用于钢筋捆扎任务的轮腿式机器人的设计与分析  

Design and Analysis of Wheel-Leg Type Rebar Tying Robot

作　　者：纪克豪 郭帅[1] 段浩 沈冬桓 蒋海里 

机构地区：[1]上海大学上海市智能制造及机器人重点实验室,上海200444 [2]上海公路桥梁(集团)有限公司,上海200433

出　　处：《工业控制计算机》2025年第1期10-12,共3页Industrial Control Computer

基　　金：国家自然科学基金资助(U1913603)。

摘　　要：随着建筑智能化产业快速发展,以钢筋网面制造的混凝土结构需求不断增加。捆扎任务作为其中的关键环节,目前仍然采用手工操作,存在劳动强度大、费时费力、效率低且对工人技术要求高等问题。针对这些问题,提出了一种运动解耦的轮腿机构的全自动钢筋捆扎机器人,阐述了机器人的工作原理,并介绍了机器人的总体结构、纵向移动机构、横向行走机构和捆扎机构等关键部件。此外,通过有限元分析,验证了机器人在工作状态下的结构可靠性。结合模态分析揭示了横向行走机构的振动特性,验证了横向行走机构在振动下的影响较小。研究为建筑机器人的钢筋捆扎任务提供了新的设计和优化思路,有望在建筑领域提高捆扎效率、降低成本。With the rapid development of the construction industry,the demand for a large number of reinforcing steel mesh surfaces has been continuously increasing.Currently,manual bundling is the mainstream method,but it faces challenges such as high labor intensity,time-consuming,low efficiency,and high technical requirements for workers.In response to these issues,this paper proposes a fully automatic rebar tying robot based on a wheel-leg mechanism.The paper analyzes the working principle of the robot and introduces key components such as the overall structure,longitudinal movement mechanism,lateral walking mechanism,and tying execution mechanism.Through finite element analysis,the structural reliability of the robot in the working state is validated.Modal analysis reveals the vibration characteristics of the lateral walking mechanism,leading to structural optimization.This research provides a theoretical foundation for the design and optimization of rebar tying robots,aiming to enhance bundling efficiency and reduce costs in the field of construction.

关 键 词：钢筋捆扎 建筑机器人 静力学仿真 模态分析 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]