Large high-altitude landscape glass installation mechanical hand system and program control method thereof

Abstract

The application discloses a large high-altitude landscape glass mounting mechanical hand system and a program control method thereof, and aims to solve the lateral retreat instability problem of a high-altitude flexible guide rail when being connected and pressed. The system and the program control method mainly comprise a flexible cable guide and hoisting structure, a glass conveying unit with a rotating baffle, a connecting frame arranged in a floor, and a mechanical hand with a vacuum suction cup and a laser unit. During connection operation, the mechanical hand penetrates into the hovering conveying unit, the laser unit confirms the physical occupation, triggers the rotating baffle to turn outward, and is rigidly fixed with the connecting frame in the floor, so that the suspended conveying unit and the building body are locked. Then, the mechanical hand performs constant force pressing and adsorption. The application realizes the conversion of the bearing system from a flexible to a rigid stress model, completely offsets the connection thrust of the mechanical hand, eliminates the cable flexing and high-altitude oscillation hidden danger, and greatly improves the connection alignment accuracy and safety of the large glass.

Description

Technical Field

[0001] This invention relates to the field of industrial robots and automated construction technology of building curtain walls, and more specifically, to a robotic arm system for transporting and installing high-altitude landscape glass. Background Technology

[0002] With the development of modern building technology, large-format glass curtain walls are widely used on the facades of high-rise and super high-rise buildings. Current high-altitude glass installation work typically relies on external tower cranes for hoisting, or on workers using suspended platforms and ropes for high-altitude transport and connection. However, due to the influence of high-altitude wind loads, traditional suspension methods are prone to a "pendulum effect," causing the heavy and fragile glass to sway violently in mid-air, easily impacting and damaging the building facade. Furthermore, due to the lack of precise guidance and positioning, workers often have to lean out from the edge of high-rise buildings to manually pull and align the glass, posing a significant risk of falls. The work efficiency and safety are insufficient to meet the construction requirements of modern super-large curtain walls.

[0003] To overcome the shortcomings of traditional unguided hoisting, the industry has proposed a high-altitude transport system based on flexible steel cable guides. This system utilizes a winch on the building's roof and ground anchoring devices to tension two vertical steel cables as flexible guide rails, along which the glass transport unit slides up and down. Upon reaching the target floor, a pre-installed multi-degree-of-freedom robotic arm extends from the building's outer edge, using vacuum suction cups to grab the glass and pull it back for connection. This method effectively limits wind-induced swaying during the lifting phase, while the robotic arm design avoids the risks associated with manual contact.

[0004] Although the aforementioned flexible guide rail system exhibited good stability during the transport phase, in actual grasping operations, at the moment the robot arm makes contact, the vacuum suction cup at the end of the robot arm cannot simply adhere upon proximity. Instead, a certain normal pressure (thrust) must first be applied to the glass surface to squeeze the suction cup lip and expel internal air, thereby establishing an effective vacuum negative pressure. However, while the steel cable, as a flexible guide rail, possesses significant tension in the vertical direction, its horizontal lateral thrust stiffness remains quite limited. When the robot arm applies a normal thrust outward, the suspended glass transport unit will be forced to deflect outward, causing the originally vertical steel cable to undergo significant lateral bending deformation; that is, the flexible track "yields" to the robot arm's thrust.

[0005] This flexible yielding disrupts the stability of the connection operation, easily leading to safety and engineering problems. First, the bending deformation of the steel cable absorbs most of the thrust applied by the robotic arm, making it difficult for the suction cup to establish a stable compressive force, which can easily cause vacuum failure and the risk of falling from a height. Second, the dynamic lateral displacement of the glass transport unit causes the robotic arm to lose its precise spatial reference, easily causing uneven loading or local stress concentration, thus crushing brittle glass. Finally, at the moment the suction cup successfully grasps the glass and releases force or accidentally slips, the bent steel cable releases elastic potential energy, causing the transport unit to rebound and oscillate in the opposite direction, which can easily damage the mechanical equipment or the building itself. Therefore, how to overcome the lateral deformation instability of the robotic arm when applying pressure during connection with the flexible guide rail, and achieve safe and accurate grasping of high-altitude landscape glass, has become a key technical problem that urgently needs to be solved in this field. Summary of the Invention

[0006] The purpose of this invention is to provide a large-scale high-altitude landscape glass installation robot and its programming method to solve the technical problems in the prior art.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A large-scale high-altitude landscape glass installation robotic arm system includes: a flexible cable guide structure and a hoisting structure mounted on a high-altitude building; a glass transport unit connected to the hoisting structure and raised and lowered along the flexible cable guide structure, the glass transport unit having an internal accommodating space for loading glass, and a rotating baffle rotatably mounted on the front edge of the glass transport unit; a connecting frame fixedly mounted within the target floor of the high-altitude building; and a robotic arm, the base of which is mounted within the target floor, the end of which is fitted with a bracket, a vacuum suction cup array on the side of the bracket facing outwards from the building, and a laser unit on the side of the bracket facing away from the vacuum suction cup array; in a level connection state, the robotic arm drives the bracket to probe into the internal accommodating space of the glass transport unit, the laser unit is used to detect whether the bracket is physically located within the accommodating space and outputs a trigger signal; the rotating baffle flips open outwards based on the trigger signal, and the free end of the flipped rotating baffle penetrates into the target floor and is fixedly connected to the connecting frame, thereby rigidly locking the suspended glass transport unit to the high-altitude building.

[0008] Preferably, the glass transport unit further includes an upper clamp and a lower clamp arranged parallel to each other in the horizontal direction. The rear sides of the upper clamp and the lower clamp are fixedly connected by a plurality of vertically arranged connectors. The upper clamp, the lower clamp, and the connectors together enclose the accommodating space.

[0009] Preferably, there are four rotating baffles, which are respectively disposed at the front edges of the left and right ends of the upper and lower clamping parts; the root of the rotating baffle is rotatably connected to the corresponding clamping part through a vertically arranged hinge shaft, and a rotation drive motor for driving the rotating baffle to swing horizontally is coaxially connected at the hinge shaft.

[0010] Preferably, the lower surface of the upper card and the upper surface of the lower card are respectively provided with reflective stickers; there are two laser units, which emit collimated laser beams vertically upward and downward respectively; when the bracket reaches the preset hovering position, the laser beams emitted by the two laser units respectively irradiate the corresponding reflective stickers and receive the reflected signals.

[0011] Preferably, a triaxial force sensor is connected in series between the end flange of the robotic arm and the bracket, and the triaxial force sensor is used to collect data on the normal contact force on the bracket in real time.

[0012] Preferably, the system further includes a controller, which is communicatively connected to the robotic arm, the laser unit, the rotary drive motor, and the triaxial force sensor. The controller is configured to issue an unlocking command to the rotary drive motor after receiving the reflected signal from the laser unit, and to control the robotic arm to perform constant force clamping after receiving force feedback data from the triaxial force sensor.

[0013] Preferably, the flexible cable guiding structure includes a winch base anchored to the top floor of the building and two parallel steel cables with their ends respectively fixed between the winch base and the ground; the upper clamp and the lower clamp are provided with guide components at their left and right ends, and the four guide components are slidably sleeved on the two steel cables respectively.

[0014] Preferably, the guide assembly includes a screw drive mechanism fixed to the end of the clip, a telescopic screw threaded to the screw drive mechanism, and a guide ring fixed to the outer end of the telescopic screw. The guide ring is sleeved on the steel cable, and the lateral extension length of the guide ring is adjusted by the screw drive mechanism.

[0015] Preferably, the connecting frame is pre-embedded and fixed to the upper surface of the load-bearing base plate and the lower surface of the ceiling of the target floor. The main extension direction of the rotating baffle after being flipped open is perpendicular to the glass transport unit and is fastened to the connecting frame by high-strength bolts. The upper clamp, the lower clamp, and the rotating baffle are all made of L-shaped angle steel. The two ends of the connecting piece are pre-set with vertically oriented strip holes, and the vertical span can be adjusted by bolts to the upper clamp and the lower clamp.

