Building curtain wall construction framework welding device and method

Abstract

The invention relates to the technical field of welding equipment, and provides a building curtain wall construction framework welding device and method, and the device comprises an automatic welding mechanism, a framework supporting frame, a scanner and a framework fixing mechanism; the framework supporting frame is arranged above the framework fixing mechanism, the automatic welding mechanism is arranged on the outer side of the framework fixing mechanism, and the scanner is arranged on the automatic welding mechanism. The framework fixing mechanism comprises a machine tool, a sliding plate, a Y-axis sliding driving assembly, a clamping assembly and an X-axis sliding driving assembly. Each clamping assembly is connected with the output end of the corresponding X-axis sliding driving assembly. The clamping assembly comprises a telescopic assembly and a clamping piece, the telescopic assembly is connected with the output end of the X-axis sliding driving assembly, and the telescopic assembly is provided with a rotating motor connected with the clamping piece; through the combination of XYZ three-axis linkage and 360-degree rotating clamping, the X-axis, Y-axis and Z-axis linkage welding device can adapt to fixed welding operation of different arc-shaped or special-shaped frameworks, traditional manual welding is replaced, the construction efficiency is further improved, and the labor cost is reduced.

Description

Technical Field

[0001] This invention relates to the technical field of welding equipment, and in particular to a welding device and method for the construction frame of a building curtain wall. Background Technology

[0002] In pursuit of unique appearance, modern architecture has adopted curved, hyperboloid, and even irregular curved curtain walls as the mainstream. Curved frames are mostly constructed by prefabrication in sections and then welding them on site. Prefabrication in sections is often done by welding equipment, but current welding equipment is only suitable for welding straight sections of the frame. For example, patent publication number CN119820043B discloses a welding machine for the construction frame of a building curtain wall, which includes a base and further includes: an automatic welding mechanism, a pressure stabilization mechanism, multiple sets of positioning and locking mechanisms, a pressure adjustment mechanism, a frame thickness synchronous feedback mechanism, a welding current control mechanism, a welding speed control mechanism, and a PLC controller. This invention enables rapid and stable automatic welding of curtain wall frames, effectively improving welding quality and efficiency. It can automatically adjust the welding current based on the frame thickness and automatically reduce the welding speed when the welding current reaches a threshold, allowing more heat to be applied to the weld seam per unit time, ensuring complete weld penetration. During welding, additional pressure can be applied to ensure stable contact between horizontal and vertical splicing members, ensuring welding quality. However, this welding machine is only suitable for welding straight sections of the frame; when the frame has curved surfaces or arcs, it cannot effectively fix and weld the frame.

[0003] Therefore, the welding of curved skeletons currently mostly adopts traditional manual welding methods, which are not only costly but also inefficient. Summary of the Invention

[0004] To address the aforementioned shortcomings, the present invention aims to provide a welding device and method for the construction frame of building curtain walls, thereby solving the problems of the lack of dedicated welding equipment for arc-shaped frames in the prior art and the high labor cost and low efficiency of manual welding.

[0005] To achieve this objective, the present invention adopts the following technical solution: A welding device for the construction frame of a building curtain wall includes an automatic welding mechanism, a frame support frame, a scanner, and a frame fixing mechanism; The skeleton support frame is disposed above the skeleton fixing mechanism, the automatic welding mechanism is disposed on the outside of the skeleton fixing mechanism, and the scanner is disposed on the automatic welding mechanism; The skeleton fixing mechanism includes a machine tool, several sliding plates, several Y-axis sliding drive assemblies, several clamping assemblies, and several X-axis sliding drive assemblies; several sliding plates are arranged along the Y-axis direction on the machine tool, the sliding plates are slidably connected to the machine tool, and each sliding plate is connected to the output end of a set of Y-axis sliding drive assemblies, the Y-axis sliding drive assemblies are used to drive the sliding plates to move linearly along the Y-axis direction; A plurality of clamping components are slidably disposed on the sliding plate along the X-axis direction. Each set of clamping components is connected to the output end of the corresponding X-axis sliding drive component. The X-axis sliding drive component is used to drive the clamping component to perform linear motion along the X-axis direction. The clamping assembly includes a telescopic assembly and a clamping member. The telescopic assembly is connected to the output end of the X-axis sliding drive assembly. The clamping member is disposed at the telescopic end of the telescopic assembly. The telescopic assembly is used to drive the clamping member to move linearly along the vertical direction of the Z-axis. The clamping member is rotatably connected to the telescopic assembly. The telescopic assembly is equipped with a rotating motor connected to the clamping member. Driven by the rotating motor, the clamping member can rotate 360° around the Z-axis of the telescopic assembly.

[0006] Preferably, the Y-axis sliding drive assembly includes two symmetrically arranged lead screw drive assemblies. Each lead screw drive assembly includes a drive motor, a drive gear, a driven gear, and a lead screw. The drive motor is fixedly mounted on the machine tool. The drive gear is located at the output end of the drive motor. The driven gear is located at one end of the lead screw and meshes with the drive gear. The driven gear is perpendicular to the drive gear. Both ends of the sliding plate are threadedly connected to the lead screws of the two sets of lead screw drive assemblies. Driven by the two sets of drive motors, the sliding plate slides along the lead screws in the Y-axis direction.

[0007] Preferably, the telescopic assembly includes a telescopic base, a telescopic drive component, and a lifting seat; a guide rail is provided on the sliding plate along the X-axis direction, a slider is provided at the bottom of the telescopic base and slidably connected to the guide rail, the telescopic base is connected to the drive end of the corresponding X-axis sliding drive component, the telescopic drive component is disposed on the telescopic base, a plurality of guide columns are vertically disposed on the telescopic base, the lifting seat is slidably disposed on the guide columns, the output end of the telescopic drive component is connected to the telescopic base, and under the drive of the telescopic drive component, the telescopic base moves up and down along the guide columns; The lifting seat is fixedly equipped with the rotating motor, and the clamping member is rotatably disposed above the lifting seat. The rotating motor is connected to the clamping member, and under the drive of the rotating motor, the clamping member rotates around the Z-axis.

