial aging treatments to eliminate internal stress, and the surface is ground to a flatness ≤0.05 mm / m² and a roughness Ra ≤0.8 μm. Pre-drill Φ20H7 positioning holes according to the BIM model coordinates, with a hole pitch tolerance of ±0.1 mm, and copper bushings (material C93700, inner diameter Φ20 mm, outer diameter Φ25 mm) are embedded in the holes to reduce wear.

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

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

[0083] Measure the spacing between adjacent support rods using a laser rangefinder and adjust it within ±0.5 mm of the design value. Apply a 150 kg counterweight block on the top of the support rod and detect that the change in verticality is ≤ 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, for example, 30 minutes to 5 minutes, and improves the collaborative layout efficiency of multiple devices by, for example, 6 times. The overall flatness error of the support system is reduced by, for example, 90% compared with the traditional welded frame. A single platform can be extended to, for example, 50 support devices, supporting the continuous framing of ultra-large curtain wall units (such as a 30 m span).

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

[0086] Specifically, use, for example, a suction cup group (the grabbing force of a single suction cup is 300 N), control the vacuum generator (flow rate 600 L / min) through a PLC to achieve the stable transfer and accurate positioning of the profile. The sensor array generates a pressure and thermal map in real time, and the system inversely calculates the contact stress between the profile and the profiling template through finite element analysis (FEA). If the local pressure > 120% of the theoretical value or < 80%, an alarm is triggered.

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

[0088] Meanwhile, the operator can wear AR glasses, project the BIM model contour line into the operator's field of vision, and compare the actual position of the profile with the theoretical path in real time. When the deviation > 0.5 mm, a visual warning (red highlighting) is triggered.

[0089] In some embodiments, the profile embedding operation process includes: calculating the optimal suction points of the suction cups (spacing ≤ 1 m) according to the profile curvature distribution to avoid profile distortion caused by bending moment. The profile slides into the U-shaped groove at a speed of 5 mm / s. The operator observes the virtual guiding line through AR glasses and manually fine-tunes the angle until the alignment error ≤ 0.2 mm. The control terminal displays the pressure distribution. If the pressure in the edge area (such as the two ends of 10 cm) < 50 N, the operator gently taps the profile with a nylon hammer (impact energy ≤ 5 J) until the pressure is uniform (standard deviation ≤ 10 N). The initial clamping force is set to 100 N and gradually increased to 200 N, staying at each level for 10 seconds to observe the profile displacement. If the displacement > 0.1 mm, 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, and the locking action time < 0.5 seconds, and the clamping force instantaneously increases to 300 N and remains. Parameters such as the pressure curve, the number of adjustments, and the final clamping force during the clamping process are automatically generated into a PDF report and stored in the SQL database for future reference.

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

[0091] Specifically, a line laser sensor is adopted, with a measurement range of ±50 mm, a resolution of 0.5 μm, a scanning speed of 64 kHz, and a generated point cloud density of 1000 points / cm². The measured point cloud is registered with the theoretical model through the ICP (Iterative Closest Point) algorithm, and the Hausdorff distance is calculated as the gap value. After removing noise points, the maximum value is taken as the judgment basis. At the same time, a feeler gauge set (thickness 0.02 - 1.00 mm, step size 0.02 mm) is used to manually insert the gauge in the high-risk area (gap > 0.2 mm) prompted by laser scanning, and the insertion force ≤ 3 N to avoid profile displacement. A fluorescent penetrant is sprayed on the contact surface between the profile and the profiling template, and the width of the seepage line is observed under an ultraviolet lamp to determine the microscopic gap (sensitivity 0.01 mm). 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 all process information such as the process responsible person, detection time, and process parameters. The CPK (Process Capability Index) is automatically calculated. If the CPK of 10 consecutive groups of data < 1.33, a process optimization warning is triggered.

