CN110821113A - Automatic installation method of curtain wall plate robot - Google Patents
Automatic installation method of curtain wall plate robot Download PDFInfo
- Publication number
- CN110821113A CN110821113A CN201910993553.4A CN201910993553A CN110821113A CN 110821113 A CN110821113 A CN 110821113A CN 201910993553 A CN201910993553 A CN 201910993553A CN 110821113 A CN110821113 A CN 110821113A
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- robot
- curtain wall
- keel
- wall plate
- stone
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
- E04F21/1894—Lever-type lifters gripping the bottom edge of wall panels
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
- E04B2/00—Walls, e.g. partitions, for buildings; Wall construction with regard to insulation; Connections specially adapted to walls
- E04B2/88—Curtain walls
- E04B2/90—Curtain walls comprising panels directly attached to the structure
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Load-Bearing And Curtain Walls (AREA)
Abstract
The invention discloses an automatic installation method of a curtain wall plate robot, which works according to the following steps: carrying out on-site positioning on the construction tool through a total station; the robot cuts the keel, and positions the cut keel to a wall surface for installation, wherein the keel comprises a transverse keel and a longitudinal keel; the robot punches the stone curtain wall plate according to the outline of the stone curtain wall plate; mounting back bolt screws and hanging pieces on the stone curtain wall plate after the holes are punched; the robot conveys the stone curtain wall plate to a specified position for installation; scanning the contour of the wall surface by the total station to obtain the contour of an irregular gap of the wall surface; continuously installing keels and stone curtain wall boards according to the irregular notch outline of the wall surface; the robot comprises a first robot and a second robot. The total station is used for positioning the robot during the installation of the on-site curtain wall board. The method has higher positioning precision, shorter positioning time and lower cost, is favorable for the installation of the curtain wall plate with the complex wall surfaces such as curved surfaces, special shapes and the like, and is suitable for large-scale popularization.
Description
Technical Field
The invention relates to the field of automatic installation of stone curtain wall boards, in particular to an automatic installation method of a curtain wall board robot.
Background
At present, the method of manual installation is generally adopted in the process of on-site curtain wall board assembly, machining and installation in China, the problems of low efficiency, poor safety, inaccurate curtain wall board positioning and the like are caused when the installation requirements of complex wall surfaces and large-scale curtain wall boards are met, and the requirements of modern building construction are difficult to meet. The building robot is introduced into the on-site curtain wall board, so that the automation degree of curtain wall board construction can be improved, and the accurate positioning of the complicated wall curtain wall board is realized through the robot positioning device.
The robot for installing the building curtain wall is suitable for automatic installation of large-scale and heavy building curtain walls, and comprises a tail end execution module, a tail end manipulator adjusting module, a main arm manipulator module and a vehicle body main body module. The existing mobile robot generally utilizes the technologies of electromagnetic induction guidance, magnetic tape guidance, RFID positioning navigation, laser guidance, inertial navigation, visual navigation and the like to realize positioning. When the robot is positioned by the technology, a track, a pipeline, a laser reflecting plate and the like are generally required to be laid on a running path of the mobile robot in advance, the process is complex, the efficiency is low, the cost is high, and budu pressing and debugging are required.
In the existing process of assembling, machining and installing the curtain wall of the robot, more steps such as cutting, punching, positioning of a complex wall surface and the like are required to be finished manually, the process of assembling and machining the curtain wall plate cannot be simplified, and the automation efficiency advantage of the robot is not completely reflected.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides an automatic curtain wall plate robot installation method, which solves the technical problems of low efficiency and low automation degree of a stone curtain wall installation method in the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a curtain wall plate robot automatic installation method is characterized in that: the method comprises the following steps:
carrying out on-site positioning on the construction tool through a total station;
the robot cuts the keel, and positions the cut keel to a wall surface for installation, wherein the keel comprises a transverse keel and a longitudinal keel;
the robot punches the stone curtain wall plate according to the outline of the stone curtain wall plate;
mounting back bolt screws and hanging pieces on the stone curtain wall plate after the holes are punched;
the robot conveys the stone curtain wall plate to a specified position for installation;
scanning the contour of the wall surface by the total station to obtain the contour of an irregular gap of the wall surface;
continuously installing keels and stone curtain wall boards according to the irregular notch outline of the wall surface;
the robot comprises a first robot and a second robot.