[0008] Preferably, the clamping component includes a rotating base, a clamping cylinder, a fixed clamping plate, a drive block, and a gripper. The rotating base is rotatably connected to the telescopic assembly, and the clamping cylinder is disposed on the rotating base; The fixed clamping plate is fixedly disposed above the clamping cylinder, the driving block is disposed at the output end of the clamping cylinder, the two sides of the driving block are respectively provided with driving teeth, the bottom end of the gripper is provided with clamping teeth arranged in an arc, the driving teeth and the clamping teeth are meshed and connected, and the arc axis of the bottom end of the gripper is rotatably connected to the fixed clamping plate through a rotating shaft. A hinge block is provided on the rear side of the gripper. One end of the hinge block is hinged to the gripper, and the other end of the hinge block is rotatably connected to the fixed clamping plate.

[0009] Preferably, a clamping flange is provided at the top edge of the gripper, and the clamping flange is provided perpendicular to the inner side surface of the gripper.

[0010] Preferably, the automatic welding mechanism includes a sliding base, a welding movement drive assembly, a gantry, a robotic arm, a position adjustment drive assembly, and a welding gun; The bottom two ends of the gantry frame are slidably connected to the sliding base, and the gantry frame is connected to the output end of the welding moving drive assembly. The welding moving drive assembly is used to drive the gantry frame to slide along the Y-axis. One end of the robotic arm is slidably mounted on the top of the gantry frame. The robotic arm's execution end is equipped with the welding gun. The robotic arm is connected to the output end of the position adjustment drive assembly, which is used to drive the robotic arm to slide along the X-axis.

[0011] Preferably, it also includes a pressing assembly, which includes a pressing crossbeam, a pressing drive assembly, a pressing arm, a pressing position drive assembly, and a roller; The two ends of the downward pressure beam are respectively slidably disposed on both sides of the gantry in the vertical direction. The output end of the downward pressure drive assembly is connected to the downward pressure beam. The downward pressure drive assembly is used to drive the downward pressure beam to slide in the vertical direction. One end of the lower pressure arm is slidably disposed on the lower pressure beam along the X-axis direction. The lower pressure arm is connected to the output end of the lower pressure position driving component. The lower pressure position driving component is used to drive the lower pressure arm to slide along the X-axis direction. The other end of the lower pressure arm is rotatably equipped with a lower pressure block, and the two ends of the roller are respectively rotatably connected to the two ends of the lower pressure block.

[0012] Preferably, the present invention provides a method for welding the construction frame of a building curtain wall, applied in the welding device for the construction frame of the building curtain wall, comprising the following steps: S1, Place the first layer of the skeleton to be welded on the skeleton support frame in sequence; S2, acquire the first layer skeleton scan data, which includes the skeleton position and orientation obtained by the scanning mechanism from the first layer skeleton scan; S3, Generate first-layer skeleton clamping control instructions based on first-layer data, obtain displacement data instructions for each group of Y-axis sliding drive components, and send control instructions to each Y-axis sliding drive component respectively. The Y-axis sliding drive component starts and drives the corresponding sliding plate to move. S4, the first layer skeleton clamping control command generates the first layer clamping height and first layer clamping angle of the corresponding clamping component below the first layer skeleton, and sends the control command to the corresponding clamping component. The telescopic component starts, and telescopically extends to the first layer clamping height according to the control command, and controls the clamping component to rotate to the first layer clamping angle, and then controls the clamping component to clamp the first layer skeleton. S5, place the second layer of the skeleton to be welded on the first layer of the skeleton to be welded in sequence; S6, acquire the second-layer skeleton scan data, which includes the skeleton position and orientation obtained by the scanning mechanism from the second-layer skeleton scan; S7. Generate second-layer skeleton clamping control commands based on second-layer skeleton scanning data, generate second-layer clamping height and second-layer clamping angle of the corresponding clamping component below the second-layer skeleton, and send control commands to the corresponding clamping component. The telescopic component starts, telescopically extends to the second-layer clamping height according to the control commands, and controls the clamping component to rotate to the second-layer clamping angle, and then controls the clamping component to clamp the first-layer skeleton. S8, send welding instructions to the automatic welding mechanism, and the automatic welding mechanism welds the stacked first and second layer skeletons.

[0013] Preferably, the clamping step of the clamping member clamping the skeleton further includes a pressing step: Q1, Send a pre-clamping command to the clamping cylinder, and the clamping cylinder pre-clamps the skeleton. Q2, send a clamping command to the telescopic assembly, the telescopic assembly drives the clamping part to descend, and clamps the skeleton through the clamping flange; Q3, a clamping command is sent to the clamping cylinder, which then performs the final clamping of the skeleton.

[0014] Preferably, the welding method for the building curtain wall construction frame also includes a position fine-tuning step, including: S4-1, after step S4, obtain the actual scanning data of the first layer of skeleton after the skeleton is clamped, compare the actual scanning data with the preset data of the first layer of skeleton, analyze the position and posture changes of each skeleton, calculate the fine adjustment data, obtain the first layer fine adjustment displacement and the first layer fine adjustment angle command based on the fine adjustment data, and send the control command to the corresponding Y-axis sliding drive component, X-axis sliding drive component and rotation motor. S4-2, the Y-axis sliding drive component, the X-axis sliding drive component and the rotation motor are started, controlling the corresponding skeleton to move or rotate, so that the position and posture of each skeleton are consistent with the preset. S7-1, After step S7, the actual scanning data of the second layer skeleton after the skeleton is clamped is obtained, the actual scanning data is compared with the preset data of the first and second layers skeleton, the position and posture changes of each skeleton are analyzed, and the fine adjustment data is calculated. Based on the fine adjustment data, the fine adjustment displacement and fine adjustment angle commands of the second layer are obtained, and the control commands are sent to the corresponding Y-axis sliding drive component, X-axis sliding drive component and rotation motor. S7-2, the Y-axis sliding drive component, the X-axis sliding drive component, and the rotation motor are started, controlling the corresponding skeleton to move or rotate, so that the position and posture of each second-layer skeleton are consistent with the preset.