[0092] In some embodiments, by using a six-axis robot equipped with a laser sensor to scan along the length direction of the profile at a speed of 50 mm / s, three-dimensional point cloud data (about 300,000 points for a single profile) is generated. After the point cloud is denoised by Gaussian filtering (σ = 0.1 mm), it is compared with the BIM model, and the maximum gap value and position coordinates are output (such as X = 1250 mm, Y = 560 mm, Gap = 0.28 mm). If the gap at a certain point = 0.32 mm ( > 0.3 mm threshold), the operator gently taps the profile with a rubber hammer or finely adjusts the coordinates of the support rod (±0.5 mm), and scans again until it meets the standard. For the linear seepage (width 0.05 mm) found by fluorescence inspection, local polishing is carried out using ultra-fine sandpaper (grain size P2000) to ensure the continuity of the contact surface. The management terminal corresponding to the quality inspection supervisor audits the data on the MES terminal, triggers the ERP system to generate a work order after electronic signature, and arranges logistics for hoisting. The surface of the fixture is sprayed with VCI (Vapor Corrosion Inhibitor), covered with a PE film (thickness 0.1 mm), and shipped in a wooden box (humidity < 10%RH).

[0093] In some embodiments, the installation of the positioning U-shaped groove and the limiting steel plate on the profiling support plate includes: obtaining the information of the reference marking points on the surface of the profiling support plate according to the preset image acquisition module, and generating the optimal hole distribution scheme of the positioning pins based on the convolutional neural network algorithm according to the information of the reference marking points; wherein, the positioning pins adopt a tapered pin structure with a taper of 1:50, and its surface is plated with a hard anodic oxidation layer with a thickness of 20 - 30 μm. A contact displacement sensor is embedded in the inner wall of the pin hole to real-time feedback the insertion depth of the positioning pins, and the installation of the positioning U-shaped groove and the limiting steel plate is completed.

[0094] If an industrial camera (resolution 2448×2048 pixels, frame rate 120fps) is used with a ring-shaped LED light source (color temperature 5600K, illuminance 1000lux), high-contrast fluorescent marking points (diameter Φ5mm, spaced in a 100mm×100mm grid) are sprayed on the surface of the profiling support plate. The OpenCV library is used for marking point positioning, and the center coordinates are extracted through a 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 type CNN model is constructed. The input layer is a heat map of the marking point coordinates (256×256 pixels), and the output layer is a probability distribution map of the optimal hole positions. The training data includes 1000 sets of historical installation cases, and the cross-entropy loss function and Adam optimizer (learning rate 0.001) are used. After the model outputs the hole positions, the system automatically avoids the internal sensor array and rib structure of the support plate and generates a hole distribution plan with the minimum stress concentration path (hole spacing error ≤±0.2mm). The tapered pin (material 40CrNiMoA) is processed by a CNC grinding machine (such as Studer S33), with a taper of 1:50 (angle tolerance ±0.01°), and surface hard anodizing treatment (film thickness 25±2μm, microhardness ≥400HV). A Kaman KD-2300 series eddy current displacement sensor (range ±1mm, resolution 0.5μm) is 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 is exceeded, the servo motor is triggered to fine-tune the press-fitting force. The contact resistance between the tapered pin and the pin hole is measured using a Keysight 34465A digital multimeter (standard value <10mΩ) to ensure electrical conductivity continuity. An axial tensile force of 500N is applied through an Instron 5967 universal testing machine, and the displacement sensor monitors that the slip amount of the pin body is ≤0.02mm.

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

[0097] A six-axis IMU (acceleration measurement range ±16g, gyroscope range ±2000dps) is used and directly installed on the back of the limit steel plate. The data is transmitted through the CAN bus. A local coordinate system of the limit steel plate (with the origin as the geometric center) is established, and the original IMU data is converted into Euler angles (pitch / roll / yaw angles) through the quaternion method, with a sampling frequency of 1kHz.

[0098] Extract the theoretical attitude angle of the limit steel plate (accuracy 0.001°) from the BIM model and compare it in real time with the measured value of the IMU. When the pitch angle or roll angle deviation > 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] Adopt a servo motor (encoder resolution 17 bits), drive the limit steel plate to rotate through a harmonic reducer (reduction ratio 1:100), and the angular resolution reaches 0.0005°. After the compensation is completed, the electromagnetic lock (holding force 800 N) instantly locks the limit steel plate to prevent angle deviation caused by subsequent vibration.

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

[0101] ;

[0102] is the offset of the installation angle to be compensated, with the unit of degree (°). 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 of the profile caused by excessive adjustment. When the installation platform tilts slightly due to vibration or load change, the attitude of the clamping mechanism is corrected through the compensation angle to ensure the fitting accuracy between the profile and the profiling template.