As a preferred embodiment of the present invention, the automatic installation method of a curtain wall panel robot comprises: the method for carrying out site positioning on the construction tool by the total station comprises the following steps: and fixing the positioning pointer at a certain position in space by the robot in a certain posture, and scanning by the total station to obtain the coordinates of the TCP point of the pointer to obtain the coordinates of the base point of the curtain wall robot.
As a preferred embodiment of the present invention, the automatic installation method of a curtain wall panel robot comprises: the method for installing the keel on the wall surface comprises the following steps: the first robot fixes the cut keel on the wall surface through the gripper for installation.
As a preferred embodiment of the present invention, the automatic installation method of a curtain wall panel robot comprises: the method for installing the stone curtain wall plate on the wall keel comprises the following steps: the two-way back of body bolt hole is beaten for stone material curtain board to the drilling tool combination locating information of robot, and the first stone material curtain board that will punch snatchs and installs.
As a preferred embodiment of the present invention, the automatic installation method of a curtain wall panel robot comprises: the first robot grabs the stone curtain wall plate through the sucking disc.
As a preferred embodiment of the present invention, the automatic installation method of a curtain wall panel robot comprises: and manually mounting back bolt screws and hanging pieces on the stone curtain wall plate after the holes are punched.
As a preferred embodiment of the present invention, the automatic installation method of a curtain wall panel robot comprises: after the installation of the back bolt screw and the hanging piece of the stone curtain wall board is finished, the stone curtain wall board is placed on a material preparation table.
As a preferred embodiment of the present invention, the automatic installation method of a curtain wall panel robot comprises: after the keel after cutting is positioned on the wall surface, the keel is installed in a manual welding mode.
The invention achieves the following beneficial effects:
the total station is used for positioning the robot during the installation of the on-site curtain wall board. The positioning method compared with the traditional construction site comprises the following steps: compared with positioning modes such as visual scanning, sensor positioning and the like, the positioning method has higher positioning precision, shorter positioning time and lower cost, is favorable for the installation of complex wall curtain wall plates such as curved surfaces, special shapes and the like, and is suitable for large-scale popularization.
In the invention, all links needing positioning in the whole process of curtain wall plate installation are positioned by robots, thus omitting complicated and complicated positioning procedures of manual positioning and shortening the field installation time; meanwhile, the positioning precision of the curtain wall board is improved, errors caused by manual positioning are reduced, and the curtain wall board has great advantages in installation of the curtain wall board on a complex wall surface.
The existing curtain wall mounting robot only works by one robot, the mounting process is still complicated, the stand-by time in the construction process is long, the assembling and processing procedures of curtain wall plates cannot be simplified, and the efficiency advantage of the automatic robot is not completely reflected. According to the invention, the double-robot cooperation system is utilized to re-comb the assembling, machining and installing processes of the curtain wall board, so that more comprehensive automatic construction is realized, and the assembling, machining and installing time of the curtain wall board is shortened.
Drawings
FIG. 1 is a diagram of the overall hardware configuration of the present invention;
the meaning of the reference numerals: 1-curtain wall board; 4, a first robot; 5-a total station; 6-curtain wall board; 7-preparing a material platform; 8-robot two.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Total station: namely, the Total Station type Electronic distance measuring instrument (Electronic Total Station) is a high-technology measuring instrument integrating light collection, machine collection and electricity.
As shown in fig. 1: the embodiment discloses an automatic installation method of a curtain wall board robot, which needs to use two robots, at least one total station and other auxiliary tools, wherein the auxiliary tools comprise a cutting saw, a drill bit, a sucker for grabbing a curtain wall board 1 and the like. The two robots are named as a first robot 4 and a second robot 8 respectively.
The first robot 4 is used for positioning and placing the keel and the curtain wall board 1; the second robot 8 is used for cutting the keel and the curtain wall board 1 and punching the curtain wall board 1.