[0015] One of the above technical solutions has the following advantages or beneficial effects: A welding device and method for building curtain wall construction frames, through a combination structure of X, Y, and Z-axis linkage and 360° clamping posture adjustment, can flexibly adjust the position, height, and angle of the clamping points according to the curvature changes of the curved frame, achieving multi-point stable fixation of frames with different curvatures. It replaces traditional manual welding with automated mechanical fixing and welding, automating positioning, trajectory planning, and the welding process, eliminating the time spent repeatedly adjusting tooling and positioning the frame in traditional manual welding, significantly shortening the welding cycle of a single curved frame. Simultaneously, multiple clamping components can work in parallel, supporting simultaneous welding of multiple sections, further improving construction efficiency; reducing reliance on highly skilled welders, lowering labor costs, and avoiding defects such as uneven welds and insufficient penetration caused by hand-held welding torch shaking and inaccurate positioning during manual operation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of one embodiment of the present invention; Figure 2 This is a schematic diagram of a skeleton fixing mechanism according to an embodiment of the present invention; Figure 3 This is a schematic diagram of a clamping assembly according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a clamping member according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a Y-axis sliding drive assembly according to an embodiment of the present invention; Figure 6 This is a schematic diagram of a pressing component according to an embodiment of the present invention; The components include: automatic welding mechanism 1, sliding base 11, welding movement drive assembly 12, gantry frame 13, robotic arm 14, position adjustment drive assembly 15, welding gun 16, skeleton support frame 2, scanner 3, skeleton fixing mechanism 4, machine tool 41, sliding plate 42, Y-axis sliding drive assembly 43, drive motor 431, drive gear 432, driven gear 433, lead screw 434, clamping assembly 44, telescopic assembly 441, telescopic base 401, telescopic drive component 402, and lifting mechanism. 403 lowering seat, 404 guide column, 405 rotating motor, 442 clamping component, 4421 rotating base, 4422 clamping cylinder, 4423 fixed clamping plate, 4424 driving block, 4401 driving tooth, 4425 gripper, 4402 clamping tooth, 4426 hinge block, 4427 clamping flange, 45 X-axis sliding drive assembly, 55 pressing assembly, 51 pressing crossbeam, 52 pressing drive assembly, 53 pressing arm, 54 pressing position drive assembly, 55 roller, 56 pressing block. Detailed Implementation

[0017] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0018] In the description of this invention, it should be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, features defined with "first" and "second" may explicitly or implicitly include one or more of these features, used to distinguish and describe features, without any order or emphasis.

[0019] In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] The following is combined with Figures 1 to 6 A building curtain wall construction frame welding device according to an embodiment of the present invention includes an automatic welding mechanism 1, a frame support frame 2, a scanner 3, and a frame fixing mechanism 4; The skeleton support frame 2 is disposed above the skeleton fixing mechanism 4, the automatic welding mechanism 1 is disposed on the outside of the skeleton fixing mechanism, and the scanner 3 is disposed on the automatic welding mechanism 1. The skeleton fixing mechanism 4 includes a machine tool 41, a plurality of sliding plates 42, a plurality of Y-axis sliding drive assemblies 43, a plurality of clamping assemblies 44, and a plurality of X-axis sliding drive assemblies 45; the plurality of sliding plates 42 are arranged along the Y-axis direction on the machine tool 41, the sliding plates 42 are slidably connected to the machine tool 41, and the sliding plates 42 are respectively connected to the output end of a group of Y-axis sliding drive assemblies 43, the Y-axis sliding drive assemblies 43 are used to drive the sliding plates 42 to perform linear movement along the Y-axis direction; A plurality of clamping components 44 are slidably disposed on the sliding plate 42 along the X-axis direction. Each set of clamping components 44 is connected to the output end of the corresponding X-axis sliding drive component 45. The X-axis sliding drive component 45 is used to drive the clamping component 44 to perform linear motion along the X-axis direction. The clamping assembly 44 includes a telescopic assembly 441 and a clamping member 442. The telescopic assembly 441 is connected to the output end of the X-axis sliding drive assembly 45. The clamping member 442 is disposed at the telescopic end of the telescopic assembly 441. The telescopic assembly 441 is used to drive the clamping member 442 to move linearly along the vertical direction of the Z-axis. The clamping member 442 is rotatably connected to the telescopic assembly 441. The telescopic assembly 441 is provided with a rotating motor 405 connected to the clamping member 442. Under the drive of the rotating motor 405, the clamping member 442 can rotate 360° around the Z-axis of the telescopic assembly 441.

[0022] Specifically, the arc-shaped skeleton to be welded can be placed on the machine tool 41 by means of a robot or manual operation. Several sliding plates 42 move along the Y-axis of the machine tool 41 through the Y-axis sliding drive assembly to complete the adaptation of the clamping point positions in the length direction of the skeleton. The X-axis sliding drive assembly 45 can be driven by a servo motor and ball screw. Each set of clamping components 44 moves along the X-axis of the sliding plate 42 through the X-axis sliding drive assembly 45 to achieve precise alignment of the clamping points in the width direction of the skeleton. The telescopic component 441 of the clamping component 44 drives the clamping piece 442 to rise and fall in the vertical direction of the Z-axis to adapt to the height difference of different parts of the arc-shaped skeleton and ensure that the clamping piece 442 is in close contact with the skeleton surface. In response to the curvature bending requirements of the skeleton, the rotation motor 405 drives the clamping piece 442 to rotate 360° around the Z-axis to adjust the clamping angle so that each clamping piece 442 can clamp different arc-shaped sections of the skeleton in the optimal posture. Finally, a multi-point, adaptive, and stable fixation of the arc-shaped skeleton is formed, which solves the problem that traditional tooling cannot adapt to the fixed welding of arc-shaped skeletons. Scanner 3 moves synchronously with the automatic welding mechanism 1 to perform a three-dimensional contour scan of the weld position of the fixed arc-shaped frame, acquiring key data such as the curvature, direction, and spatial coordinates of the weld, and transmitting the data to the control system. Based on the scan data, the control system automatically plans the motion trajectory and welding path of the welding torch, ensuring that the welding torch can accurately conform to the curved surface of the arc-shaped weld. The automatic welding mechanism 1 starts the welding operation according to the planned trajectory. During the welding process, scanner 3 can monitor the weld position deviation and frame posture changes in real time, and transmit the feedback data to the control system. Based on the real-time feedback, the control system dynamically adjusts the motion parameters of the X / Y / Z axis drive components and the posture of the clamping component 442 to ensure that the frame remains stable throughout the welding process and that the relative position of the welding torch and the weld is accurate, ultimately completing the high-quality welding of the arc-shaped frame.