[0016] A programming control method for a large-scale high-altitude landscape glass installation robot, applied to the aforementioned large-scale high-altitude landscape glass installation robot system, the programming control method comprising the following steps: S1: Control the hoisting system to drive the glass transport unit loaded with glass to rise along the flexible guide rail to the outside of the target floor and hover, and control the rotation drive motor to keep the rotating baffle closed to limit the glass; S2: The robot arm is driven to approach the suspended glass transport unit using a pure position control mode; S3: When the laser unit receives a trigger signal indicating that the robotic arm has entered the glass transport unit, the robotic arm is controlled to decelerate. S4: Switch to position-force hybrid control mode to drive the robot arm to advance. When the normal contact force detected by the triaxial force sensor is greater than the set threshold, control the robot arm to stop feeding and enter the position holding state. S5: Control the rotation drive motor to drive the rotating baffle to flip outward and open, so as to fasten the flipped rotating baffle to the rigid connecting frame in the target floor, thereby converting the glass transport unit into a rigid support state; S6: After the rotating baffle is fastened to the rigid connecting frame, the constant force clamping control mode is activated. Based on the difference between the set target clamping force and the actual contact force fed back by the triaxial force sensor, the robot is controlled to squeeze the glass surface to establish a vacuum negative pressure. After successful adsorption, the robot is controlled to perform a pull-back action.

[0017] The beneficial effects of this invention are: This invention endows the rotating baffle with the dual functions of fall prevention and rigid support. During connection, it is secured to the connecting frame within the building floor, transforming the entire transport system from a flexible cable suspension state to a rigid support state for the building body. This completely counteracts the normal thrust applied by the robotic arm, eliminating the risks of guide rail deflection and high-altitude elastic oscillation. At the control strategy level, this invention combines closed-loop force feedback from laser sensing and triaxial force sensors to achieve pure positional rapid approach of the robotic arm, physical occupancy confirmation and unlocking, smooth deceleration and flexible contact, and constant force compression and adsorption control. While completely avoiding the crushing of brittle glass due to displacement over-impact, it ensures that the vacuum suction cup array obtains uniform, sufficient, and constant compression sealing force. In summary, this invention significantly improves the spatial alignment accuracy, dynamic stability, and system engineering robustness of high-altitude connection and installation of ultra-large landscape glass while ensuring the inherent safety of the construction operation system. Attached Figure Description

[0018] Figure 1 This is a side view schematic diagram of the overall application scenario of the present invention; Figure 2This is a front view schematic diagram of the hoisting structure and the glass transport unit in this invention; Figure 3 This is a schematic diagram illustrating the phenomenon of lateral deflection and yielding of flexible steel cables caused by the pressure applied by a robotic arm during connection in existing technologies (or when rigid anchoring is not performed); Figure 4 This is a schematic diagram of the main view of the glass transport unit on the side away from the building in an embodiment of the present invention; Figure 5 This is a side view of the glass transport unit in a vertical transport state according to an embodiment of the present invention; Figure 6 This is a partial top view of the glass transport unit in a vertical transport state according to an embodiment of the present invention; Figure 7 This is a side view of the structure of the robotic arm and connecting frame installed in the target floor according to an embodiment of the present invention; Figure 8 This is a side view of the initial docking state of the glass transport unit when the end of the robotic arm is in a near-flat state, according to an embodiment of the present invention. Figure 9 yes Figure 8 A top view of the initial docking state; Figure 10 This is a side view of the docking completed state after the end of the robotic arm in this embodiment of the invention has entered the glass conveying unit and the rotating baffle has unfolded outward and been rigidly fixed to the connecting frame. Figure 11 yes Figure 10 The diagram shows a top view of the docking completed.

[0019] Explanation of reference numerals in the attached figures: 1-Ground; 2-Manual hoist lock; 3-Steel cable; 3'-Steel cable after bending and deformation; 4-Glass transport unit; 5-Ear plate; 6-Wind; 7-Wind base; 8-High-rise building; 8a / 8b / 8c-High floors; 8d-Top floor; 9-Robot arm; 91-Support; 91a-Vacuum suction cup array; 91b-Laser unit; 10-Lifting rope; 10a-Fixing ring; 11-Connecting frame; 41-Glass; 42-Upper clamp; 43-Lower clamp; 44-Connector; 45-Guide assembly; 45a-Screw drive mechanism; 45b-Telescopic screw; 45c-Guide ring; 46-Rotating baffle; 46a-Hinge shaft; 47-Rotation drive motor; 48-Reflective sticker. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solutions in the embodiments of this specification, the technical solutions in the embodiments of this specification will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art should fall within the scope of protection.

[0021] Example 1 Combination Figures 1 to 2 As shown, this embodiment discloses a large-scale high-altitude landscape glass installation robotic arm system. The system is attached to a high-altitude building 8, which has multiple floors distributed vertically, for example... Figure 1 The upper floors marked are 8a, 8b, 8c, and the top floor 8d. Structurally, the system mainly consists of three parts: a flexible cable guide structure, a hoisting structure, and a robotic arm vacuum suction cup gripping structure. It aims to achieve efficient vertical transport and horizontal connection of landscape glass panels from ground floor 1 to each upper floor.

[0022] A flexible cable-guided structure is positioned between the top floor 8d of the high-rise building 8 and the ground level 1 to provide a motion trajectory with a certain degree of resistance to lateral deviation for the vertical transport of glass. Specifically, a winch base 7 is horizontally cantilevered outward at the edge of the top floor 8d of the building 8. The winch base 7 is rigidly anchored to the floor slab or load-bearing beam of the top floor 8d by high-strength bolts or embedded parts to ensure that it can withstand the overall static load and dynamic impact load of the system.

[0023] Two lugs 5 are symmetrically fixed at horizontal intervals on the lower surface of the building facade, cantilevered from the winch base 7. The system comprises two parallel steel cables 3, each cable 3 having its top end hinged or rigidly fixed to the corresponding lug 5 via shackles or cable joints. The two steel cables 3 extend vertically downwards from the top floor 8d along the outer surface of the building 8 to the ground surface 1. Ground anchors are pre-embedded on the ground surface 1, corresponding to the vertical projection positions of the two steel cables 3. The bottom ends of the steel cables 3 are connected to the traction end of a manual hoist lock 2 installed on the ground anchors. During system installation and commissioning, operators apply a downward pre-tension force to the two steel cables 3 by mechanically pre-tightening the manual hoist lock 2. Under the action of the pre-tension force, the two originally slack steel cables 3 are tightened, forming two parallel, vertically flexible guide rails with high tensile tension between the winch base 7 and the ground surface 1. The double-parallel flexible guide rail layout not only restricts the horizontal translational degree of freedom, but also eliminates the degree of freedom of rotation of the transported object around the vertical axis through two-point limiting.

[0024] The hoisting structure provides the driving force and load-bearing platform for the vertical lifting of the landscape glass panels. The hoisting power equipment, namely the winch 6, is securely mounted on the upper surface of the winch base 7. The winch 6 mainly consists of a drive motor, a reducer, and a drum. A high-strength hoisting rope 10 (e.g., multi-strand steel wire rope) is wound around the drum. The fixed end of the hoisting rope 10 is wound around the drum of the winch 6, and its free end extends vertically downwards and is fixedly connected to the top center load-bearing node of the glass transport unit 4.

[0025] The glass transport unit 4 is a rectangular frame structure, internally equipped with clamping and supporting components for carrying and securing the landscape glass panels. (Reference) Figure 2 Guide components are symmetrically arranged on the left and right sides of the glass transport unit 4 frame. The glass transport unit 4 is threaded onto two tensioned steel cables 3 via these guide components. During actual operation, the winch 6 starts and drives the drum to rotate forward or reverse, thereby winding or releasing the suspension rope 10. The vertical displacement of the suspension rope 10 causes the glass transport unit 4 to rise and fall in the vertical plane. Because the glass transport unit 4 is limited by the pre-tensioned steel cables 3 on both sides, it can only slide vertically along the axis of the steel cables 3 during lifting and lowering. This structure effectively avoids large-scale swaying of the glass transport unit 4 when suspended by the tensioned steel cables 3, resisting the lateral force generated by natural wind loads.

[0026] The robotic arm's vacuum suction cup gripping structure is installed inside the target floor where glass installation is required, for example... Figure 1 Floor 8b is shown. On the floor slab of floor 8b near the outer edge of the building, a base for a robotic arm 9 is fixedly installed. The robotic arm 9 is preferably a multi-degree-of-freedom serial articulated industrial robot, which includes multiple robotic arm segments connected in sequence by multiple rotary joints, and is capable of realizing translation and attitude rotation (pitch, yaw, roll) of the end effector in three-dimensional space.

