混凝土预制件表面整型机器人设计与实验
2022,30(9):170-176
摘要：为解决混凝土预制件(precast concrete,PC)复杂异型表面纹理的快速预制,设计了多自由度表面整型机器人构型和末端刀具,并提出一种建筑信息模型(building information model,BIM)驱动的机器人加工路径规划方法,实现了异型表面纹理的快速自动化加工；首先从表面纹理的减材成型机制出发,分析纹理宽度与切削深度、刀具旋角等因素间的关系；随后进行BIM驱动的机器人路径规划方法研究；最后开发表面整型机器人原型系统进行了纹理最佳加工条件分析与纹理实际加工实验;实验结果验证了所提系统及方法的可行性和有效性。
关键词：混凝土预制件(PC构件);表面整型;建筑机器人;BIM路径规划;减材成型制造
Design and Experiment of Surface Finishing Robot for Precast Concrete
Abstract：In order to solve the rapid prefabrication of complex and irregular surface texture of precast concrete(PC), a multi degree of freedom(DOF) surface finishing robot and its end-effector are designed, and a building information model(BIM) driven robot path planning method is proposed, which realizes rapid automatic processing of PC components with irregular surface texture. Firstly, the forming mechanism of the complex irregular surface texture is discussed, and the relationship between the width of the texture and the cutting depth, the rotation angle of end-effector and other factors are analyzed. Subsequently, an off-line path planning method is formulated that can generate robot processing path from texture’s BIM model directly. Finally, a prototype robot is developed to analyze the optimal processing conditions and perform some surface finishing experiments. The experimental results verify the feasibility and effectiveness of the designed robot and proposed method.
Key words：precast concrete(PC component); surface finishing; construction robot; BIM-driven path planning; subtractive molding manufacturing
收稿日期：2022-03-17
基金项目：NSFC-深圳机器人基础研究中心集成项目(U1913603)
