摘要
实现钢结构工业化智能建造有两大必要条件,一是研发全装配钢结构新体系,结构本身可高效重复拆卸;二是研发自动化装配机器人,解决施工现场人工作业安装效率低、精度低、质量差问题。提出一种适用于芯筒式钢柱节点的扭剪型高强螺栓自动化装配机器人方案。该方案聚焦于M16扭剪型高强螺栓的装配过程,重点进行了机器人末端-执行器的机构设计与结构可靠性分析。设计了基于机器视觉的螺栓孔装配分层控制系统。通过模拟实验验证,所设计的机器人机构能够满足装配工艺要求,显著提升芯筒式柱节点扭剪型高强螺栓的装配效率、精度、质量和安全性。
The realization of industrialized intelligent construction for steel structures is contingent upon two prerequisites:first,the development of a fully assembled steel structure system that is inherently efficient for repeated disassembly;second,the development of automated assembly robots to address the issues of low efficiency,low precision,and poor quality associated with on-site manual installation.This paper proposes a solution involving an automated assembly robot for the installation of torsion-shear high-strength bolts in Core-tube type steel column joint.Focusing on the assembly process of M16 torsion-shear high-strength bolts,this study emphasizes the mechanism design and structural reliability analysis of the robot end-effector.A hierarchical control system for bolt-hole assembly,based on machine vision,is designed.Simulation experiments demonstrate that the proposed robotic mechanism satisfies the assembly process requirements and significantly enhances the efficiency,precision,quality,and safety of installing torsion-shear high-strength bolts in core-tube column connections.
作者
张爱林
张翼达
王雪峰
赵曦
张艳霞
ZHANG Ai-lin;ZHANG Yi-da;WANG Xue-feng;ZHAO Xi;ZHANG Yan-xia(School of Civil and Transportation Engineering,Beijing University of Civil Engineering and Architecture,Beijing 100044;School of Advanced Manufacturing and Robotics,Peking University,Beijing 100871)
出处
《制造业自动化》
2025年第12期136-146,共11页
Manufacturing Automation
基金
国家自然科学基金(52130809)。
关键词
芯筒式钢柱节点
高强螺栓
装配机器人
机构设计
实验验证
core-tube type steel column joint
high-strength bolt
assembly robot
mechanism design
experimental validation