[0103] is the deviation of the yaw angle (Yaw) measured by the gyroscope (IMU), with the unit of radian (rad). The condition for triggering compensation is ∣ ∣ ≥ 0.0017 rad (about 0.1°), and values lower than this are regarded as system noise and do not trigger adjustment. It reflects the angular deviation between the actual attitude and the theoretical attitude of the installation platform, such as the instantaneous offset caused by wind load or mechanical vibration.

[0104] is the arm length of the limit steel plate (the distance from the rotation axis to the force application point), with the unit of millimeter (mm). For example, Larm = 500 mm, and it needs to be matched and designed according to the weight of the profile and the torque of the servo motor (for heavy profiles, the arm length needs to be shortened to reduce the load torque). The arm length directly affects the lever effect of the compensation angle, and in the formula, the angular deviation ( ) is converted into the linear displacement requirement through .

[0105] is the calibration gain coefficient of the IMU sensor, dimensionless. For example, =0.85 is determined through calibration experiments (such as comparing with the data of a high-precision laser tracker and adjusting the gain to eliminate the systematic error of the IMU). Correct the non-linear error or temperature drift effect of the IMU measurement value. For example, when the output signal of the gyroscope decays in a high-temperature environment, the gain coefficient can be dynamically adjusted (which needs to combine with the data of the temperature sensor).

[0106] is the response delay time of the servo motor, in seconds (s). It is required that ≤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 characterizing the time difference from the instruction sending to the actual action of the actuator, in the formula, through correct the phase lag problem in dynamic control to ensure that the compensation action is synchronized with the real-time deviation.

[0107] In the numerator part of the above expression, the angular deviation is converted into a linear displacement requirement (in mm·rad), reflecting that "angle error × lever arm length = linear displacement to be compensated". The denominator part comprehensively corrects the sensor error and control delay to suppress the overshoot oscillation caused by measurement noise or response lag.

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

[0109] In some embodiments, vertically fixing the structural support rod on the surface of the standard cast iron platform includes: embedding a matrix electromagnetic adsorption unit on the surface of the standard cast iron platform, installing a permanent magnet at the bottom of the structural support rod, and realizing the verticality calibration with an accuracy of 0.02 mm through magnetic flux closed-loop control to complete vertically fixing the structural support rod on 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 amount corresponding to the bending deformation of the rod body exceeds 70% of the elastic limit of the structural support rod, stop vertically fixing the structural support rod.

[0110] By embedding an array of permanent magnets (material NdFeB N52, single-pole magnetic flux density 1.4T) in the cast iron platform, optimizing the pole distribution through finite element simulation, the magnetic field uniformity of the adsorption surface is made >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 the perpendicularity. Twenty FBG (fiber Bragg grating) strain sensors (wavelength resolution 1pm, strain resolution 1με) are mounted equidistantly 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 support legs (load-bearing capacity 200kg) are activated for temporary support. The electromagnetic adsorption unit quickly adsorbs the support rod with a current of 5A, making the initial perpendicularity error ≤1° / m. The current is finely adjusted according to the data of the Hall sensor (step size 0.1A), and finally the perpendicularity ≤0.02° / m, and the calibration time <30 seconds.

[0111] In some embodiments, the step of fitting and positioning the hyperbolic profile along the positioning U-shaped groove into the curved surface contour of the profiling template and adjusting the clamping force corresponding to the limiting steel plate according to the node force distribution includes: obtaining the surface point cloud data of the hyperbolic profile in real time according to a preset laser tracker, performing three-dimensional matching with the theoretical model of the hyperbolic unit through a preset point cloud registration algorithm, and generating a deviation heat map; when it is detected according to the deviation heat map that the local fitting degree deviation exceeds 0.2mm, driving the servo motor to adjust the clamping angle of the limiting steel plate; during the process of the hyperbolic profile being embedded into the profiling template, 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 an operation guide, so as to complete the fitting and positioning according to the optimal force application path and the operation guide.