[0027] The end effector of the robotic arm 9 is equipped with a vacuum suction cup array. The vacuum suction cup array includes a rigid support and multiple rubber vacuum suction cups evenly distributed on the support. The internal cavity of the suction cups is connected via pneumatic tubing to a vacuum generator (such as a vacuum pump) located behind the robotic arm 9 or inside the floor. When the glass transport unit 4, loaded with the landscape glass panel, is lifted by the winch 6 to be level with floor 8b (i.e., in a level position) and stops lifting, the controller controls the movement of each joint of the robotic arm 9, causing the robotic arm to extend out of the external space of floor 8b and bringing the vacuum suction cup array at its end closer to the glass surface on the glass transport unit 4 until the rubber lips of the suction cups contact the glass surface and perform vacuum suction. After confirming that the negative pressure reaches a preset safety threshold, the glass transport unit 4 releases the physical lock on the glass, and the robotic arm 9 then performs a retrieval action, transporting the glass from the outside to the inside into the floor 8b for subsequent curtain wall installation.

[0028] Although the system in Embodiment 1 above achieves a certain degree of wind-resistant vertical transportation through flexible cable guides and horizontal docking through robotic arm 9, in the actual dynamic docking and grasping process, combined with Figure 3 As shown, the problems existing in this first embodiment are explained: During the gripping process of the robotic arm's vacuum suction cup, the vacuum suction cup cannot complete the adsorption in a state of zero contact force. In order to effectively extract the gas inside the suction cup and form a sealed negative pressure chamber, the robotic arm 9 must apply a normal clamping force in the horizontal outward (i.e., perpendicular to the glass plate surface) to the glass surface at the moment of contact.

[0029] However, the guide rail in this system is a flexible system composed of steel cables 3. Although the steel cables 3 are pre-tensioned in the vertical direction by manual hoist lock 2, for high-altitude construction, the relatively long length of the flexible steel cables 3 results in lower structural stiffness (bending resistance) in the horizontal direction. Figure 3 As shown, when the robotic arm 9 applies a horizontal outward normal clamping force to the glass transport unit 4 located at the leveling position, the steel cable 3 at the point of force application cannot provide sufficient normal reaction force. Under the action of the horizontal thrust, the steel cable (which was originally in a straight tensioned state) Figure 3 The area at position 3 (the middle dashed line) was forced to undergo significant outward flexural deformation and shift to... Figure 3 The position is indicated by the solid line 3'. This yielding caused by insufficient lateral thrust stiffness of the flexible medium leads to the following technical problems: First, most of the thrust output by the robot arm 9 is converted into elastic potential energy from the deformation of the steel cable from 3 to 3', resulting in insufficient compression and sealing force between the suction cup lip and the glass surface. In the case of air leakage, the vacuum generator cannot establish a high vacuum level that meets safety standards. If forcibly pulled back, it is very easy for the glass to fall from a height, causing a serious safety accident.

[0030] Secondly, the grasping action of the multi-degree-of-freedom manipulator 9 is based on a preset spatial coordinate system for closed-loop or semi-closed-loop control. When the transport unit 4 undergoes dynamic outward displacement due to the deflection (3') of the steel cable, the actual physical position of the glass deviates from the theoretical motion envelope of the manipulator. This not only leads to a significant decrease in alignment accuracy but may also cause uneven force on each suction cup. Excessive compressive stress generated by local suction cups may directly crush the brittle landscape glass panel.

[0031] Simultaneously, when the suction cup of the robotic arm 9 barely establishes a vacuum and prepares to pull back, or when insufficient thrust causes the suction cup to slip and detach momentarily from the glass surface, the horizontal thrust applied to the glass transport unit 4 instantly drops to zero. At this moment, the elastic potential energy stored inside the flexed steel cable 3' is released instantly, driving the glass transport unit 4, weighing tens or even hundreds of kilograms, to violently bounce and oscillate uncontrollably towards the inside of the building 8. This dynamic instability and oscillation can easily cause the glass transport unit 4 to collide with the facade of the high-rise building 8 or damage the main structure of the robotic arm 9, posing a significant physical threat to construction equipment and personnel.

[0032] To address the aforementioned technical issues, the glass transport unit 4 and the robotic arm 9 in this embodiment will be described in detail below.

[0033] Combination Figures 4 to 6 As shown, the glass transport unit 4 in this embodiment serves as a carrying platform for the vertical transport of high-altitude landscape glass. Its overall structure unfolds along a vertical plane, and its interior forms a accommodating space for loading the glass 41. The glass transport unit 4 consists of a clamping and supporting assembly, a guiding assembly, and a locking and releasing assembly.

[0034] The clamping and supporting components form the main frame of the glass transport unit 4, providing basic structural support for the glass 41. (Refer to...) Figure 4 (Front view of the glass transport unit facing away from the building) and Figure 5 (Side view) The component mainly includes an upper clip 42 and a lower clip 43 arranged in parallel along the horizontal direction.

[0035] Both the upper clamp 42 and the lower clamp 43 are made of L-shaped angle steel or similar profiles. In terms of spatial arrangement, the upper clamp 42 and the lower clamp 43 are arranged vertically and alternately, and the L-shaped cross-section openings of both face the "front side" where the high-rise building 8 is located. Specifically, the upper clamp 42 includes a horizontal top plate and a vertical back plate, and the lower clamp 43 includes a horizontal bottom plate and a vertical back plate. The vertical back plates of the upper and lower clamps are coplanar, while the horizontal top plate and the horizontal bottom plate are parallel to each other and opposite to each other, thus defining a rectangular accommodating space between the upper clamp 42 and the lower clamp 43 that is closed at the rear and completely open at the front (towards building 8). The landscape glass 41 is clamped and supported within this accommodating space.

[0036] To increase the overall rigidity of the upper clamp 42 and lower clamp 43, which are separated vertically, multiple connectors 44 are provided longitudinally (vertically) on their rear sides (i.e., the side facing away from the building 8). In this embodiment, the number of connectors 44 is preferably three, made of high-strength steel bars, and evenly distributed at equal intervals along the length of the upper clamp 42 and lower clamp 43. The two ends of the connectors 44 are fixedly connected to the vertical back plates of the upper clamp 42 and lower clamp 43, respectively.

[0037] Regarding the specific fastening connection method, the connector 44 and the upper and lower clamps can be rigidly fixed by full welding; or, in order to further improve compatibility, vertically oriented strip holes can be preset at both ends of the connector 44, and a position-adjustable fastening connection can be achieved with the upper clamp 42 and the lower clamp 43 by high-strength bolts. This grooved connection structure of strip holes and bolts allows the operator to steplessly adjust the vertical span between the upper clamp 42 and the lower clamp 43 according to the actual height of the glass 41 to be hoisted, thereby achieving universal adaptation to curtain wall glass of different specifications.

[0038] Furthermore, a fixed lifting ring 10a is vertically installed at the geometric center of the upper clamp 42 along its length (i.e., the middle of its top plate) by welding or threaded anchoring. The end of the lifting rope 10 released by the winch 6 is connected to the fixed lifting ring 10a by shackles or other rigging, so that the lifting center of gravity of the entire glass transport unit 4 is kept on the physical axis of symmetry, ensuring the force balance during the lifting process.

[0039] To ensure stable motion constraints for the glass transport unit 4 as it moves vertically up and down along the flexible steel cable 3, a total of four guide components 45 are symmetrically arranged at the left and right ends of the upper clamp 42 and the lower clamp 43.

[0040] Reference Figure 4 As shown, each guide assembly 45 includes a screw drive mechanism 45a, a telescopic screw 45b, and a guide ring 45c. The screw drive mechanism 45a (such as a worm gear reducer or an internal thread drive seat) is rigidly fixed to the outer surface of the end of the upper clamp 42 or the lower clamp 43. The telescopic screw 45b passes horizontally through the screw drive mechanism 45a, and the two form a threaded transmission engagement. The free end (farthest end) of the telescopic screw 45b is fixedly connected to a guide ring 45c with a closed-loop or semi-closed-loop structure.

