摘要
目的研究混凝土布料机在浇筑生产过程中的自动预标定方法,解决布料机无法定位到浇筑起始点的问题。方法搭建预标定行走系统,采用伺服电机作为布料机行走机构的驱动电机,建立布料机的行走坐标系;通过在布料机上增设边模检测传感器,结合位置传感器实现边模位置检测;设计预标定方法,结合布料区边模摆放特点,给出预标定点确定原理,在此基础上,设计布料机自动预标定过程,将边模的位置信息映射至布料机行走坐标系中,实现预标定点坐标自动确定。结果实验验证表明,此方法可使布料机自动确定预标定点,最终标定点X轴方向最大位置差为13.8mm,Y轴方向的最大位置偏差为14.3mm,预标定最大定位偏差为19.9mm。结论该自动预标定方法能够自动完成布料区预标定点的确定,可显著提高当前混凝土布料机在预标定定位方面的自动化水平、定位效率,同时具有较高的定位精度,可为后期混凝土布料机自动浇筑生产流程的实现奠定基础。
This paper studies the automatic pre-calibration method of concrete distributor in distributing production,and solves the problem that the concrete distributor cannot automatically locate the starting point of production.By using the servo motor as the driving motor of the walking mechanism of the concrete distributor,the pre-calibration walking system is built,and the walking coordinate system of the concrete distributor is established.The side mold detection sensor is added to the concrete distributor,combined with the position sensor to realize the detection of the side mold position.According to the position of the concrete distributor and the placement characteristics of the side mold in the distribution area,the pre-calibration method is designed and the principle of calculating the coordinates of the pre-calibration points is given.On this basis,the automatic pre-calibration step of the concrete distributor is designed,and the coordinates of the pre-calibration point are automatically determined by mapping the position information of the side mold to the walking coordinate system of the concrete distributor.The experimental verification shows that this method can automatically determine the pre-calibration point,and the maximum position deviation of the calibration point in the X-axis direction is 13.8 mm,the maximum position deviation in the Y-axis direction is 14.3 mm,and the maximum positioning deviation of pre-calibration is 19.9 mm.This automatic pre-calibration method can automatically complete the determination of the pre-calibration point in the distribution area,which can significantly improve the automation level and positioning efficiency of the current concrete distributor in terms of pre-calibration positioning.At the same time,this method has high positioning accuracy,and it also lays the foundation for the realization of the later automatic pouring production process of the concrete distributor.
作者
李冬
李洋
程洪波
张珂
吴玉厚
LI Dong;LI Yang;CHENG Hongbo;ZHANG Ke;WU Yuhou(School of Mechanical Engineering,Shenyang Jianzhu University,Shenyang,China,110168;The Fourth Construction Engineering Co.Ltd.,China Construction Second Engineering Bureall,Tianjin,China,300457)
出处
《沈阳建筑大学学报（自然科学版）》
CAS
CSCD
北大核心
2022年第3期543-549,共7页
Journal of Shenyang Jianzhu University：Natural Science
基金
“十三五”国家重点研发计划项目(2017YFC0704003)
住房和城乡建设部科技攻关项目(2019-K-079)
沈阳市科技计划项目重大科技创新研发计划(Y19-1-004)。
关键词
预标定
定位控制
混凝土布料机
预制混凝土构件
pre-calibration
positioning control
concrete distributor
precast concrete