[0023] Compared to the limitation of patent CN119820043B, which can only be adapted to straight-line skeletons, this device, through a combination structure of X, Y, and Z three-axis linkage and 360° clamping posture adjustment, can flexibly adjust the position, height, and angle of the clamping point according to the curvature change of the arc skeleton, so as to achieve multi-point stable fixation of skeletons with different curvatures. The use of automated mechanical fixing and welding replaces traditional manual welding. Automated positioning, trajectory planning, and welding processes eliminate the time spent repeatedly adjusting tooling and positioning the skeleton in traditional manual welding, significantly shortening the welding cycle of a single arc-shaped skeleton. Simultaneously, multiple clamping components 44 can work in parallel, supporting simultaneous welding of multiple sections, further improving construction efficiency. This reduces reliance on highly skilled welders, lowers labor costs, and avoids defects such as uneven welds and insufficient penetration caused by hand-held welding torch shaking and inaccurate positioning during manual operation. Furthermore, the stable clamping of the clamping components 44 effectively suppresses skeleton curvature deviation caused by thermal deformation during welding, ensuring consistent weld quality. The real-time scanning feedback mechanism dynamically corrects the welding trajectory and clamping posture, further improving welding accuracy and solving the adaptation problem of deviation between the actual curvature and design value of the prefabricated arc-shaped skeleton due to elastic rebound and shrinkage deformation.

[0024] Furthermore, the Y-axis sliding drive assembly 43 includes two symmetrically arranged lead screw drive assemblies. Each lead screw drive assembly includes a drive motor 431, a drive gear 432, a driven gear 433, and a lead screw 434. The drive motor 431 is fixedly mounted on the machine tool 41. The drive gear 432 is located at the output end of the drive motor 431. The driven gear 433 is located at one end of the lead screw 434. The driven gear 433 meshes with the drive gear 432 and is perpendicular to the drive gear 432. Both ends of the sliding plate 42 are threadedly connected to the lead screws 434 of the two sets of lead screw drive assemblies. Driven by the two sets of drive motors 431, the sliding plate 42 slides along the lead screw 434 in the Y-axis direction.

[0025] Specifically, the two sets of lead screw drive components are symmetrically arranged, and the two ends of the sliding plate 42 are threaded with the two sets of lead screws 434 respectively. When the two lead screws 434 drive synchronously, the movement of the sliding plate 42 is doubly constrained by the lead screws 434 on both sides, which can effectively suppress the lateral sway during the movement. This allows the driving force on both ends of the sliding plate 42 to be completely synchronized when it moves along the Y-axis, avoiding the problems of unilateral force offset and jamming that are easy to occur when driven by a single lead screw 434. The power loss of gear meshing transmission is small and the response speed is fast, which can accurately convert the speed of the motor into the rotation speed of the lead screw 434, thereby realizing the smooth control of the movement speed of the sliding plate 42, preventing positioning deviation caused by power transmission lag, and ensuring the position adjustment accuracy of the arc frame in the Y-axis direction. During the welding process, if the scanner 3 detects that the posture of the arc frame needs to be finely adjusted, the two sets of lead screw drive components can quickly respond to the control system command and drive the sliding plate 42 to adjust its position in real time. Its precise transmission characteristics enable the movement of the sliding plate 42 to coordinate efficiently with the X-axis, Z-axis drive components and the angle adjustment of the clamping component 442, promptly correcting errors caused by welding heat deformation or slight offset of the skeleton, ensuring that the welding torch always fits the weld trajectory, and further enhancing the device's adaptive welding capability for the arc skeleton.

[0026] Furthermore, the telescopic assembly 441 includes a telescopic base 401, a telescopic drive component 402, and a lifting seat 403; a guide rail is provided on the sliding plate 42 along the X-axis direction, a slider is provided at the bottom of the telescopic base 401 and is slidably connected to the guide rail, the telescopic base 401 is connected to the drive end of the corresponding X-axis sliding drive assembly 45, the telescopic drive component 402 is disposed on the telescopic base 401, a plurality of guide columns 404 are vertically disposed on the telescopic base 401, the lifting seat 403 is slidably disposed on the guide columns 404, the output end of the telescopic drive component 402 is connected to the telescopic base 401, and under the drive of the telescopic drive component 402, the telescopic base 401 moves up and down along the guide columns 404; The lifting seat 403 is fixedly equipped with the rotary motor 405, and the clamping member 442 is rotatably disposed above the lifting seat 403. The rotary motor 405 is connected to the clamping member 442, and under the drive of the rotary motor 405, the clamping member 442 rotates around the Z-axis.

[0027] Specifically, the telescopic base 401 is slidably connected to the guide rail on the sliding plate 42 via a slider. The cooperation between the guide rail and the slider features high guiding accuracy and low frictional resistance, improving the smoothness and stability of the telescopic base 401's movement. Simultaneously, it effectively limits the lateral offset of the telescopic base 401 during X-axis movement, ensuring that the clamping assembly 44 moves precisely along a preset path. Several vertically arranged guide posts 404 on the telescopic base 401 form multi-directional limiting constraints on the lifting motion of the lifting seat 403, effectively preventing tilting or twisting problems when the lifting seat 403 moves in the Z-axis direction. This ensures that the clamping component 442 always moves smoothly and vertically. The telescopic drive component 402 directly drives the lifting seat 403 to move along the guide column 404. The power transmission path is short and the response speed is fast. With the rigid support of the guide column 404, the lifting height can be precisely adjusted to meet the different clamping height requirements of curved skeletons with different curvatures and improve the fitting and fixing effect of the curved skeleton. In addition, the lifting seat 403 integrates a fixed rotation motor 405, which integrates the Z-axis height adjustment and the 360° rotation function of the clamping component 442 into the same component, which has a compact structure and strong linkage.