[0112] A laser tracker (ranging accuracy: ±0.5 μm / m, angular accuracy: ±0.15°) is used, in conjunction with a handheld scanner (sampling rate: 1000 points per second), to capture the point cloud data of the hyperbolic profile surface in real time. The ICP (Iterative Closest Point) algorithm is adopted to register the measured point cloud with the BIM model, and the Hausdorff distance is calculated as the deviation benchmark to generate an RGB heat map (red: deviation > 0.2 mm, green: deviation ≤ 0.1 mm). When the deviation in a local area exceeds 0.2 mm for three consecutive scans, it is automatically marked as a high-risk area, and a command is sent to the servo motor (rated torque: 45 N·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 predicts 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 outputs operation guidelines (such as "rotate 5° clockwise and then apply vertical pressure"). 64 pressure sensors (range: 0 - 500 N, accuracy: ±2.5%) are embedded on the surface of the profiling template, distributed in an 8×8 grid to generate a real-time pressure distribution matrix. According to the force application path output by the SVM, the servo motor drives the pneumatic gripper (Festo DHEF) to load pressure in stages (initial: 50 N, increasing by 25 N for each stage) until the pressure uniformity (standard deviation ≤ 15 N).

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

[0114] The node pressure value (universe of discourse: 0 - 500 N, divided into three levels of "low, medium, high") and the pressure change rate (universe of discourse: -50~+50 N / s, divided into three levels of "negative, zero, positive"). The membership function adopts triangular distribution (such as for the "medium" level pressure: 150 - 350 N, peak value: 250 N), and the output clamping force adjustment amount (universe of discourse: -20~+20 N). The precise output value is calculated by the centroid method (such as "adjust +12.3 N").

[0115] The pneumatic clamping mechanism uses a proportional valve (flow rate 0 - 100 L / min), receives the PWM signal (frequency 1 kHz) output by the fuzzy controller, and dynamically adjusts the clamping force (steady-state error ≤ ±1 N). When the single-point pressure > 15% of the material yield strength (such as for 6061 aluminum alloy: 275 MPa, i.e., the pressure value 413 N corresponding to 41.25 MPa), the system triggers emergency pressure relief (response time < 50 ms). The pressure distribution contour map and the 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 the preset gap value, the method further includes: determining a compensation strategy according to the ratio of the curvature radius of the hyperbolic profile to the curvature radius of the profiling template; when the curvature radius of the hyperbolic profile and / or the curvature radius of the profiling template is greater than or equal to 0.95 and less than 1, performing local compensation according to the shape memory alloy gasket.

[0117] The curvature measurement uses an optical measuring instrument (accuracy ±1 μm) to scan the cross-sections of the profile and the profiling template, and calculates the least-squares fitting curvature radii (R_profile and R_template). If 0.95 ≤ R_profile / R_template < 1.0, the system determines it as the "elastic deformation compensable area"; if R_profile / R_template < 0.95, it is determined as the "plastic deformation to be corrected area". A Ni-Ti alloy (phase transition temperature 35°C, recovery strain 8%) is pre-processed into a wedge-shaped gasket with a thickness of 0.1 - 0.5 mm. The robot automatically selects the gasket according to the gap position, uses UV curing glue to paste it on the surface of the profiling template, and the curing time is 30 seconds. After compensation, laser scanning is performed again. If the gap is still > 0.2 mm, iterative compensation is started (up to 3 times). The usage times of the shape memory alloy gasket are recorded by a counter, and the maximum usage times of a single gasket ≤ 50 times (to prevent fatigue failure).

[0118] Exemplarily, when the curvature radius of the hyperbolic profile and / or the curvature radius of the profiling template is less than 0.95, the five-axis fine-tuning mechanism is started to perform on-line correction on the profiling template.

[0119] By adopting a parallel five-axis platform (X / Y / Z axis travel ±50 mm, A / C axis rotation ±5°), with a repeat positioning accuracy of ±1 μm, and equipped with a diamond dressing tool (edge radius 0.1 mm). Driven by a servo motor (17-bit encoder) for a ball screw (lead 1 mm), the moving speed is adjustable from 0.1 - 10 mm / s. According to the measured ratio of the R-profile / R backing plate, calculate the allowance to be removed from the profiling backing plate (e.g., ΔR = 0.5 mm), and generate a B-spline tool path. Precision machine the surface of the profiling backing plate with a diamond tool at a cutting depth of 0.01 mm and a feed rate of 5 mm / s, with a surface roughness Ra ≤ 0.2 μm. Real-time feedback of the cutting force through a dynamometer (threshold set at 50 N), and automatically retract the tool when the limit is exceeded. Integrate a vacuum dust collection system (flow rate 30 m³ / h) to ensure that the cleanliness of the processing environment reaches ISO Class 5.

