混凝土施工机器人组合应用研究
Research on the Combination Application of Concrete Construction Robots
邱远光1
作者信息
- 1. 中铁城建集团有限公司 湖南长沙 410208
- 折叠
摘要
在建筑业劳动人口逐年减少、建筑机器人发展迅速的行业背景下,推动施工现场机器代人意义重大.依托长沙智谷壹品住宅项目,实地应用和测试混凝土智能布料机器人和智能整平机器人组合,通过对比机器人协同作业模式施工效率、改进定位和导航精度,以及分析经济可行性,形成混凝土施工机器人组合应用方法及选用决策标准.结果表明:智能布料机器人和整平机器人组合应用,采用全自动智能作业的人机协同模式效率最高,可减少混凝土作业人员3 名以上,作业效率可提升13%以上;可通过ICP算法对机器人坐标与BIM模型坐标配准,将200 m2 范围内作业最大误差控制在25 mm内,达到混凝土施工机器人组合全自动智能作业精度;混凝土施工机器人组合应用的经济可行性,可通过比较机器人应用摊销到每方混凝土浇筑的直接成本与减少劳动力每方混凝土浇筑节约成本的大小确定.
Abstract
In the context of the decreasing labor force in the construction industry and the rapid development of construction robots,promoting the replacement of construction site machines is of great significance.Based on the Changsha Zhigu Yipin Residential Project,the combination of concrete intelligent fabric robot and intelligent leveling robot is applied and tested on site.By comparing the construction efficiency of robot collaborative operation mode,improving positioning and navigation accuracy,and analyzing economic feasibility,the application method and selection decision criteria for the combination of concrete construction robots are formed.The results show that the combination of intelligent fabric robots and leveling robots,using fully automatic intelligent human-machine cooperation mode,has the highest efficiency,reducing the number of concrete workers by more than 3,and improving work efficiency by more than13%;the ICP algorithm can be used to register the robot coordinates with the BIM model coordinates,the maximum error of operation in 200 m2 can be controlled within 25 mm,achieving the accuracy of fully automatic intelligent operation of concrete construction robot combinations;the economic feasibility of the combination application of concrete construction robots can be determined by comparing the direct cost of robot application amortization per cubic meter of concrete pouring with the cost savings of reducing labor per cubic meter of concrete pouring.
关键词
混凝土施工/机器人/智能布料/智能整平/效率提升/高精度定位/经济可行性Key words
concrete construction/robot/intelligent fabric/intelligent leveling/efficiency improvement/high precision positioning/economic feasibility引用本文复制引用
基金项目
中铁城建集团有限公司科技研发计划(ZTCJZ2023-06)
出版年
2024
NETL
NSTL
万方数据