[0028] Furthermore, the clamping member 442 includes a rotating base 4421, a clamping cylinder 4422, a fixed clamping plate 4423, a driving block 4424, and a gripper 4425; The rotating base 4421 is rotatably connected to the telescopic assembly 441, and the clamping cylinder 4422 is disposed on the rotating base 4421; The fixed clamping plate 4423 is fixedly disposed above the clamping cylinder 4422, the driving block 4424 is disposed at the output end of the clamping cylinder 4422, the two sides of the driving block 4424 are respectively provided with driving teeth 4401, the bottom end of the gripper 4425 is provided with clamping teeth 4402 arranged in an arc, the driving teeth 4401 and the clamping teeth 4402 are meshed and connected, and the arc axis of the bottom end of the gripper 4425 is rotatably connected to the fixed clamping plate 4423 through a rotating shaft; A hinge block 4426 is provided on the rear side of the gripper 4425. One end of the hinge block 4426 is hinged to the gripper 4425, and the other end of the hinge block 4426 is rotatably connected to the fixed clamping plate 4423.

[0029] Specifically, when the clamping cylinder 4422 drives the driving block 4424 to move, the driving teeth 4401 on both sides of the driving block 4424 mesh with the clamping teeth 4402 at the bottom of the gripper 4425, which can drive the grippers 4425 on both sides to rotate synchronously around the axis, thereby achieving precise synchronization of the opening and closing actions. This meshing transmission method avoids the problems of asynchronous opening and closing of the grippers 4425 and bias of clamping force to one side caused by the single-sided drive of the traditional clamping structure. It allows the clamping force to be applied evenly to the surface of the skeleton. The hinge block 4426 on the rear side of the gripper 4425 is hinged to the gripper 4425 and the fixed clamping plate 4423 at both ends, forming a constraint structure for limiting the hinge block 4426. On the one hand, the hinge block 4426 can limit the rotation trajectory of the gripper 4425 and prevent the gripper 4425 from being pulled out due to excessive force during the clamping process. The system can prevent misalignment and wobbling. On the other hand, the hinge block 4426 can share the load of the gear meshing part, reduce the wear of the drive teeth 4401 and the clamping teeth 4402, and extend the service life of the clamping component 442. The driving force of the clamping cylinder 4422 can be precisely adjusted according to the material and thickness of the skeleton. By setting different clamping pressure thresholds through the control system, it can not only ensure the firm clamping of heavy steel skeletons, but also avoid damage to lightweight skeletons such as aluminum alloys, thus improving the material compatibility range of the clamping component 442.

[0030] Furthermore, a clamping flange 4427 is provided at the top edge of the gripper 4425, and the clamping flange 4427 is provided perpendicular to the inner side surface of the gripper 4425.

[0031] Specifically, the clamping flange 4427 is set perpendicular to the inner side of the gripper 4425. When the telescopic component 441 drives the clamping member 442 to retract, the clamping flange 4427 can apply vertical downward pressure to the top of the skeleton, forming an orthogonal constraint with the horizontal clamping force of the gripper 4425, firmly pressing the skeleton in the preset support position, effectively suppressing warping and displacement caused by welding thermal deformation, and ensuring the stability of the skeleton posture during welding. The downward pressing action of the clamping flange 4427 is directly driven by the retraction of the telescopic component 441, without the need for an additional independent downward pressing cylinder or drive mechanism, simplifying the overall structure of the clamping member 442, and reducing the space occupation and manufacturing cost of the equipment.

[0032] Furthermore, the automatic welding mechanism 1 includes a sliding base 11, a welding movement drive assembly 12, a gantry frame 13, a robotic arm 14, a position adjustment drive assembly 15, and a welding gun 16; The bottom ends of the gantry frame 13 are slidably connected to the sliding base 11, and the gantry frame 13 is connected to the output end of the welding moving drive assembly 12. The welding moving drive assembly 12 is used to drive the gantry frame 13 to slide along the Y-axis. One end of the robotic arm 14 is slidably disposed on the top of the gantry frame 13. The robotic arm 14 is provided with the welding gun 16 at its execution end. The robotic arm 14 is connected to the output end of the position adjustment drive assembly 15. The position adjustment drive assembly 15 is used to drive the robotic arm 14 to slide along the X-axis direction.

[0033] Specifically, the bottom ends of the gantry 13 are slidably connected to the sliding base 11. The welding movement drive assembly 12 can be driven by a servo motor and ball screw. By driving the gantry 13 to slide along the Y-axis, the welding gun 16 can achieve full-coverage movement along the length of the frame. For ultra-long curved curtain wall frames, the entire welding can be completed without segmented moving equipment. The robotic arm 14 slides along the top of the gantry 13 and achieves precise movement in the X-axis direction through the position adjustment drive assembly 15. The position adjustment drive assembly 15 can also be driven by a servo motor and ball screw to drive the robotic arm, thereby adapting to the weld position adjustment of curved frames of different widths. Combined with the Y-axis movement of the gantry 13, an X and Y-axis planar linkage system is formed. The welding gun can reach any planar position of the curved frame, completely eliminating welding blind spots, meeting the weld trajectory coverage requirements of curved and irregular curved frames, ensuring that the welding gun is always aligned with the weld center, and further improving the dynamic accuracy of adaptive welding.

[0034] Furthermore, it also includes a pressing assembly 5, which includes a pressing crossbeam 51, a pressing drive assembly 52, a pressing arm 53, a pressing position drive assembly 54, and a roller 55; The two ends of the downward pressure beam 51 are respectively slidably disposed on both sides of the gantry frame 13 in the vertical direction. The output end of the downward pressure drive assembly 52 is connected to the downward pressure beam 51. The downward pressure drive assembly 52 is used to drive the downward pressure beam 51 to slide in the vertical direction. One end of the lowering arm 53 is slidably disposed on the lowering beam 51 along the X-axis direction. The lowering arm 53 is connected to the output end of the lowering position driving component 54. The lowering position driving component 54 is used to drive the lowering arm 53 to slide along the X-axis direction. The other end of the lower pressure arm 53 is rotatably provided with a lower pressure block 56, and the two ends of the roller 55 are respectively rotatably connected to the two ends of the lower pressure block 56.