[0041] In operation, the four guide rings 45c are respectively fitted onto the tensioned flexible steel cables 3 on both sides of the system. Due to the ground anchors at the construction site (corresponding to...) Figure 1 There may be a positioning tolerance between the manual hoist lock 2) and the rooftop winch base 7, resulting in the horizontal distance between the two steel cables 3 not being an absolute standard value. By manually or electrically rotating the screw drive mechanism 45a, the telescopic screw 45b can be driven to linearly extend and retract along the horizontal axis, thereby independently fine-tuning the lateral extension length of the four guide rings 45c. This width-adaptive adjustment allows the glass transport unit 4 to match and track the actual distance between the two flexible steel cables 3, avoiding mechanical failures such as guide jamming or sliding tangential binding (stuck) caused by distance errors.

[0042] As mentioned above, the front of the clamping and supporting component is open. In order to prevent the glass 41 from accidentally falling off from the front opening during vertical transportation of hundreds of meters, and at the same time to allow the robot arm to smoothly remove the glass 41 horizontally outward (front) in a flat state, this embodiment is provided with a locking and releasing component at the front opening of the accommodating space.

[0043] Combination Figure 5 Side view and Figure 6 In the top view of the partial view, both the upper clamping member 42 and the lower clamping member 43 are provided with rotating baffles 46. In this embodiment, one rotating baffle 46 is provided at each of the left and right ends of the upper clamping member 42, and one rotating baffle 46 is also provided at each of the left and right ends of the lower clamping member 43, for a total of four.

[0044] The rotating baffle 46 is made of L-shaped angle steel. The rotating baffle 46 is mounted on the horizontal plate of the upper and lower clamping components, located between the glass 41 and the high-rise building 8 (i.e., at the front edge of the clamping components). (See reference) Figure 6 One end (root) of the rotating baffle 46 is rotatably mounted on the front edge of the corresponding clamp (such as clamp 43 below) via a vertically arranged hinge shaft 46a, forming a rotating pair that rotates about a vertical axis. At this rotating connection, a rotation drive motor 47 (such as a servo motor or stepper motor with a self-locking function) is coaxially mounted. The power output shaft of the rotation drive motor 47 is coupled to the hinge shaft 46a to precisely drive the rotating baffle 46 to swing horizontally.

[0045] In transit status (e.g.) Figure 5 and Figure 6 (As shown in the controlled locking posture), the four rotary drive motors 47 operate synchronously, driving the four rotating baffles 46 to flip inward to a position completely parallel to the upper clamp 42 and the lower clamp 43. At this time, the vertical edge of the L-shaped cross-section of the rotating baffle 46 is exactly blocking the front surface of the glass 41, forming a closed frame together with the rear connecting piece 44, which securely confines the glass 41 in the internal accommodating space, eliminating the risk of it falling off during transportation.

[0046] When the glass transport unit 4 arrives at the target floor and the robotic arm needs to be connected, the controller issues a release command. The four rotary drive motors 47 synchronously reverse, driving the rotating baffle 46 to rotate outward around the hinge axis 46a and unfold at a certain angle (e.g., 90 degrees), thus completely opening the front opening. At this time, the vacuum suction cup of the robotic arm 9 can extend into and adhere to the surface of the glass 41 without obstruction, and after grasping it, directly move it outward horizontally from the glass transport unit 4.

[0047] like Figure 7As shown, the robotic arm 9 is a multi-degree-of-freedom serial industrial robot. Its base is stably installed on the load-bearing floor slab inside the target floor (e.g., the high-rise floor 8b shown in the figure) near the edge of the building's exterior facade. The robotic arm 9 consists of multiple servo motor-driven rotary joints and a robotic arm connected in series, enabling it to perform high-precision translational and attitude yaw (pitch, yaw, roll) movements in three-dimensional space. During docking operations, through the combined movements of the joints, the front arm of the robotic arm 9 can cross the outer edge of floor 8b and extend into the suspended area outside the building.

[0048] An end effector, i.e., a rigid bracket 91, is fixedly installed at the end flange of the robotic arm 9. The bracket 91 is preferably a metal frame structure with sufficient yield strength (such as an aluminum alloy or high-strength steel welded component), and its front side (i.e., the side facing the outside of the building and used to contact the glass) is arranged in a matrix with a vacuum suction cup array 91a. The vacuum suction cup array 91a is connected to a vacuum generator through a pneumatic circuit to establish negative pressure after contacting the surface of the glass 41, thereby achieving non-destructive gripping.

[0049] In order to achieve high-precision spatial alignment between the robotic arm 9 and the glass transport unit 4 in a suspended state, and to confirm the safety of the connection at the physical level, this embodiment integrates a photoelectric sensing system on the bracket 91.

[0050] Specifically, two laser units 91b are symmetrically arranged vertically on the back of the support 91 (i.e., the side facing away from the vacuum suction cup array 91a and towards the interior of the building 8). The emitting end of one laser unit 91b is arranged vertically upwards, and the emitting end of the other laser unit 91b is arranged vertically downwards. Each laser unit 91b integrates a laser emitter and a photoelectric receiver, used to emit a collimated laser beam in a specific direction and receive the reflected light signal.

[0051] In conjunction with the above sensor configuration, such as Figure 6 As shown, a signal reflection target is pre-set in the internal accommodating space of the glass transport unit 4. Corresponding to the theoretical hovering coordinates after the bracket 91 is fully inserted into the accommodating space, highly reflective stickers 48 are respectively pasted or fixed on the lower surface of the upper clip 42 (inner side of the horizontal top plate) and the upper surface of the lower clip 43 (inner side of the horizontal bottom plate). The optical centers of the two reflective stickers 48 are strictly aligned with the theoretical optical axes of the two laser units 91b.

[0052] Inside floor 8b, there is also a main control device, namely a controller (such as a PLC programmable logic controller or an industrial computer). The controller is connected via an industrial communication bus to the servo control cabinet of the robot arm 9, the signal output terminal of the laser unit 91b, and the aforementioned rotary drive motor 47 installed on the glass conveying unit 4 (see...). Figure 5 It enables communication and control connections.

[0053] When the glass transport unit 4, fully loaded with glass 41, is lifted by the winch 6 to a position level with floor 8b, it stops moving. At this time, the four rotating baffles 46 on the front side of the glass transport unit 4 are still in a closed and locked state to prevent the glass 41 from falling. The controller 11 issues a command, and the robot arm 9 moves to insert the bracket 91 with the vacuum suction cup array 91a from the outside of the building into the interior space on the front side of the glass transport unit 4, and suspends it in a position close to but not touching the surface of the glass 41.

[0054] Once the bracket 91 is inserted into the aforementioned internal space, the two laser units 91b on its back continuously emit laser signals upward and downward, respectively. If the bracket 91 has completely and correctly entered the internal space enclosed by the upper clip 42 and the lower clip 43, the two laser beams will illuminate the corresponding reflective stickers 48. The reflective stickers 48 will reflect the light signals back to the receiver of the laser unit 91b along the original path.

[0055] After the receiver of laser unit 91b captures a valid reflected signal, it sends it to the controller. At this point, bracket 91 is spatially positioned to prevent glass 41 from tilting outward. Subsequently, the controller sends an unlocking command to the four rotary drive motors 47 on glass transport unit 4, which then drive the four rotating baffles 46 to flip outward and open.

[0056] refer to Figure 8 (Initial side view of robotic arm docking) and Figure 9 (Initial top view of robot docking) When the glass transport unit 4, which is loaded with landscape glass 41 to be installed, is lifted by the hoisting system and suspended at the external working elevation of the target floor 8b, the system enters the docking preparation stage.

[0057] In this initial state, the joints of the robotic arm 9 unfold under the command of the control system, driving its end bracket 91 to move horizontally (i.e., outward as indicated by the arrow in the figure) towards the glass transport unit 4. At this time, the bracket 91 has not yet crossed the front geometric boundary of the glass transport unit 4 (it has not yet entered the internal accommodating space). Correspondingly, the four rotating baffles 46 located on the front edges of the upper clamp 42 and the lower clamp 43 remain in the controlled initial closed position. Specifically, as... Figure 9 As shown, the main extension direction of the rotating baffle 46 is parallel to the longitudinal axis of the upper clamp 42 and the lower clamp 43. The vertical edge of its L-shaped angle steel physically blocks the outer side of the front surface of the glass 41, so that the glass 41 is completely confined within the closed frame formed by the upper clamp 42, the lower clamp 43 and the rear connecting piece, ensuring absolute safety during the approach of the robot arm.

