基于机械臂的隧道波纹钢支护结构装配控制技术探究

doi:10.3973/j.issn.2096-4498.2020.04.008

隧道建设（中英文） ›› 2020, Vol. 40 ›› Issue (4): 520-530.DOI: 10.3973/j.issn.2096-4498.2020.04.008

基于机械臂的隧道波纹钢支护结构装配控制技术探究

李晓冉^{1, 2}, 丁文其^{1, 2, ∗}

(1. 同济大学土木工程学院地下建筑与工程系, 上海　200092; 2. 同济大学岩土及地下工程教育部重点实验室, 上海　200092)

收稿日期:2019-11-09 出版日期:2020-04-20 发布日期:2020-04-30
作者简介:李晓冉(1997—),男,河北邯郸人,同济大学土木工程专业在读硕士,主要研究方向为岩石山岭隧道。E-mail: Betterlxr@ hotmail. com。?通信作者: 丁文其, E-mail: dingwq@ tongji. edu. cn。
基金资助:
国家重点研发计划项目(2017YFC0806004); 云南省交通运输厅科技项目“装配式波纹钢拱形棚洞设计施工关键技术研究”; “公路隧道波纹钢装配式快速初期支护结构关键技术研究”项目

Research on Assembly Control Technology of Tunnel Corrugated Steel Support Structures Based on Articulated Manipulators

LI Xiaoran^{1, 2}, DING Wenqi^{1, 2, ∗}

(1. Department of Geotechnical Engineering, College of Civil Engineering, Tongji University, Shanghai 200092, China; 2. Key Laboratory of Geotechnical and Underground Engineering of Ministry of Education, Tongji University, Shanghai 200092, China)

Received:2019-11-09 Online:2020-04-20 Published:2020-04-30

摘要/Abstract

摘要： 为研究隧道新型波纹钢初期支护快速装配施工技术,基于隧道施工常用工业机械臂分析实现搬运装配等特定功能的控制方法和二次开发手段。主要研究和结论如下: 1)从机械臂的计算机集成控制角度出发,提出实现工业机械臂二次开发功能(如智能装配或搬运)的研究思路。研究中选用ABB 机器人RobotStudio 离线编程平台,完成机械臂运动算法的预编程。机械臂与计算机之间采用PC SDK 方式进行通信,交换运动目标点等数据。在计算机端联合开发设计C#程序模块,实现网络集成控制及用户交互的功能。2)为验证控制方案的合理性,在RobotStudio 中导入波纹钢3D 模型并搭建机械臂装配虚拟仿真试验平台,设置工作站I/ O 信号逻辑。3)利用二次开发软件控制波纹钢搬运装配运动的仿真试验运行成功,验证了基于机械臂的波纹钢装配集成控制技术的可行性,虚拟试验仿真数据可以为实际应用提供可靠的参考,并为未来波纹钢支护结构装配施工智能化的相关研究提供基础成果。

关键词: 隧道, 装配式波纹钢结构, 工业机械臂, 集成控制, 离线编程, 二次开发, 仿真试验

Abstract: The control method and secondary development method for realizing the specific functions such as handling and assembly are analyzed based on the commonly used industrial articulated manipulator in tunnel construction. The main researches and corresponding conclusions are as follows: (1) From the perspective of computer integrated control technology of articulated manipulator, the research idea of realizing the secondary development of articulated manipulator such as intelligent assembly and handling is put forward; the ABB RobotStudio offline programming platform is selected to complete the pre-programming of manipulators′ motion algorithm; the PC SDK mode is adopted to realize the communication between the articulated manipulator and the computer includes exchange data of moving target points; the C# program modules are designed jointly on the computer to realize the network integration control and user interaction. (2) In order to verify the rationality of the control scheme, the corrugated steel 3D model is imported into RobotStudio, the virtual simulation experiment platform for manipulators′ assembly is built, and the I/ O signal logic of the workstation is set up. (3) The simulation experiment of corrugated steel′s assembly controlling through developed software runs successfully, which verifies the feasibility of the proposed integrated control technology. The virtual experimental simulation data can provide reliable reference for practical application and serve as basic results for the related future research on the intelligent assembly of corrugated steel support structure.

Key words: tunnel, assembled corrugated steel structure, industrial articulated manipulator, integrated control, off-line programming, secondary development, virtual simulation experiment

中图分类号:

U 45

李晓冉, 丁文其. 基于机械臂的隧道波纹钢支护结构装配控制技术探究[J]. 隧道建设, 2020, 40(4): 520-530.

LI Xiaoran, DING Wenqi. Research on Assembly Control Technology of Tunnel Corrugated Steel Support Structures Based on Articulated Manipulators[J]. Tunnel Construction, 2020, 40(4): 520-530.

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基于机械臂的隧道波纹钢支护结构装配控制技术探究

Research on Assembly Control Technology of Tunnel Corrugated Steel Support Structures Based on Articulated Manipulators

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