[0035] Specifically, traditional welding relies solely on a fixing mechanism to clamp and position the skeleton before welding. During the welding process, the high temperature of the electric arc causes local thermal expansion and contraction of the skeleton, easily leading to problems such as weld warping and misalignment. The downward pressure component 5 is mounted on the gantry 13 and can move synchronously with the welding torch along the X and Y axes. The downward pressure drive component 52 controls the movement of the downward pressure beam 51 in the Y-axis direction, and the downward pressure position drive component 54 controls the movement of the downward pressure arm 53 in the X-axis direction. Both the downward pressure drive component 52 and the downward pressure position drive component 54 can adopt servo motors and ball screw drive structures. The downward pressure component 5 moves synchronously with the welding torch. While the welding torch is welding, the roller 55 applies continuous and uniform downward pressure to the surface of the skeleton to be welded, which helps to counteract the upward warping force generated by thermal deformation, ensuring that the weld is always in the preset precise position, greatly reducing welding defects caused by thermal deformation, and significantly improving the overall stability of skeleton welding and weld formation quality. The roller 55 adopts a rotating connection design and rolls against the surface of the frame, which ensures the pressing effect and avoids scratches or wear on the surface of the frame during the pressing process. It is especially suitable for welding curtain wall frames made of easily damaged materials such as aluminum alloy. The pressing beam 51 of the pressing component 5 can slide vertically along the gantry 13, and the pressing arm 53 can slide along the X-axis of the beam. In combination with the rolling characteristics of the roller 55, the pressing position and height can be automatically adjusted according to the different heights of different positions of the frame to achieve precise pressing of different height sections.

[0036] The present invention also proposes a method for welding the construction frame of a building curtain wall, applied in the aforementioned welding device for the construction frame of a building curtain wall, comprising the following steps: S1, Place the first layer of the skeleton to be welded on the skeleton support frame 2 in sequence; S2, acquire the first layer skeleton scan data, which includes the skeleton position and orientation obtained by the scanning mechanism from the first layer skeleton scan; S3, Generate first layer skeleton clamping control instructions based on first layer data, obtain displacement data instructions for each group of Y-axis sliding drive components 43, and send control instructions to each Y-axis sliding drive component 43 respectively. Y-axis sliding drive component 43 starts and drives the corresponding sliding plate 42 to move. S4, the first layer skeleton clamping control command generates the first layer clamping height and first layer clamping angle of the corresponding clamping component 44 below the first layer skeleton, and sends the control command to the corresponding clamping component 44. The telescopic component 441 is activated, and telescopically extends to the first layer clamping height according to the control command, and controls the clamping component 442 to rotate to the first layer clamping angle, and then controls the clamping component 442 to clamp the first layer skeleton. S5, place the second layer of the skeleton to be welded on the first layer of the skeleton to be welded in sequence; S6, acquire the second-layer skeleton scan data, which includes the skeleton position and orientation obtained by the scanning mechanism from the second-layer skeleton scan; S7, generate second-layer skeleton clamping control command based on second-layer skeleton scanning data, generate second-layer clamping height and second-layer clamping angle of corresponding clamping component 44 below the second-layer skeleton, and send control command to corresponding clamping component 44. Telescopic component 441 starts, telescopically extends to the second-layer clamping height according to control command, and controls clamping component 442 to rotate to the second-layer clamping angle, and then controls clamping component 442 to clamp the first-layer skeleton. S8, send welding instructions to automatic welding mechanism 1, and automatic welding mechanism 1 welds the stacked first layer frame and second layer frame.

[0037] Specifically, a layered scanning and layered clamping strategy is adopted. First, the position and orientation data of the first layer skeleton are scanned separately. Then, the precise fixation of the first layer skeleton is completed through the coordinated action of the Y-axis drive component and the clamping component 44. After the second layer skeleton is stacked, it is scanned again and an independent clamping control command is generated. By adjusting the clamping height and angle, the curved surface fit and alignment of the second layer skeleton and the first layer skeleton are achieved. Compared with the traditional manual alignment method in manual stacking welding, this method quantifies the skeleton orientation through scanning data, avoiding problems such as misalignment and uneven gaps caused by curvature deviation of the double-layer arc skeleton, ensuring the accuracy of the weld position and greatly improving the quality of stacking welding.

[0038] By connecting the scanner 3, Y-axis sliding drive component 43, telescopic component 441, and automatic welding mechanism 1 through commands, the scanned data is directly converted into control parameters for the drive component. This eliminates the need for manual parameter setting, achieving full automation of the scanning-positioning-clamping-welding process. The control commands can be flexibly adjusted according to the skeleton specifications to adapt to different welding requirements, demonstrating the method's intelligent adaptability. By replacing manual operation with automated processes, operators only need to complete the skeleton loading and start commands to achieve full-process welding, significantly reducing labor intensity, effectively shortening the skeleton welding cycle, and improving construction efficiency. For welding multi-layer (three or more layers) skeletons, compatibility can be achieved by expanding the scanning and clamping steps. Only the corresponding layer scanning-clamping command generation step needs to be added, without significantly modifying the core logic of the method, demonstrating good scalability.

[0039] Furthermore, the clamping step of the clamping member 442 for clamping the skeleton also includes a pressing step: Q1, send a pre-clamping command to clamping cylinder 4422, clamping cylinder 4422 pre-clamps the skeleton. Q2, send a clamping command to the telescopic assembly 441, the telescopic assembly 441 drives the clamping member 442 to descend, and clamps the skeleton through the clamping flange 4427; Q3, a clamping command is sent to the clamping cylinder 4422, and the clamping cylinder 4422 performs the final clamping of the skeleton.

[0040] Specifically, through the clamping step, the clamping flange 4427 is used to apply vertical downward pressure to the top of the frame, firmly pressing the frame into the preset support position. This effectively suppresses warping and displacement caused by welding heat deformation, ensuring the stability of the frame's posture during welding. The downward pressing action of the clamping flange 4427 is directly driven by the retraction of the telescopic component 441, eliminating the need for an additional independent pressing cylinder or drive mechanism. This simplifies the overall structure of the clamping component 442 and reduces the space occupancy and manufacturing cost of the equipment.