[0058] At the same time, such as Figures 8 to 11As shown, connecting frames 11 are fixedly installed on the upper surface of the load-bearing floor slab (base slab) near the edge of the exterior facade on floor 8b, and on the lower surface of the corresponding ceiling (or the upper load-bearing beam), respectively, by embedded parts or high-strength anchors. The connecting frame 11 is preferably a steel gantry frame or corner bracket structure with high shear strength.

[0059] refer to Figure 10 (Side view of the completed docking of the robotic arm) and Figure 11 (Top view of robot arm docking completed) As robot arm 9 continues to extend horizontally outward in the direction of the arrow, support 91 and vacuum suction cup array 91a are fully inserted into the internal space of glass transport unit 4. When the laser unit 91b on the back receives a reflected signal, confirming that support 91 has occupied its position and has anti-tipping protection capability, the drive motor 47 drives the four rotating baffles 46 to rotate synchronously outward around their hinge axes 46a at their ends. This rotation stroke is set to 90 degrees. Figure 11 As shown in the top view, after rotating 90 degrees, the main extension direction of the rotating baffle 46 becomes perpendicular to the upper clip 42 and the lower clip 43, and points directly into the interior of floor 8b.

[0060] As the rotating baffle 46 unfolds, its free end (cantilever end) away from the hinge axis 46a extends into the interior space of floor 8b and aligns with the connecting frame 11 pre-installed on the base plate and ceiling. In this state, the operator securely connects the free end of the rotating baffle 46 to the stationary connecting frame 11. In this embodiment, high-strength bolts are preferably used to fasten the connection through the pre-drilled mounting holes in the rotating baffle 46 and the flange holes in the connecting frame 11. Thus, with the four unfolded rotating baffles 46 serving as supporting bridges, the glass transport unit 4 frame, which was originally only limited by the flexible steel cable 3 and suspended in mid-air, is firmly locked into the rigid structure of the building floor 8b as a whole.

[0061] After completing the aforementioned action of fixing the rotating baffle 46 to the connecting frame 11, the controller instructs the support 91 at the drive end of the robot arm 9 to continue to produce a small horizontal displacement, forcing the vacuum suction cup array 91a to tightly adhere to and forcefully press against the inner surface of the glass 41, causing the rubber lips of the suction cups to deform and expel the internal air. During this pressing process, the normal thrust applied by the robot arm 9 is sequentially transmitted to the glass 41, the upper clamp 42, and the lower clamp 43. Since the upper clamp 42 and the lower clamp 43 have been rotated out and firmly connected to the rotating baffle 46 on the connecting frame 11 by bolts, forming a rigid support, the outward normal thrust is ultimately completely offset by being directly transmitted through the rotating baffle 46 to the load-bearing structure (floor slab and ceiling) of floor 8b.

[0062] Example 2 This embodiment, based on the mechanical structure, sensor configuration, and rigid anchoring structure of the large-scale high-altitude landscape glass installation robot system disclosed in Embodiment 1 above, further discloses a control method for the robot 9. The hardware system and load-bearing structure used in this embodiment are exactly the same as in Embodiment 1. The difference from Embodiment 1 is that a triaxial force sensor is connected in series between the end flange of the robot 9 and the support 91. This force sensor can collect in real time the contact force and torque around each axis experienced by the support 91 along the X, Y, and Z axes in three-dimensional space, and feed it back to the controller in real time. Based on this, the complete motion control process of the robot 9 in this embodiment is divided into the following five control stages: 1. Initial rapid approach phase In the initial stage of the connection operation, when the glass transport unit 4 is raised to the level position and in a flexible suspension state, the support 91 of the robot arm 9 is still a relatively long safe distance from the target glass 41. In order to improve the cycle efficiency of the overall construction operation, the controller adopts a pure position closed-loop control strategy to drive the robot arm 9.

[0063] The controller plans the end effector trajectory of the robotic arm 9 using a cubic or quintic polynomial interpolation algorithm based on a preset spatial coordinate system. During this stage, each drive joint of the robotic arm 9 operates at the system's set maximum safe speed and acceleration, and the drive support 91 rapidly approaches the interior space where the glass transport unit 4 is located along the horizontal normal (towards the building's exterior). At this time, the system's servo drivers only respond to position commands and velocity feedforward; although data from the triaxial force sensors is collected, it does not participate in the closed-loop control logic.

[0064] 2. Sensor Triggering and Smooth Deceleration Phase As the robotic arm 9 rapidly extends outward, the outer envelope of the bracket 91 gradually crosses the front boundary of the glass transport unit 4. As described in Embodiment 1, when the collimated laser beams emitted by the two laser units 91b on the back of the bracket 91 first illuminate the reflective sticker 48 on the inner side of the upper and lower card pieces, the photodetector of the laser unit 91b generates a high-level feedback signal triggered along the rising edge.

[0065] Upon receiving the feedback signal, the controller immediately determines that the support 91 has entered the critical area. To prevent the support 91 or the vacuum suction cup array 91a from directly impacting the suspended brittle glass 41 due to the inertia of rapid movement, the controller instantly triggers a trajectory replanning mechanism. The controller's underlying algorithm employs a smooth deceleration curve (such as an S-shaped acceleration / deceleration curve), smoothly and rapidly reducing the normal motion speed of the robotic arm 9 from a rapid feed state to an extremely low slow detection state (e.g., a micro-motion speed of 5mm / s to 10mm / s). This stage uses the absolute position signal sensed by the hardware sensor as the deceleration trigger point, effectively eliminating the collision risk caused by accumulated positioning errors.

[0066] 3. Flexible Contact and State Maintenance Stage After deceleration is complete and the robot enters slow-speed probing motion, the controller smoothly switches the control strategy of the robot 9 from pure position control to a position-force hybrid control mode. During slow propulsion, the triaxial force sensor monitors the contact force data F along the normal direction (i.e., the direction perpendicular to the glass surface, defined as the Z-axis) in real time. Z Since the glass transport unit 4 is still in a flexible, suspended state, constrained only by the steel cable 3, any excessive thrust would cause the entire system to shift outwards. Therefore, a very small contact force threshold F is set internally in the controller. th (For example, 10N to 20N, only slightly larger than the system noise baseline of the sensor).

[0067] When the rubber lip of the vacuum chuck array 91a lightly touches the inner surface of the glass 41, F Z The reading will jump instantaneously. Once the controller detects the real-time feedback of the normal contact force F... Z >F th The motion stop command is immediately triggered. Because the contact force threshold is set to be extremely small and the approach speed is extremely slow, the tiny contact force at this time is insufficient to overcome the initial elastic resistance of the tension cable 3, so the glass transport unit 4 will not undergo substantial outward displacement.

[0068] The robotic arm 9 then enters a holding position, maintaining its current three-dimensional spatial coordinates using the rigidity of the servo motor. Subsequently, as described in Embodiment 1, the controller issues an unlocking command, causing the drive motor 47 to rotate and open the four rotating baffles 46 outwards.

[0069] After the rotating baffle 46 flips open 90 degrees and aligns with the connecting frame 11 on the floor slab and ceiling, the system enters the manual intervention phase. Construction workers use high-strength bolts to physically and rigidly fasten the end of the rotating baffle 46 to the connecting frame 11. Throughout this process, the robotic arm 9 remains in the aforementioned position, waiting, with its front vacuum suction cup maintaining only a slight contact with the glass 41 under zero or minimal force. This ensures that when bolts are tightened manually and installation torque is applied, the glass transport unit 4 is not subjected to additional off-center loads from the robotic arm, facilitating precise alignment and insertion of the bolt holes.

[0070] 4. Constant force compression and vacuum establishment stage After the operator confirms that all four rotating baffles 46 are securely locked to the connecting frame 11 and have been safely removed from the interference zone, an aspiration command is sent to the controller via the human-machine interface (HMI) or an external teach pendant.

[0071] Upon receiving the suction command, robotic arm 9 is activated and enters the constant force clamping control mode. Since establishing an effective vacuum requires squeezing the rubber edge of the suction cup to expel air, the controller sets a target normal clamping force F. T The magnitude of the target force is calculated based on the total area of ​​the suction cup, the Shore hardness of the rubber material, and the allowable compressive strength of the glass.