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

[0121] By adopting piezoresistive conductive rubber (resistance range 10 4 -10 8 Ω, pressure sensitivity 0.1 Ω / N), cut into 5 mm wide strips and embedded in the bottom of the U-groove. When the resistance change rate ΔR / R0 > 10%, it is determined as sliding friction (requiring lubrication), and when ΔR / R0 < 5%, it is static friction (normal state). By according to the profile section parameters (such as for an H-beam, Ixx = 5000 cm 4 ), automatically calculate the groove wall inclination angle θ = arctan(Ixx / 1000) (e.g., when Ixx = 5000, θ = 78.7°). The groove wall is adjusted in angle by a hydraulic cylinder (thrust 20 kN), with an angle resolution of 0.01°, and the adjustment time < 10 seconds. When sliding friction is detected, a preset spray lubrication system sprays molybdenum disulfide lubricant (particle size 1 - 3 μm), with an oil spray volume of 0.1 mL / time. When the cumulative friction work > 100 J / mm², a groove replacement prompt is triggered.

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

[0123] By using a DataMatrix two-dimensional code (size 15×15 mm, error correction level ECC 200), it is laser-engraved on the end face of the profile (depth 0.1 mm) to store the profile ID, batch number, and curvature parameters. An RFID tag (frequency 860 - 960 MHz, storage capacity 512 bit) is embedded in the U-shaped groove, and the groove body number, installation coordinates, and maintenance records are written. The operator reads the profile two-dimensional 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 two-dimensional code and the RFID is > 1 mm, the system locks the installation process and triggers an audible and visual alarm (red light flashing + buzzer 85 dB). Each verification record (timestamp, operator, equipment number) is uploaded to the blockchain for anti-tampering audit and traceability. The MES system automatically generates daily / weekly / monthly reports on the misoperation rate, supporting quality KPI assessment.

[0124] The embodiment of the present application also provides a profiling and framing module for a double-curved unit component of a curtain wall. The profiling and framing module for the double-curved unit component of the curtain wall is used to execute the steps of the profiling and framing method for the double-curved unit component of the curtain wall shown in the above embodiments. The profiling and framing module for the double-curved unit component of the curtain wall can be a single server or a server cluster, or the profiling and framing module for the double-curved unit component of the curtain wall can be a terminal, and the terminal can be a handheld terminal, a laptop computer, a wearable device, or a robot, etc.

[0125] The profiling and framing module for the double-curved unit component of the curtain wall includes:

[0126] A matrix forming unit for connecting a profiling backing plate and a profiling support plate to form an integrated profiling matrix; the profiling support plate is internally provided with a pressure sensor array for detecting the node force distribution of the profiling support plate;

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

[0128] A support setting unit for vertically fixing a structural support rod on the surface of a standard cast iron platform to set an assembly support device on the surface of the standard cast iron platform; the profiling 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;

[0129] A fitting and positioning unit for fitting and positioning a double-curved profile along the curved surface contour of the profiling backing plate of each assembly support device by embedding it into the positioning U-shaped groove, and adjusting the clamping force corresponding to the limiting steel plate according to the node force distribution;

[0130] The group frame completion unit is used to obtain the fitting gap between the surface of the hyperbolic profile and the profiling template. If the gap value of the fitting gap is less than or equal to the preset gap value, the group frame positioning is completed, and the profiling jig for the curtain wall hyperbolic unit is obtained; wherein, the preset gap value is 0.3 mm; the profiling template has a three-dimensional curved surface that exactly coincides with the hyperbolic unit theoretical model corresponding to the profiling jig for the curtain wall hyperbolic unit, the positioning U-grooves are continuously distributed along the edge of the profiling support plate, and the limit steel plate is provided with a quick locking mechanism matching the structural support rod.

[0131] 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 profiling jig group frame module for curtain wall hyperbolic units and each unit can refer to the corresponding processes in the profiling jig group frame method embodiments of curtain wall hyperbolic units described in the above embodiments, and will not be repeated here.

[0132] The above-described profiling jig group frame method for curtain wall hyperbolic units can be implemented in the form of a computer program, and this computer program can run on the above modules.

[0133] Please refer to Figure 4 , Figure 4 is a schematic block diagram of the structure of the control terminal provided by the embodiment of the present application. The control terminal 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.

[0134] 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 profiling jig group frame method for curtain wall hyperbolic units.

[0135] The processor is used to provide computing and control capabilities to 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 this computer program is executed by the processor, the processor can execute any profiling jig group frame method for curtain wall hyperbolic units.