[0041] Furthermore, the welding method for the building curtain wall construction frame also includes a position fine-tuning step, including: S4-1, after step S4, obtain the actual scanning data of the first layer of skeleton after the skeleton is clamped, compare the actual scanning data with the preset data of the first layer of skeleton, analyze the position and posture changes of each skeleton, calculate the fine adjustment data, obtain the first layer fine adjustment displacement and the first layer fine adjustment angle command based on the fine adjustment data, and send the control command to the corresponding Y-axis sliding drive component 43, X-axis sliding drive component 45 and rotary motor 405. S4-2, the Y-axis sliding drive assembly 43, the X-axis sliding drive assembly 45 and the rotary motor 405 are started, controlling the corresponding skeleton to move or rotate, so that the position and posture of each skeleton are consistent with the preset. S7-1, after step S7, obtain the actual scanning data of the second layer skeleton after the skeleton is clamped, compare the actual scanning data with the preset data of the first and second layers skeleton, analyze the position and posture changes of each skeleton, calculate the fine adjustment data, obtain the fine adjustment displacement and fine adjustment angle instructions of the second layer according to the fine adjustment data, and send the control instructions to the corresponding Y-axis sliding drive component 43, X-axis sliding drive component 45 and rotary motor 405. S7-2, the Y-axis sliding drive assembly 43, the X-axis sliding drive assembly 45 and the rotation motor 405 are started, controlling the corresponding skeleton to move or rotate, so that the position and posture of each second-layer skeleton are consistent with the preset.

[0042] Specifically, after the initial clamping of the first layer of the skeleton is completed in step S4, the skeleton may experience slight positional shifts or angular tilts due to clamping force, elastic rebound, or tooling positioning gaps. These deviations are amplified during the welding of the arc-shaped skeleton, leading to misalignment in subsequent overlapping welding. The newly added steps S4-1 and S4-2 acquire actual posture data through secondary scanning, compare it with preset design data, calculate fine-tuning parameters, drive the Y-axis and X-axis sliding components to adjust their positions, and rotate motor 405 to correct the clamping angle, accurately calibrating the skeleton posture to the preset state. This completely solves the problem of initial clamping being in place but the posture not matching the design, laying a high-precision benchmark for the stacking of the second layer of the skeleton. When the second layer of the skeleton is stacked on top of the first layer, in addition to the deviations that may occur during clamping itself, the residual deviations of the first layer of the skeleton are also superimposed, forming cumulative errors that directly lead to uneven weld gaps between the two layers of the skeleton. Steps S7-1 and S7-2 compare the posture of the second-layer frame after clamping with the final accurate posture of the first-layer frame. This not only corrects the deviation of the second-layer frame itself, but also compensates for the relative positional error between the two frames, ensuring that the welds of the two frames are completely aligned and avoiding defects such as incomplete penetration caused by uneven gaps. This ensures the quality of the welded products and improves the overall construction efficiency of the curved curtain wall frame welding.

[0043] Other components and operations of the building curtain wall construction frame welding device and method according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0044] In the description of this specification, references to terms such as "embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0045] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A welding device for the construction frame of a building curtain wall, characterized in that: Includes an automatic welding mechanism, a frame support frame, a scanner, and a frame fixing mechanism; The skeleton support frame is disposed above the skeleton fixing mechanism, the automatic welding mechanism is disposed on the outside of the skeleton fixing mechanism, and the scanner is disposed on the automatic welding mechanism; The skeleton fixing mechanism includes a machine tool, several sliding plates, several Y-axis sliding drive assemblies, several clamping assemblies, and several X-axis sliding drive assemblies; several sliding plates are arranged along the Y-axis direction on the machine tool, the sliding plates are slidably connected to the machine tool, and each sliding plate is connected to the output end of a set of Y-axis sliding drive assemblies, the Y-axis sliding drive assemblies are used to drive the sliding plates to move linearly along the Y-axis direction; A plurality of clamping components are slidably disposed on the sliding plate along the X-axis direction. Each set of clamping components is connected to the output end of the corresponding X-axis sliding drive component. The X-axis sliding drive component is used to drive the clamping component to perform linear motion along the X-axis direction. The clamping assembly includes a telescopic assembly and a clamping member. The telescopic assembly is connected to the output end of the X-axis sliding drive assembly. The clamping member is disposed at the telescopic end of the telescopic assembly. The telescopic assembly is used to drive the clamping member to move linearly along the vertical direction of the Z-axis. The clamping member is rotatably connected to the telescopic assembly. The telescopic assembly is equipped with a rotating motor connected to the clamping member. Driven by the rotating motor, the clamping member can rotate 360° around the Z-axis of the telescopic assembly.

2. The welding device for the construction frame of a building curtain wall according to claim 1, characterized in that: The Y-axis sliding drive assembly includes two symmetrically arranged lead screw drive assemblies. Each lead screw drive assembly includes a drive motor, a drive gear, a driven gear, and a lead screw. The drive motor is fixedly mounted on the machine tool. The drive gear is located at the output end of the drive motor. The driven gear is located at one end of the lead screw and meshes with the drive gear. The driven gear is perpendicular to the drive gear. Both ends of the sliding plate are threadedly connected to the lead screws of the two sets of lead screw drive assemblies. Driven by the two sets of drive motors, the sliding plate slides along the lead screws arranged in the Y-axis direction.

3. The welding device for the construction frame of a building curtain wall according to claim 1, characterized in that: The telescopic assembly includes a telescopic base, a telescopic drive component, and a lifting seat; a guide rail is provided on the sliding plate along the X-axis direction, a slider is provided at the bottom of the telescopic base and is slidably connected to the guide rail, the telescopic base is connected to the drive end of the corresponding X-axis sliding drive component, the telescopic drive component is disposed on the telescopic base, a plurality of guide columns are vertically disposed on the telescopic base, the lifting seat is slidably disposed on the guide columns, the output end of the telescopic drive component is connected to the telescopic base, and under the drive of the telescopic drive component, the telescopic base moves up and down along the guide columns; The lifting seat is fixedly equipped with the rotating motor, and the clamping member is rotatably disposed above the lifting seat. The rotating motor is connected to the clamping member, and under the drive of the rotating motor, the clamping member rotates around the Z-axis.