Firstly, a construction tool needs to be positioned on site through a total station, and the positioning method comprises the following steps: and (3) placing the total station on a construction site, grabbing the positioning pointer by using the robot, fixing the positioning pointer at a certain position in space, and scanning by using the total station to obtain the coordinate of a TCP point (tool center point) of the pointer to obtain the coordinate of a base point of the robot. And the operation and control robot places the positioning pointer at another position, repeats the operation and obtains the coordinates of the base point of the curtain wall robot again. Repeating the steps for three times, and taking the coordinate average value as the coordinate of the base point of the robot to reduce the error. The above positioning operation needs to be repeated for both robots.
Utilize two 8 snatchs cutting device of robot to cut fossil fragments, two 8 of robots combine locating information to beat the back of the body for curtain board 1 through drilling tool and tie the hole, and one 4 of robots place the installed fossil fragments through the sucking disc after will punching curtain board 1 on, then carries out the installation of back of the body bolt screw and pendant with curtain board 1 through the manual work, places curtain board 1 after will installing at the platform 7 of prepareeing material.
The total powerstation scans the wall profile, acquires the irregular breach of wall, cuts curtain wall board 1's profile according to the wall profile, repeats above-mentioned step and continues to install fossil fragments and curtain wall board 1.
1) The total station 5 is used for robot positioning during on-site curtain wall board installation. The positioning method compared with the traditional construction site comprises the following steps: compared with positioning modes such as visual scanning, sensor positioning and the like, the positioning method has higher positioning precision, shorter positioning time and lower cost, is favorable for the installation of complex wall curtain wall plates such as curved surfaces, special shapes and the like, and is suitable for large-scale popularization.
2) In the invention, all links needing positioning in the whole process of curtain wall plate installation are positioned by robots, thus omitting complicated and complicated positioning procedures of manual positioning and shortening the field installation time; meanwhile, the positioning precision of the curtain wall board is improved, errors caused by manual positioning are reduced, and the curtain wall board has great advantages in installation of the curtain wall board on a complex wall surface.
3) The existing curtain wall mounting robot only works by one robot, the mounting process is still complicated, the stand-by time in the construction process is long, the assembling and processing procedures of curtain wall plates cannot be simplified, and the efficiency advantage of the automatic robot is not completely reflected. According to the invention, the double-robot cooperation system is utilized to re-comb the assembling, machining and installing processes of the curtain wall board, so that more comprehensive automatic construction is realized, and the assembling, machining and installing time of the curtain wall board is shortened.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A curtain wall plate robot automatic installation method is characterized in that: the method comprises the following steps:
carrying out on-site positioning on the construction tool through a total station;
the robot cuts the keel, and positions the cut keel to a wall surface for installation, wherein the keel comprises a transverse keel and a longitudinal keel;
the robot punches the stone curtain wall plate according to the outline of the stone curtain wall plate;
mounting back bolt screws and hanging pieces on the stone curtain wall plate after the holes are punched;
the robot conveys the stone curtain wall plate to a specified position for installation;
scanning the contour of the wall surface by the total station to obtain the contour of an irregular gap of the wall surface;
continuously installing keels and stone curtain wall boards according to the irregular notch outline of the wall surface;
the robot comprises a first robot and a second robot.
2. The automatic installation method of a curtain wall panel robot as claimed in claim 1, wherein: the method for carrying out site positioning on the construction tool by the total station comprises the following steps: and fixing the positioning pointer at a certain position in space by the robot in a certain posture, and scanning by the total station to obtain the coordinates of the TCP point of the pointer to obtain the coordinates of the base point of the curtain wall robot.
3. The automatic installation method of a curtain wall panel robot as claimed in claim 1, wherein: the method for installing the keel on the wall surface comprises the following steps: the first robot fixes the cut keel on the wall surface through the gripper for installation.
4. The automatic installation method of a curtain wall panel robot as claimed in claim 1, wherein: the method for installing the stone curtain wall plate on the wall keel comprises the following steps: the two-way back of body bolt hole is beaten for stone material curtain board to the drilling tool combination locating information of robot, and the first stone material curtain board that will punch snatchs and installs.