[0137] 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

[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 (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 may be a microprocessor or the processor may also be any conventional processor, etc.

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

[0140] Connect the profiling template to the profiling support plate to form an integrated profiling matrix; the profiling support plate is internally provided with a pressure sensor array for detecting the force distribution of the nodes of the profiling support plate;

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

[0142] Vertically fix the structural support rod on the surface of the standard part cast iron platform to set up an assembly support device on the surface of the standard part cast iron platform; the profiling support plate is connected to the structural support rod in a detachable manner; a plurality of assembly support devices are formed on the surface of the standard part cast iron platform;

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

[0144] Obtain the fitting gap between the surface of the hyperbolic profile and the profiling template. If the gap value of the fitting gap is less than or equal to the preset gap value, complete the frame positioning and obtain the profiling jig for the curtain wall hyperbolic unit. Among them, the preset gap value is 0.3 mm; the profiling template has a three-dimensional curved surface that completely coincides with the hyperbolic unit theoretical model corresponding to the profiling jig for the curtain wall hyperbolic unit. 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.

[0145] In some embodiments, the installation of the positioning U-shaped groove and the limiting steel plate on the profiling support plate includes: obtaining the information of the reference marking points on the surface of the profiling support plate according to the preset image acquisition module, and generating the optimal hole distribution scheme of the positioning pins based on the convolutional neural network algorithm according to the information of the reference marking points; wherein, the positioning pins adopt the structure of tapered pins with a taper of 1:50, and their surfaces are plated with a hard anodic oxidation layer with a thickness of 20-30 μm. The inner wall of the pin hole is embedded with a contact displacement sensor to real-time feedback the insertion depth of the positioning pins, and the installation of the positioning U-shaped groove and the limiting steel plate is completed.

[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 theoretical value of the BIM model of the limiting steel plate. When the corresponding error in the comparison exceeds 0.1°, the automatic compensation mechanism for the installation angle of the limiting steel plate is triggered.

[0147] In some embodiments, the vertical fixation of the structural support rod on the surface of the standard cast iron platform includes: embedding a matrix electromagnetic adsorption unit on the surface of the standard cast iron platform, and embedding a permanent magnet at the bottom of the structural support rod. The perpendicularity calibration with an accuracy of 0.02 mm is achieved through the closed-loop control of the magnetic flux, and the vertical fixation of the structural support rod on the surface of the standard cast iron platform is completed; 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. When the deformation amount 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.

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

[0149] Exemplarily, the driving servo motor adjusts the clamping angle of the limit steel plate, including: establishing a fuzzy control model corresponding to the force distribution of nodes and the clamping force, where the membership function of the fuzzy control model is triangular distribution and the defuzzification method uses the centroid method; if it is determined according to the force distribution of the nodes that the single-point pressure value 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 the preset gap value, the method further includes: determining a compensation strategy according to the ratio of the curvature radius of the hyperbolic profile to the curvature radius of the profiling template; when the curvature radius of the hyperbolic profile and / or the curvature radius of the profiling template is greater than or equal to 0.95 and less than 1, local compensation is performed according to the shape memory alloy gasket.

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

[0152] In some embodiments, the positioning U-shaped grooves are continuously distributed along the edge of the profiling support plate to achieve continuous constraint on the edge of the hyperbolic profile; a pressure-sensitive conductive rubber layer is laid on the bottom of the positioning U-shaped grooves to monitor the friction state of the hyperbolic profile sliding 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 sectional moment of inertia of the hyperbolic profile.

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

[0154] 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 repeated here.

[0155] In the embodiments of the present application, a computer-readable storage medium is further provided. 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 the method for profiling and assembling the double-curved unit components of the curtain wall provided in the above various embodiments of the present application.

[0156] Among them, the computer-readable storage medium may be the internal storage unit of the control terminal described in the foregoing embodiments, such as the 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 Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the control terminal.

