基于视觉识别的智能钢筋绑扎机器人的研究  

Research on intelligent rebar lashing robot based on visual recognition

作　　者：王启玲 贾正浩 赵博言 WANG Qi-ling;Jia Zheng-hao;Zhao Bo-yan(Ji'nan Engineering Polytechnic,250200,Ji'nan,China;Zhongke Changyang(Shandong)Technology Co.,Ltd.,250000,Ji'nan,China;Hebei University of Technology,250000,Tianjin,China)

机构地区：[1]济南市工程职业技术学院,济南250000 [2]中科长洋(山东)科技有限公司,济南250000 [3]河北工业大学,天津300401

出　　处：《建筑技术》2023年第21期2632-2635,共4页Architecture Technology

摘　　要：目前PC构件钢筋绑扎工艺主要为人工操作,生产效率与质量得不到保证。因此,为提高预制混凝土(PC)构件钢筋绑扎的生产效率和生产质量,研发了一种可视觉引导的龙门行走机构结合协作型六轴机器人的设备,机器人末端装配全自动钢筋绑扎机,安放在流水线钢筋绑扎工位,代替人工实现更加高效精准的钢筋绑扎工作。At present,the steel binding process of PC components is mainly manual operation,and production efficiency and quality cannot be guaranteed.Therefore,in order to improve the production efficiency and production quality of PC component rebar lashing,a visually guided gantry walking mechanism combined with collaborative six–axis robot equipment was developed,and the robot was equipped with a fully automatic rebar lashing machine at the end of the robot and placed in the assembly line rebar lashing station to replace manual reinforcement lashing to achieve more efficient and accurate rebar lashing work.

关 键 词：PC构件钢筋绑扎 视觉识别 智能钢筋绑扎机器人 协作型六轴机器人 3D视觉处理技术 深度学习技术 

分 类 号：TU74[建筑科学—建筑技术科学]