机械臂绑扎钢筋网笼中长纵筋导向方法

Guide Method for Binding Long Longitudinal Reinforcement of Steel Mesh Cage with Mechanical Arm

近些年,随着经济建设步伐的急剧加快,建筑行业迎来高速发展。基于建筑行业特征引进工业机器人技术,发展具有针对性的建筑机器人已经成为必然趋势。中建科技集团有限公司深圳分公司科创中心从建筑施工现场以及建筑工业化部品的生产实际需求出发,自主研制的基于工业机械臂的飘窗钢筋网笼自动化生产线,解决了PC构件中复杂钢筋网笼的自动化生产问题,为装配式建筑PC部品部件的工业化生产及工厂智能化打下了坚实的基础。论文结合机械结构和控制系统等方面,系统综述了该自动化生产线中机械臂搭建钢筋网笼结构框架时用于长纵筋导向的末端执行器。

In recent years,with the rapid development of the economics,the construction industry has ushered in rapid development.Based on the characteristics of the construction industry,the introduction of industrial robot technology,the development of targeted construction robot has become an inevitable trend.The science and technology innovation center of Shenzhen Branch of China Construction Science and Technology Group Co.Ltd.independently developed the automatic production line of bay window steel mesh cage based on industrial mechanical arm according to the actual needs of construction site and industrial parts production,which solved the problem of PC The automatic production of the complex steel mesh cage in the components,and has laid a solid foundation for the industrial production and factory intelligence of PC parts of prefabricated buildings.Combined with the mechanical structure and control system,this paper systematically summarizes the end effector used for the guidance of long longitudinal reinforcement when the mechanical arm builds the reinforcement cage structure frame in the automatic production line.