A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Bundling execution mechanism based on reinforcing mesh surface mobile robot and bundling control method
The invention relates to the technical field of building robots, in particular to a binding execution mechanism based on a reinforcing mesh surface mobile robot and a binding control method. The rack assembly is connected with a bundling gun assembly through a moving assembly, and the moving assembly comprises a rotating assembly and a diving assembly which are connected in sequence; motion positioning in a three-dimensional coordinate system is completed only by using two motion assemblies, and the requirements for the moving and positioning precision of the robot are greatly reduced; according to the diving assembly, an over-positioning method is used, so that the system rigidity and stability in the rotating and diving process are improved, and the diving assembly can be used in various harsh construction scenes; the visual identification system used in the method is high in adaptability and good in real-time performance, rapid and accurate identification can be completed under various light intensities, and the efficiency and quality of rebar binding work are effectively improved.
本发明涉及建筑机器人技术领域，具体的为一种基于钢筋网面移动机器人的捆扎执行机构及捆扎控制方法，包括用以与机器人连接的机架组件；机架组件通过运动组件连接有捆扎枪组件，运动组件包括依次连接的旋转组件与下潜组件；本发明仅使用两个运动组件即完成了在三维坐标系统的运动定位，大大降低了对于机器人移动、定位精度的要求；本发明所使用的下潜组件使用了过定位的方法提升了旋转与下潜过程中的系统刚性与稳定性，满足各种严苛的施工场景使用；本发明所使用的视觉识别系统适应力强，实时性好，在各种光线强度下均能完成快速精确识别，有效提高了钢筋捆扎工作的效率与质量。
Bundling execution mechanism based on reinforcing mesh surface mobile robot and bundling control method
The invention relates to the technical field of building robots, in particular to a binding execution mechanism based on a reinforcing mesh surface mobile robot and a binding control method. The rack assembly is connected with a bundling gun assembly through a moving assembly, and the moving assembly comprises a rotating assembly and a diving assembly which are connected in sequence; motion positioning in a three-dimensional coordinate system is completed only by using two motion assemblies, and the requirements for the moving and positioning precision of the robot are greatly reduced; according to the diving assembly, an over-positioning method is used, so that the system rigidity and stability in the rotating and diving process are improved, and the diving assembly can be used in various harsh construction scenes; the visual identification system used in the method is high in adaptability and good in real-time performance, rapid and accurate identification can be completed under various light intensities, and the efficiency and quality of rebar binding work are effectively improved.
本发明涉及建筑机器人技术领域，具体的为一种基于钢筋网面移动机器人的捆扎执行机构及捆扎控制方法，包括用以与机器人连接的机架组件；机架组件通过运动组件连接有捆扎枪组件，运动组件包括依次连接的旋转组件与下潜组件；本发明仅使用两个运动组件即完成了在三维坐标系统的运动定位，大大降低了对于机器人移动、定位精度的要求；本发明所使用的下潜组件使用了过定位的方法提升了旋转与下潜过程中的系统刚性与稳定性，满足各种严苛的施工场景使用；本发明所使用的视觉识别系统适应力强，实时性好，在各种光线强度下均能完成快速精确识别，有效提高了钢筋捆扎工作的效率与质量。
Bundling execution mechanism based on reinforcing mesh surface mobile robot and bundling control method
一种基于钢筋网面移动机器人的捆扎执行机构及捆扎控制方法
GUO SHUAI (author) / AI TENGFENG (author) / DUAN HAO (author) / SONG TAO (author)
2024-08-06
Patent
Electronic Resource
Chinese
IPC:
E04G
SCAFFOLDING
,
Baugerüste
| European Patent Office | 2022