[0157] As described above, the foregoing are only specific embodiments 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 substitutions, and these modifications or substitutions should 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 profiling jig group framing method for a double-curved unit of a curtain wall, characterized in that, Including: Connect the profiling template and the profiling support plate to form an integrated profiling matrix; the profiling support plate is internally provided with a pressure sensor array for detecting the force distribution of the nodes of the profiling support plate; Install a positioning U-shaped groove and a limiting steel plate on the profiling support plate; Vertically fix the structural support rod on the surface of the standard cast iron platform, including: 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 realizing verticality calibration with an accuracy of 0.02 mm through magnetic flux closed-loop control to complete vertically fixing the structural support rod on the surface of the standard cast iron platform; wherein, a strain sensor array is integrated inside the structural support rod for monitoring the bending deformation of the rod body of the structural support rod, and when the deformation amount corresponding to the bending deformation of the rod body exceeds 70% of the elastic limit of the structural support rod, stop vertically fixing the structural support rod; so as to set an assembly support device on the surface of the standard cast iron platform; the profiling 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 profiling template of each assembly support device for profiling and positioning, and adjust the clamping force corresponding to the limiting steel plate according to the force distribution of the nodes; Obtain the fitting gap between the surface of the hyperbolic profile and the profiling template. If the gap value of the fitting gap is less than or equal to the preset gap value, complete the frame positioning to obtain a profiling fixture for the curtain wall hyperbolic unit; wherein, the preset gap value is 0.3 mm; the profiling template has a three-dimensional curved surface that completely coincides with the hyperbolic unit theoretical model corresponding to the profiling fixture for the curtain wall hyperbolic unit, 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; the continuous distribution of the positioning U-shaped groove along the edge of the profiling support plate is used to realize continuous constraint on the edge of the hyperbolic profile; a pressure-sensitive conductive rubber layer is laid at the bottom of the positioning U-shaped groove for monitoring the friction state of the sliding of the hyperbolic profile through the resistance change rate of the pressure-sensitive conductive rubber layer; wherein, the inclination angle of the wall of the positioning U-shaped groove is dynamically adjusted according to the sectional moment of inertia of the hyperbolic profile; a two-dimensional code identifier is provided on the surface of the hyperbolic profile; an RFID tag array is embedded inside the positioning U-shaped groove to form a dual verification mechanism with the two-dimensional code identifier to ensure the uniqueness of the installation position of the hyperbolic profile.

2. The method according to claim 1, wherein The installation of the positioning U-shaped groove and the limiting steel plate on the profiling support plate includes: Obtain the information of the reference marking points on the surface of the profiling support plate according to the preset image acquisition module, and generate an optimal hole distribution scheme for the positioning pins based on the convolutional neural network algorithm; wherein, the positioning pins adopt a tapered pin structure with a taper of 1:50, and a hard anodic oxidation layer with a thickness of 20 - 30 μm is plated on the surface thereof, and a contact displacement sensor is embedded on the inner wall of the pin hole to real-time feedback the insertion depth of the positioning pins, and complete the installation of the positioning U-shaped groove and the limiting steel plate.

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

4. The method according to claim 1, characterized in that Embedding the hyperbolic profile along the positioning U-shaped groove into the curved surface contour of the profiling backing plate of each assembled support device for profiling and positioning, and adjusting the clamping force corresponding to the limit steel plate according to the node force distribution includes: Real-time obtaining the surface point cloud data of the hyperbolic profile by a preset laser tracker, and performing three-dimensional matching with the hyperbolic unit theoretical model through a preset point cloud registration algorithm to generate a deviation heat map; When it is detected according to the deviation heat map that the local fitting degree deviation exceeds 0.2 mm, driving the servo motor to adjust the clamping angle of the limit steel plate; During the process of embedding the hyperbolic profile into the profiling backing 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 an operation guide, so as to complete the profiling and positioning according to the optimal force application path and the operation guide.

5. The method according to claim 4, characterized in that, Driving the 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, where the membership function of the fuzzy control model is triangular distribution and the defuzzification method uses 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, driving the servo motor to adjust the output pressure of the pneumatic clamping mechanism corresponding to the clamping force to complete the adjustment of the clamping force.

6. The method according to claim 1, characterized in that, If the clearance value is greater than the preset clearance value, the method further includes: Determining a compensation strategy according to the ratio of the curvature radius of the hyperbolic profile to the curvature radius of the profiling backing plate; when the curvature radius of the hyperbolic profile and / or the curvature radius of the profiling backing plate is greater than or equal to 0.95 and less than 1, performing local compensation according to the shape memory alloy gasket.

7. The method according to claim 6, characterized in that If the curvature radius of the hyperbolic profile and / or the curvature radius of the profiling backing plate is less than 0.95, starting a five-axis fine-tuning mechanism to perform online correction on the profiling backing plate.

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