5. The automatic installation method of a curtain wall panel robot as claimed in claim 4, wherein: the first robot grabs the stone curtain wall plate through the suction disc.
6. The automatic installation method of a curtain wall panel robot as claimed in claim 1, wherein: and manually mounting back bolt screws and hanging pieces on the stone curtain wall plate after the holes are punched.
7. The automatic installation method of a curtain wall panel robot as claimed in claim 6, wherein: after the installation of the back bolt screw and the hanging piece of the stone curtain wall board is finished, the stone curtain wall board is placed on a material preparation table.
8. The automatic installation method of a curtain wall panel robot as claimed in claim 1, wherein: after the keel after cutting is positioned on the wall surface, the keel is installed in a manual welding mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910993553.4A CN110821113A (en) | 2019-10-18 | 2019-10-18 | Automatic installation method of curtain wall plate robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910993553.4A CN110821113A (en) | 2019-10-18 | 2019-10-18 | Automatic installation method of curtain wall plate robot |
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| CN110821113A true CN110821113A (en) | 2020-02-21 |
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| CN201910993553.4A Pending CN110821113A (en) | 2019-10-18 | 2019-10-18 | Automatic installation method of curtain wall plate robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113863627A (en) * | 2021-10-12 | 2021-12-31 | 上海建工四建集团有限公司 | Device and method for installing high-altitude inclined curtain wall glass plate |
| CN113882633A (en) * | 2021-08-30 | 2022-01-04 | 中铁十六局集团城市建设发展有限公司 | Automatic construction equipment and method for installing mineral wool board on ceiling keel frame |
| CN114274371A (en) * | 2022-03-04 | 2022-04-05 | 深圳市锦兴建设有限公司 | Monitoring control equipment is used in installation for building curtain with special position is connected |
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| JPH0510035A (en) * | 1991-07-04 | 1993-01-19 | Fujita Corp | Fitting method for external wall board |
| CN104763160A (en) * | 2015-03-27 | 2015-07-08 | 河北工业大学 | Robot for installing aerial curtain wall |
| CN205522006U (en) * | 2016-01-26 | 2016-08-31 | 中建材（合肥）新能源有限公司 | Quick automatic drilling production unit of sheet glass |
| CN109079370A (en) * | 2018-08-15 | 2018-12-25 | 江苏中南建设装饰有限公司 | A kind of automatic welding device applied to Curtain wall frame |
| CN109571510A (en) * | 2019-01-25 | 2019-04-05 | 欧安涛 | A kind of architectural engineering is with making bit digitizing mounting robot by oneself |
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2019
- 2019-10-18 CN CN201910993553.4A patent/CN110821113A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0510035A (en) * | 1991-07-04 | 1993-01-19 | Fujita Corp | Fitting method for external wall board |
| CN104763160A (en) * | 2015-03-27 | 2015-07-08 | 河北工业大学 | Robot for installing aerial curtain wall |
| CN205522006U (en) * | 2016-01-26 | 2016-08-31 | 中建材（合肥）新能源有限公司 | Quick automatic drilling production unit of sheet glass |
| CN109079370A (en) * | 2018-08-15 | 2018-12-25 | 江苏中南建设装饰有限公司 | A kind of automatic welding device applied to Curtain wall frame |
| CN109571510A (en) * | 2019-01-25 | 2019-04-05 | 欧安涛 | A kind of architectural engineering is with making bit digitizing mounting robot by oneself |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113882633A (en) * | 2021-08-30 | 2022-01-04 | 中铁十六局集团城市建设发展有限公司 | Automatic construction equipment and method for installing mineral wool board on ceiling keel frame |
| CN113863627A (en) * | 2021-10-12 | 2021-12-31 | 上海建工四建集团有限公司 | Device and method for installing high-altitude inclined curtain wall glass plate |
| CN114274371A (en) * | 2022-03-04 | 2022-04-05 | 深圳市锦兴建设有限公司 | Monitoring control equipment is used in installation for building curtain with special position is connected |
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Application publication date: 20200221 |