面向交通工程钢筋笼焊接的机器人集成系统研究

Study on robot integrated system for steel cage welding in transportation engineering

随着钢筋笼结构在现代交通建设工程中的广泛应用,对于钢筋笼焊接的研究也在不断深入发展。针对交通建设领域因所用钢筋笼结构复杂而导致的焊接工艺繁琐等问题,本文以实现钢筋笼焊接高效化、智能化需求为目标,构建一种6自由度焊接机器人集成系统。本文提出一种运动自主规划与运动完全控制并行的控制方法,确保作业高效性与精确性。采用GJK算法和遗传算法构建防碰撞检测,实现安全作业。所构建焊接机器人集成系统和所提出控制方法,可为交通领域中钢筋笼焊接作业的智能化研究提供技术参考,可为钢筋笼焊接生产高效化、高品质化提供一种可行的方案。

With the widespread application of steel cage structure in modern traffic construction projects,the study on the welding of steel cage is also developing continuously.In view of the complicated welding process caused by the complex structure of the steel cage used in the field of traffic construction,this paper aims to realize the efficient and intelligent welding of the steel cage,and establish a six degree of freedom welding robot integrated system.This paper proposes a control method that the two control modes of autonomous motion planning and complete motion control are parallel,in order to ensure the efficiency and accuracy of welding operations.The anti-collision detection with GJK algorithm and genetic algorithm is designed to realize safe welding operations.The designed welding robot integrated system can provide a technical reference for the intelligent research of the steel cage welding in the transportation field,and can provide a feasible solution for the high efficiency and high quality of the steel cage welding production.