[0072] The controller employs a force feedback PID closed-loop control algorithm. Specifically, the control logic is as follows: the controller calculates the force error E between the target clamping force and the real-time feedback force from the sensor. f =F Z -F T The error is input into the PID controller, which converts it into a position or speed correction, driving each joint of the robot arm 9 to continue moving slightly outward along the normal direction.

[0073] Through this force feedback control, the robotic arm 9 can continuously compress the glass 41 with constant and precise normal pressure. This not only ensures that the lips of all vacuum suction cups can achieve uniform and sufficient deformation to create a sealed chamber, but also strictly limits the maximum mechanical stress applied to the glass panel, fundamentally eliminating engineering accidents that could cause the glass to be crushed locally.

[0074] While the robotic arm 9 maintains a constant force output, the controller activates the vacuum generator to evacuate the air. Once the vacuum switch on the pneumatic circuit detects that the negative pressure value has stabilized above the preset safe adsorption threshold, the controller confirms successful adsorption, and the constant force compression state ends. The robotic arm can then execute subsequent lifting and horizontal pull-back trajectories to smoothly move the glass into the floor.

[0075] In summary, Embodiment 2, by introducing laser signal mode judgment and force feedback control from a three-dimensional force sensor, achieves speed and torque control during the connection process, significantly improving the safety and robustness of automated installation of high-altitude glass.

[0076] Example 3 Based on the mechanical system structure, sensing hardware configuration, and transportation system disclosed in Embodiments 1 and 2 above, this embodiment further discloses a programmable method for automated installation of large-scale high-altitude landscape glass.

[0077] The core of this embodiment lies in transforming the entire physical process of high-altitude suspension connection and rigid locking into a multi-stage automated control logic scheduled by a main control computer or an industrial controller with a real-time operating system, hereinafter referred to as the "controller".

[0078] The controller achieves millisecond-level synchronous communication and coordinated control of the winch 6, the robot arm 9's servo drivers, the laser unit 91b, the triaxial force sensor, and the rotary drive motor 47 via an industrial Ethernet bus (such as EtherCAT). This programmable control method includes complete time-series logic and closed-loop control algorithms, specifically comprising the following steps: Step S1: System initialization and vertical lifting synchronization control based on dual closed loop At the start of the operation, the construction workers adjusted the manual hoist lock 2 at the ground end to apply a vertically downward pre-tightening force to the two steel cables 3 connected between the top-level winch base 7 and the ground 1, thus constructing a double-parallel vertical flexible guide rail in the space in front of the building.

[0079] Subsequently, the landscape glass 41 to be installed is placed into the receiving space of the glass transport unit 4. The controller initializes and issues a locking command, controlling the four rotation drive motors 47 to move synchronously, so that the rotating baffle 46 is in a closed state parallel to the upper clamp 42 and the lower clamp 43, so as to form a stable physical limit on the glass 41.

[0080] Next, the controller sends a position command to the lifting power system, starts the roof winch 6 to wind up the hoisting rope 10, and drives the glass transport unit 4 to rise steadily along the tensioned steel cable 3 under the strict constraint of the guide components 45 on both sides.

[0081] During this process, the controller reads the feedback data from the absolute encoder at the winch motor end in real time and performs dual closed-loop PID regulation of position and speed. When the encoder position data matches the preset working elevation outside the target floor 8b, the controller outputs a smooth braking curve to control the winch 6 to brake precisely, so that the glass conveying unit 4 enters a level levitation waiting state, thereby completing the programmed positioning operation of vertical lifting.

[0082] Step S2: Normal approach trajectory planning dominated by pure position closed loop After the glass transport unit 4 hovers at the floor level and its stable state is confirmed by a system delay, the controller located inside floor 8b automatically wakes up and starts the automatic leveling connection subroutine. To maximize the construction cycle time while ensuring safety, the controller forcibly adopts a pure position closed-loop control strategy during this initial approach phase.

[0083] Specifically, the controller uses a quintic polynomial interpolation algorithm or an S-shaped asymmetric acceleration / deceleration algorithm to perform time-optimized planning of the end effector trajectory of the robot arm 9 based on the calibrated three-dimensional spatial base coordinate system and tool coordinate system.

[0084] Driven by the generated continuous trajectory points, each rotating joint of the robotic arm 9 operates at a set high dynamic response speed, causing the end support 91 with the vacuum suction cup array 91a to rapidly approach the glass transport unit 4, which is in a suspended state, along the normal direction.

[0085] During this rapid extension process, the triaxial force sensor connected in series between the end flange of the robot 9 and the bracket 91 is configured in "bypass monitoring" mode. That is, the sensor continuously collects contact force data at a high frequency (such as 1000Hz) and transmits it to the controller backend. However, this mechanical data is not fed forward or fed back to the underlying motion closed-loop logic of the servo controller, thereby ensuring that the robot 9 can complete the initial large-stroke no-load approach with the highest efficiency without delay.

[0086] Step S3: Multimodal sensor triggering based on hardware interrupt and smooth deceleration via online trajectory replanning As the robotic arm 9 extends rapidly along the set trajectory, the system enters a highly sensitive triggering phase when the outer envelope of the end bracket 91 crosses the front opening boundary of the glass transport unit 4 and physically probes into its internal accommodating space.

[0087] The collimated laser beams continuously emitted by the two sets of laser units 91b on the back of the bracket 91 will be precisely projected onto the reflective stickers 48 preset on the inner side of the upper card 42 and the lower card 43.

[0088] After capturing a reflected light signal of sufficient intensity, the photodetector built into the laser unit 91b shapes the signal through its internal Schmitt trigger circuit and instantly outputs a rising-edge high-level trigger signal to the digital input (DI) port of the controller.

[0089] The controller's underlying hardware interrupt mechanism responds to this physical placeholder signal within microseconds, immediately suspending the pure position rapid approach command currently being executed in the main program. Simultaneously, the controller's internal trajectory generator initiates a smooth deceleration algorithm curve online. Based on the current instantaneous speed and acceleration limitations, it re-plans a smooth braking trajectory, controlling the robot arm's 9-axis normal feed speed to decay rapidly and smoothly, effectively avoiding the risk of overshoot and collision due to mechanical inertia.

[0090] Step S4: Flexible probe-type contact and uncoupling actions under position-force hybrid control After the normal extension speed smoothly decays to the set micro-motion speed (e.g., 5 mm / s), the controller seamlessly and smoothly switches the overall motion control strategy of the system from a single pure position control to a position-force hybrid control mode.

[0091] In this mode, the robotic arm 9 continues to move along the Z-axis normal at an extremely low speed; at the same time, the controller's main loop begins to extract the contact force feedback data Fz from the triaxial force sensor along the normal in real time and input it into the mechanical monitoring algorithm module.

[0092] When the rubber lip of the vacuum suction cup 91a lightly touches the inner surface of the brittle glass 41, the normal contact force Fz will produce a significant step change. Once the controller detects that Fz is greater than the system's preset minimum contact force threshold (e.g., a set 10N baseline), which is only used to distinguish between contact and non-contact states and is insufficient to push the flexible cable to produce lateral retraction, the controller immediately issues a zero-speed command to stop the normal feed of the robot arm 9 and uses the high closed-loop stiffness of the servo motor to enter the position and maintain the waiting state.

[0093] After confirming that the robotic arm 9 is locked in position, the controller immediately sends an unlocking position command to the four distributed rotary drive motors 47 via the communication bus. This drives the four rotating baffles 46 to synchronously and precisely rotate 90 degrees outward around their hinge axis 46a to be in a fully open position, thereby releasing the physical blockage of the glass inside the glass transport unit 4. Step S5: Rigid Anchoring Monitoring and Attitude Locking in Human-Machine Collaboration After the system determines that the four rotating baffles 46 have rotated outward 90 degrees into place, their cantilever ends have penetrated into the interior space of the target floor 8b and are geometrically aligned with the rigid connecting frame 11 pre-anchored to the load-bearing base plate and ceiling.

[0094] The system then alerts the operator via audible and visual alarms or the HMI interface. The operator manually and rigidly secures the ends of the four rotating baffles 46 to the corresponding connecting brackets 11 flanges using high-strength bolts.

[0095] Throughout the entire manual operation cycle of the fastening and docking, the "position holding" process inside the controller continues to run. The front end of the robotic arm 9 always maintains a very weak contact force with the glass surface. The controller monitors the load torque of each joint of the robotic arm 9 in real time to ensure that the suspension system will not bear additional off-center load due to the control drift of the robotic arm, thus providing an absolutely static physical environment for manual bolt drilling.