4. The welding device for the construction frame of a building curtain wall according to claim 1, characterized in that: The clamping component includes a rotating base, a clamping cylinder, a fixed clamping plate, a drive block, and clamping claws; The rotating base is rotatably connected to the telescopic assembly, and the clamping cylinder is disposed on the rotating base; The fixed clamping plate is fixedly disposed above the clamping cylinder, the driving block is disposed at the output end of the clamping cylinder, the two sides of the driving block are respectively provided with driving teeth, the bottom end of the gripper is provided with clamping teeth arranged in an arc, the driving teeth and the clamping teeth are meshed and connected, and the arc axis of the bottom end of the gripper is rotatably connected to the fixed clamping plate through a rotating shaft. A hinge block is provided on the rear side of the gripper. One end of the hinge block is hinged to the gripper, and the other end of the hinge block is rotatably connected to the fixed clamping plate.

5. The welding device for the construction frame of a building curtain wall according to claim 4, characterized in that: The top edge of the gripper is provided with a clamping flange, which is perpendicular to the inner side of the gripper.

6. The welding device for the construction frame of a building curtain wall according to claim 1, characterized in that: The automatic welding mechanism includes a sliding base, a welding movement drive assembly, a gantry, a robotic arm, a position adjustment drive assembly, and a welding gun; The bottom two ends of the gantry frame are slidably connected to the sliding base, and the gantry frame is connected to the output end of the welding moving drive assembly. The welding moving drive assembly is used to drive the gantry frame to slide along the Y-axis. One end of the robotic arm is slidably mounted on the top of the gantry frame. The robotic arm's execution end is equipped with the welding gun. The robotic arm is connected to the output end of the position adjustment drive assembly, which is used to drive the robotic arm to slide along the X-axis.

7. The welding device for the construction frame of a building curtain wall according to claim 6, characterized in that: It also includes a pressing assembly, which includes a pressing crossbeam, a pressing drive assembly, a pressing arm, a pressing position drive assembly, and rollers; The two ends of the downward pressure beam are respectively slidably disposed on both sides of the gantry in the vertical direction. The output end of the downward pressure drive assembly is connected to the downward pressure beam. The downward pressure drive assembly is used to drive the downward pressure beam to slide in the vertical direction. One end of the lower pressure arm is slidably disposed on the lower pressure beam along the X-axis direction. The lower pressure arm is connected to the output end of the lower pressure position driving component. The lower pressure position driving component is used to drive the lower pressure arm to slide along the X-axis direction. The other end of the lower pressure arm is rotatably equipped with a lower pressure block, and the two ends of the roller are respectively rotatably connected to the two ends of the lower pressure block.

8. A method for welding the construction frame of a building curtain wall, characterized in that: The application of the building curtain wall construction frame welding device as described in any one of claims 1-7 includes the following steps: S1, Place the first layer of the skeleton to be welded on the skeleton support frame in sequence; S2, acquire the first layer skeleton scan data, which includes the skeleton position and orientation obtained by the scanning mechanism from the first layer skeleton scan; S3, Generate first-layer skeleton clamping control instructions based on first-layer data, obtain displacement data instructions for each group of Y-axis sliding drive components, and send control instructions to each Y-axis sliding drive component respectively. The Y-axis sliding drive component starts and drives the corresponding sliding plate to move. S4, the first layer skeleton clamping control command generates the first layer clamping height and first layer clamping angle of the corresponding clamping component below the first layer skeleton, and sends the control command to the corresponding clamping component. The telescopic component starts, and telescopically extends to the first layer clamping height according to the control command, and controls the clamping component to rotate to the first layer clamping angle, and then controls the clamping component to clamp the first layer skeleton. S5, place the second layer of the skeleton to be welded on the first layer of the skeleton to be welded in sequence; S6, acquire the second-layer skeleton scan data, which includes the skeleton position and orientation obtained by the scanning mechanism from the second-layer skeleton scan; S7. Generate second-layer skeleton clamping control commands based on second-layer skeleton scanning data, generate second-layer clamping height and second-layer clamping angle of the corresponding clamping component below the second-layer skeleton, and send control commands to the corresponding clamping component. The telescopic component starts, telescopically extends to the second-layer clamping height according to the control commands, and controls the clamping component to rotate to the second-layer clamping angle, and then controls the clamping component to clamp the first-layer skeleton. S8, send welding instructions to the automatic welding mechanism, and the automatic welding mechanism welds the stacked first and second layer skeletons.

9. A method for welding the construction frame of a building curtain wall according to claim 8, characterized in that: The clamping process for holding the skeleton by the clamping member also includes a pressing step: Q1, Send a pre-clamping command to the clamping cylinder, and the clamping cylinder pre-clamps the skeleton. Q2, send a clamping command to the telescopic assembly, the telescopic assembly drives the clamping part to descend, and clamps the skeleton through the clamping flange; Q3, a clamping command is sent to the clamping cylinder, which then performs the final clamping of the skeleton.

10. A method for welding the construction frame of a building curtain wall according to claim 8, characterized in that: It also includes a position fine-tuning step, including: S4-1, after step S4, obtain the actual scanning data of the first layer of skeleton after the skeleton is clamped, compare the actual scanning data with the preset data of the first layer of skeleton, analyze the position and posture changes of each skeleton, calculate the fine adjustment data, obtain the first layer fine adjustment displacement and the first layer fine adjustment angle command based on the fine adjustment data, and send the control command to the corresponding Y-axis sliding drive component, X-axis sliding drive component and rotation motor. S4-2, the Y-axis sliding drive component, the X-axis sliding drive component and the rotation motor are started, controlling the corresponding skeleton to move or rotate, so that the position and posture of each skeleton are consistent with the preset. S7-1, After step S7, the actual scanning data of the second layer skeleton after the skeleton is clamped is obtained, the actual scanning data is compared with the preset data of the first and second layers skeleton, the position and posture changes of each skeleton are analyzed, and the fine adjustment data is calculated. Based on the fine adjustment data, the fine adjustment displacement and fine adjustment angle commands of the second layer are obtained, and the control commands are sent to the corresponding Y-axis sliding drive component, X-axis sliding drive component and rotation motor. S7-2, the Y-axis sliding drive component, the X-axis sliding drive component, and the rotation motor are started, controlling the corresponding skeleton to move or rotate, so that the position and posture of each second-layer skeleton are consistent with the preset.

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