波形梁护栏板机械化安装随车共融机器人系统设计  

Design of Vehicle-mounted Cooperative Robot System for Mechanized Installation of Corrugated Beam Guardrail Plate

作　　者：杨童 顿向明 谢海涛 李双祥 赵宏程 山磊 YANG Tong;DUN Xiangming;XIE Haitao;LI Shuangxiang;ZHAO Hongcheng;SHAN Lei(Yunnan Transportation Science Research Institute Co.,Ltd.,Kunming 650011,China;School of Aeronautics and Astronautics,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]云南省交通科学研究院有限公司,云南昆明650011 [2]上海交通大学,航空航天学院,上海200240

出　　处：《微型电脑应用》2024年第12期1-5,共5页Microcomputer Applications

基　　金：云南省交科院自主立项(JKYZLX-2020-07);中央高校基本科研业务费专项资金资助,GF基础科研项目(JCKY2021110B134)。

摘　　要：为了降低高速公路波形梁护栏施工作业人员工作强度,提高卸车和安装效率,保护波形板表面涂层质量,设计波形梁护栏板卸车与安装共融车机器人系统。所提系统采用人机协同的方式,将波形梁护栏板从货车车厢自动移载至人工导引区,以人工牵引的方式实现波形梁护栏板与桩体的精准对接。所提系统实现了人工与机械的优势互补、协同作业,改变了目前主要依靠人力进行卸车安装的原始操作模式,升级为机器出力、人工导引的作业方式。研制的样机通过现场试验验证了设计的有效性。In order to reduce the workload of construction workers for highway waveform beam guardrails,improve unloading and installation efficiency,and protect the surface coating quality of waveform beam guardrails,a cooperative robot system for unloading and installation of waveform beam guardrails is designed.The system adopts a human-machine collaboration method to automatically move the waveform beam guardrail from the truck carriage to the manual guidance area,and achieves precise docking between the waveform beam guardrail plate and the pile body through manual traction.Through this cooperative robot system,the advantages of manual and mechanical complementarity and collaborative operation can be achieved.It changes the original operation mode that mainly relies on manual unloading and installation,and upgrades the operation to a machine output and manual guidance co-operation mode.The developed prototype has been validated for its effectiveness through on-site experiments.

关 键 词：波形梁护栏板 共融机器人 机械化安装 人机协同 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]