[0096] Step S6: Establish coupling control between the fully closed-loop constant force compression algorithm and negative pressure. After the operators have completed the rigid fastening, confirmed that the rotating baffle 46 has become a rigid bridge connecting the flexible system and the building body, and safely evacuated the interference area, the operators issue the "absorption execution" command through a handheld terminal or main control console.

[0097] Upon receiving the command, the controller immediately activates the closed-loop constant force clamping control mode of the robotic arm 9. The controller's built-in mechanical regulator inputs the error value Ef=Fz-FT between the set target clamping force FT and the real-time feedback force Fz from the triaxial force sensor to the parameter-tuned PID control module. The PID module dynamically converts this mechanical error into a displacement compensation amount, driving each joint of the robotic arm 9 to produce extremely small displacements along the normal direction, continuously and uniformly pressing the surface of the glass 41 with a constant normal thrust.

[0098] Under constant thrust, the rubber lip of the vacuum suction cup 91a undergoes full and uniform elastic deformation, expelling internal air. The controller then triggers the I / O relay to activate the vacuum generator and solenoid valve for evacuation. The controller monitors the vacuum pressure sensor data on the gas path in parallel. Once the real-time negative pressure value of the gas path drops and stabilizes below the set safe adsorption threshold (e.g., -80 kPa), the controller confirms that the adsorption task has been successfully completed.

[0099] Finally, the controller automatically generates the retreat trajectory, and the robotic arm 9 performs a leveling and pulling-back action to smoothly move the large glass into the interior of floor 8b, thus completely completing the high-altitude automated installation process cycle.

[0100] This invention overcomes the problem of lateral slippage and instability that easily occurs in high-altitude flexible guide rail systems during docking and pressure application by deeply coupling mechanical structural characteristics and multimodal sensing data at the bottom layer of the main control software, from the perspective of programmable algorithm.

[0101] This invention ingeniously endows the rotating baffle 46 with a fall-prevention and limiting function in the first half of the programmable process, and a rigid support conversion function after it is fastened to the building connection frame 11 in the second half. From the force model, it completely offsets the normal thrust applied by the robot arm 9 and eliminates the physical hazards of guide rail deflection and high-altitude elastic oscillation.

[0102] Meanwhile, at the control strategy level, this invention innovatively combines hard interruption of laser signals with closed-loop force feedback from a three-dimensional force sensor to achieve a complex set of state machine switching control logics for the robotic arm's "pure position rapid approach," "physical occupancy confirmation unlocking," "smooth deceleration and flexible contact," and finally "constant force compression and adsorption." This programmed control method completely avoids breaking brittle glass due to displacement over-impact, while ensuring, at the algorithm level, that the vacuum suction cup array can obtain uniform, sufficient, and constant compression sealing force. Under the premise of ensuring the inherent safety of large-scale construction operation systems, it significantly improves the spatial alignment accuracy, dynamic stability, and system engineering robustness of high-altitude connection and installation of ultra-large landscape glass.

[0103] Example 4 Based on the aforementioned embodiments one to three, this embodiment further discloses a control system, computer equipment, and computer-readable storage medium for implementing the above-mentioned automated installation method for large-scale high-altitude landscape glass.

[0104] In order to realize the multimodal sensor fusion and dynamic state machine switching logic described in Embodiment 3, this embodiment logically divides the control system running inside the industrial controller or main control computer into the following six core functional modules.

[0105] The various modules collaborate through well-defined internal data interfaces and high-speed inter-process communication (IPC) mechanisms. The system module division and data flow are as follows: 1. Initialize and lift synchronization module This module is configured to perform the initial configuration of the execution system and motion control during the vertical transport phase. Specifically, this module communicates with the servo drive and motor encoder of the rooftop winch 6 via an industrial bus interface, and is responsible for reading the absolute position and speed feedback from the encoder in real time during the vertical lifting phase. The module integrates a position-speed dual closed-loop PID control algorithm to dynamically adjust the output torque of the winch 6, and when the encoder data reaches the preset target floor elevation, it calls the smooth braking control algorithm to issue a stop command, so that the glass transport unit 4 is precisely suspended at the target height, and at the same time sends a leveling ready signal to the trajectory planning module.

[0106] 2. Trajectory Planning and Position Control Module This module is primarily used to control the rapid, large-stroke extension of the robotic arm 9 in an unloaded state. Internally, it contains the forward and inverse kinematics of the robotic arm 9 and integrates a fifth-order polynomial interpolation algorithm and S-shaped asymmetric acceleration / deceleration timing planning logic. Upon receiving the leveling readiness signal from the lifting synchronization module, this module generates the time-optimal continuous joint spatial trajectory points online and distributes position control words to the servo drives of each joint of the robotic arm at a high-frequency servo cycle. Simultaneously, this module includes a data bypass controller, which configures the triaxial force sensor connected in series at the end flange into a bypass monitoring mode that only collects data and does not provide feedback during the rapid approach phase.

[0107] 3. Multimodal sensing triggering and interrupt handling module This module is a switching module for the control system's state machine. Its signal input is connected to the level output of the laser unit 91b on the back of the support 91 via an isolated digital input (DI) interface. The module is internally configured with a hardware interrupt service routine (ISR). When the laser unit 91b illuminates the reflective sticker 48 and outputs a rising edge transition signal, the module immediately captures the hardware interrupt and forcibly suspends the current running process of the trajectory planning and position control module within microseconds. Subsequently, the interrupt handling module activates the online trajectory replanning algorithm, uses an S-shaped acceleration / deceleration curve to smoothly decay and brake the robot's current instantaneous speed, and transfers control to the hybrid control module.

[0108] 4. Position-force hybrid control module This module is responsible for the flexible probe-like contact between the robotic arm's end effector and the brittle glass surface, as well as the unlocking control of the transport unit. It integrates an admittance control algorithm model, converting the real-time normal contact force Fz from the triaxial force sensor into a virtual displacement correction for the robotic arm's end effector. The module has a very small contact force threshold F.th When it is determined that Fz > Fth, the module immediately issues a zero-speed command to cause the robot to enter a high-rigidity position and hold. In addition, the module also includes a distributed motor coordinator, which, after the position holding state is established, issues unlocking pulse commands to the four rotary drive motors 47 on the glass conveying unit 4 to control the rotating baffle 46 to rotate outward by 90 degrees horizontally.

[0109] 5. Rigid Anchoring Collaborative Monitoring Module This module ensures the stability of the physical system during the manual intervention and fastening phase. After the rotating baffle 46 is rotated into position, the module maintains its position in a waiting state, locking the robot's current three-dimensional spatial coordinates. Simultaneously, the module calculates the joint load torque by monitoring the servo current of each joint of the robot in real time, and, in conjunction with an internal torque anomaly drift monitoring algorithm, ensures that the robot does not exert any active pushing force or clamping stress on the glass when the operator rigidly fastens the free end of the rotating baffle 46 to the connecting frame 11 inside the floor with high-strength bolts. After fastening is completed, the module responds to external confirmation signals from the human-machine interface (HMI) and advances the state machine to the final adsorption stage.

[0110] 6. Constant force clamping and negative pressure coupling control module This module is the core module for establishing a safe gripping boundary. Internally, it constructs a strong feedback PID closed-loop control cycle, calculating in real-time the control error between the preset target clamping force FT and the real-time normal feedback force Fz from the triaxial force sensor. This control error is dynamically converted into position compensation fine-tuning amounts for each joint of the robotic arm by inputting the PID controller, driving the suction cup array 91a to press against the glass surface with a constant and uniform thrust. Under this constant force clamping state, the module simultaneously controls the solenoid valve of the vacuum generator to open the suction path and reads the analog data from the electronic negative pressure sensor in the pneumatic circuit until the negative pressure value reaches the set safe adsorption threshold, at which point it outputs a connection success signal and generates a pullback trajectory.

[0111] In order to support and operate the various functional modules of the above-mentioned control system, this embodiment provides a dedicated industrial-grade computer device.

[0112] The main structure of this computer device includes a processor, memory, bus system, industrial bus communication interface, and sensor data acquisition interface. The processor can be one or more combinations of a multi-core CPU, a high-performance microcontroller (MCU), a digital signal processor (DSP), or a programmable gate array (FPGA), and possesses multi-threaded real-time task scheduling capabilities.

