基于造楼机的混凝土布料机器人研究  

Research on concrete distribution robot based on building machine

作　　者：王开强 李迪 李立飞 李莹松 池胜锋 WANG Kaiqiang;LI Di;LI Lifei;LI Yingsong;CHI Shengfeng(China Institute of Advanced Technology in Architecture,China Construction Third Bureau Group Co.,Ltd.,Wuhan 430070,China)

机构地区：[1]中建三局集团有限公司、中国建筑先进技术研究院,湖北武汉430070

出　　处：《混凝土》2023年第9期184-192,共9页Concrete

基　　金：中建三局集团有限公司重点项目“超高层施工集成平台智能化技术研发与应用”(JSZX-ZH-L-2021-02),“悬挂式智能布料机器人研发”(XJY-JQR-2022L-02);“十四五”国家重点研发计划“城镇可持续发展关键技术与装备”重点专项2022年度项目。

摘　　要：为适应造楼机桁架结构悬空于待浇筑施工层之上,在造楼机架体桁架结构以下混凝土布料施工作业空间受限的问题,采用多臂节的折叠交错布置、泵管侧置自适应弯折的方式,首创设计布料机器人悬挂于造楼机下方的方法,进一步对布料机器人进行3种工况(臂节完全展开0°,臂节成90°和臂节成170°)下的整体应力仿真分析,并且对布料机器人试验架体应力仿真,在此基础上进行布料机器人臂节应力测试、泵送压损测试、重复精度测试,并依托武汉易家墩项目工程实例进行机器人应用。仿真结果表明:布料机器人悬挂于在造楼机架体桁架结构下方,在各位姿下运动时,造楼机试验架体上贝雷架及连接柱头上所受的最大应力,其远小于其许用应力,满足其强度要求;布料机器人仿真结果表明,其最大应力出现在布料机器人小臂处于伸展状态时,大臂回转关节支撑壁泵管开口位置处,最大应力小于材料需用应力。测试结果表明:布料机器人最大应力出现的姿态、位置区域、数值与仿真分析结果一致,满足结构安全性要求;布料机器人泵管结构并未增加多余的泵送压力损失,满足泵送压力要求;布料机器人出料口位置的重复精度在5 cm以内,满足现场混凝土浇筑施工需求。工程应用实例结果表明:布料机器人悬挂于造楼机架体桁架结构下方施工,结构和施工质量安全可靠。In order to adapt to the problem that the building machine truss structure is suspended above the construction layer to be poured and the construction space of the concrete distributor under the building frame truss structure is limited,the folding staggered arrangement of multi-arm joints and the adaptive bending of the pump pipe side are adopted to design the distribution robot hanging below the building machine.Further,the overall stress simulation analysis of the distribution robot was carried out under three working conditions the arm segment was fully expanded to 0 degrees,the arm segment was 90 degrees and the arm segment was 170 degrees,and the stress simulation of the test frame body of the distribution robot was carried out.On this basis,the stress test of the arm segment of the distribution robot,the pressure loss test of pumping and the repeated accuracy test were carried out.And rely on Wuhan Yijiadun project engineering example to carry out the robot application.The simulation results show that when the robot is suspended under the truss structure of the building frame body,the maximum stress on the Bailey truss and connecting column on the test frame body of the building machine is far less than the allowable stress,which meets the strength requirements.All parts of the distribution robot are under normal stress.The maximum stress occurs when the forearm of the distribution robot is in the extended state,and the support arm of the distribution robot is at the position of the pump pipe outlet under the rotary joint of the forearm.The maximum stress meets the stress requirements of the material.The test results show that the attitude,position region and numerical value of the maximum stress of the distribution robot are consistent with the simulation results,which meet the requirements of structural safety.The distribution robot structure does not increase the excess pumping pressure loss,and meets the requirements of pumping pressure.The repeating accuracy of the outlet position of the distribution

关 键 词：悬挂式混凝土布料机器人 应力分析 泵送压力 重复精度 机器人应用 

分 类 号：TU528.063[建筑科学—建筑技术科学]