[0113] The memory includes random access memory (RAM) and non-volatile memory such as ROM, flash memory, and solid-state drive (SSD). The non-volatile memory stores computer program instructions that implement the six functional modules described above. The memory is connected to the processor via a high-speed system bus. When the computer device is powered on, the processor loads the computer program instructions from the memory and executes the instructions in accordance with the clock cycle of the real-time operating system (RTOS), thereby implementing all the program control steps described in Embodiment 3.

[0114] Furthermore, the computer device establishes deterministic communication with external actuators through its built-in industrial bus communication interface, such as the master controller based on EtherCAT or Profinet protocols, and sends control words to the winch driver, the robot joint servo driver, and the rotary drive motor at fixed clock cycles (such as 1ms).

[0115] Meanwhile, the computer equipment, through a high-speed analog-to-digital converter and digital interrupt interface, receives the mechanical signals from the triaxial force sensor and the interrupt trigger signals from the laser unit in real time, thus forming a hardware-software integrated physical information system (CPS).

[0116] This embodiment also provides a computer-readable storage medium storing computer program instructions. The computer-readable storage medium can be a non-volatile electronic, magnetic, optical, electromagnetic, or semiconductor storage device, specifically including but not limited to: portable computer disks, hard disks (HDDs), read-only memory (ROMs), erasable programmable read-only memory (EPROMs) or flash memory, optical disc read-only memory (CD-ROMs), or any combination of the above storage devices. When the computer program instructions stored in the computer-readable storage medium are read and executed by a physical device such as a processor in the aforementioned computer device, they can drive the execution device to jump according to a specific time sequence and logical state, triggering the control system to smoothly switch online between pure position control mode, multimodal hardware interrupt handling, position-force hybrid control mode, and force feedback PID constant force control mode. This allows the robotic arm to safely and accurately complete the force conversion from the high-altitude flexible guide rail system to the building rigid support model, ultimately achieving inherently safe high-altitude connection and installation of large landscape glass.

Claims

1. A robotic arm system for installing large-scale high-altitude landscape glass, characterized in that, include: A flexible cable guide structure and a hoisting structure are installed on the high-altitude building (8); a glass transport unit (4) is connected to the hoisting structure and moves up and down along the flexible cable guide structure. The glass transport unit (4) has an internal space for loading glass (41), and a rotating baffle (46) is rotatably provided at the front edge of the glass transport unit (4); a connecting frame (11) is fixedly installed in the target floor (8b) of the high-altitude building (8); and a robot (9) whose base is installed in the target floor (8b). The end of the robot (9) is equipped with a bracket (91), and the side of the bracket (91) facing the outside of the building is provided with a vacuum suction cup array (91a). 91) A laser unit (91b) is provided on the side away from the vacuum suction cup array (91a); in the flat connection state, the robot (9) drives the bracket (91) to enter the internal accommodating space of the glass transport unit (4), and the laser unit (91b) is used to detect whether the bracket (91) is physically located in the accommodating space and output a trigger signal; the rotating baffle (46) flips outward based on the trigger signal, and the free end of the rotating baffle (46) after flipping is inserted into the interior of the target floor (8b) and fixedly connected with the connecting frame (11) to rigidly lock the glass transport unit (4) in the suspended state to the high-altitude building (8).

2. The large-scale high-altitude landscape glass installation robotic arm system according to claim 1, characterized in that, The glass transport unit (4) further includes an upper clamp (42) and a lower clamp (43) arranged parallel to each other in the horizontal direction. The rear sides of the upper clamp (42) and the lower clamp (43) are fixedly connected by a plurality of vertically arranged connectors (44). The upper clamp (42), the lower clamp (43) and the connectors (44) together enclose the accommodating space.

3. The large-scale high-altitude landscape glass installation robotic arm system according to claim 2, characterized in that, There are four rotating baffles (46), which are respectively located at the front edges of the upper clamp (42) and the lower clamp (43) at the left and right ends. The root of the rotating baffle (46) is rotatably connected to the corresponding clamp through a vertically arranged hinge shaft (46a). A rotation drive motor (47) for driving the rotating baffle (46) to swing horizontally is coaxially connected at the hinge shaft (46a).

4. The large-scale high-altitude landscape glass installation robotic arm system according to claim 2, characterized in that, The lower surface of the upper card (42) and the upper surface of the lower card (43) are respectively provided with reflective stickers (48); there are two laser units (91b), which emit collimated laser beams upward and downward in the vertical direction respectively; when the bracket (91) reaches the preset hovering position, the laser beams emitted by the two laser units (91b) respectively irradiate the corresponding reflective stickers (48) and receive the reflected signals.

5. The large-scale high-altitude landscape glass installation robotic arm system according to claim 1, characterized in that, A triaxial force sensor is connected in series between the end flange of the robotic arm (9) and the bracket (91). The triaxial force sensor is used to collect data on the normal contact force of the bracket (91) in real time.

6. The large-scale high-altitude landscape glass installation robotic arm system according to claim 3, characterized in that, The system also includes a controller, which is communicatively connected to the robotic arm (9), the laser unit (91b), the rotary drive motor (47), and the triaxial force sensor. The controller is configured to issue an unlocking command to the rotary drive motor (47) after receiving the reflected signal from the laser unit (91b), and to control the robotic arm (9) to perform constant force clamping after receiving the force feedback data from the triaxial force sensor.

7. The large-scale high-altitude landscape glass installation robotic arm system according to claim 2, characterized in that, The flexible cable guiding structure includes a winch base (7) anchored to the top floor of the building and two parallel steel cables (3) with their ends fixed between the winch base (7) and the ground (1); the upper clamp (42) and the lower clamp (43) are provided with guide components (45) at their left and right ends, and the four guide components (45) are slidably sleeved on the two steel cables (3).

8. The large-scale high-altitude landscape glass installation robotic arm system according to claim 7, characterized in that, The guide assembly (45) includes a screw drive mechanism (45a) fixed to the end of the clip, a telescopic screw (45b) threadedly engaged with the screw drive mechanism (45a), and a guide ring (45c) fixed to the outer end of the telescopic screw (45b). The guide ring (45c) is sleeved on the steel cable (3), and the lateral extension length of the guide ring (45c) is adjusted by the screw drive mechanism (45a).

9. The large-scale high-altitude landscape glass installation robotic arm system according to claim 2, characterized in that, The connecting frame (11) is pre-embedded and fixed on the upper surface of the load-bearing base plate and the lower surface of the ceiling of the target floor (8b). The main extension direction of the rotating baffle (46) after being flipped open is perpendicular to the glass transport unit (4) and is fastened to the connecting frame (11) by high-strength bolts. The upper clamp (42), the lower clamp (43) and the rotating baffle (46) are all made of L-shaped angle steel. The two ends of the connecting piece (44) are pre-set with vertically oriented strip holes. The vertical span is adjustable by bolts to the upper clamp (42) and the lower clamp (43).

10. A programmed control method for a large-scale high-altitude landscape glass installation robot, characterized in that, The programming method, applied to the large-scale high-altitude landscape glass installation robot system as described in any one of claims 1 to 9, includes the following steps: S1: Control the hoisting system to drive the glass transport unit loaded with glass to rise along the flexible guide rail to the outside of the target floor and hover, and control the rotation drive motor to keep the rotating baffle closed to limit the glass; S2: The robot arm is driven to approach the suspended glass transport unit using a pure position control mode; S3: When the laser unit receives a trigger signal indicating that the robotic arm has entered the glass transport unit, the robotic arm is controlled to decelerate. S4: Switch to position-force hybrid control mode to drive the robot arm to advance. When the normal contact force detected by the triaxial force sensor is greater than the set threshold, control the robot arm to stop feeding and enter the position holding state. S5: Control the rotation drive motor to drive the rotating baffle to flip outward and open, so as to fasten the flipped rotating baffle to the rigid connecting frame in the target floor, thereby converting the glass transport unit into a rigid support state; S6: After the rotating baffle is fastened to the rigid connecting frame, the constant force clamping control mode is activated. Based on the difference between the set target clamping force and the actual contact force fed back by the triaxial force sensor, the robot is controlled to squeeze the glass surface to establish a vacuum negative pressure. After successful adsorption, the robot is controlled to perform a pull-back action.

Images