【作者】 杨冬；

【导师】 李铁军；

【作者基本信息】 河北工业大学 ， 机械制造及其自动化， 2013， 博士

【摘要】 随着我国城市化进程的不断加快，建筑幕墙作为现代建筑物的主导性外部装饰，越来越受到人们的青睐。在建筑幕墙安装施工中，普遍存在着工人劳动强度大、现场安全性差、施工效率低、施工质量难以保证、工艺标准不统一等问题。本文在国家高技术研究发展计划（863计划）板材安装室内装修机器人系统研究（2007AA04Z240）项目的支持下，根据建筑板材安装工艺与安装施工现场环境特征，开展幕墙安装建筑机器人系统关键技术的研究，旨在研发出适用于建筑幕墙安装的自动化、智能化施工设备。本文将围绕幕墙安装机器人的关键技术进行如下研究：1.首先，对目前建筑幕墙手工安装工艺与安装过程中存在的问题进行分析，根据自动化安装的特点，制定出建筑幕墙自动化安装工艺。考察现有国内外建筑机器人及建筑幕墙安装机器人的研究现状，并结合自动化安装工艺对安装机器人结构进行研究与设计。2.根据安装机器人的工作流程，应用机器人运动学理论，建立了串并联结构的运动学反解方程。通过仿真软件对并联机构的反解方程进行了验证，为机器人运动控制提供可靠的理论依据。对并联机构的奇异位形进行了分析，并利用数学分析软件对其姿态调整的工作空间进行搜索求解。3.针对幕墙安装机器人系统工作过程中操作机械手的低频振动，对安装机器人提升系统结构进行了振动模态分析，确定影响幕墙安装精度的振动模态。结合本系统的振动特性，探索基于被动方式的阻尼抑振方法。根据系统振动参数及阻尼抑振原理，提出一种抑振扶墙机构，使系统振动接近临界阻尼振动达到预期的抑振目标。4.运用基于结构光的视觉检测方法检测待安装板材相对于墙体的位置，以克服非结构化建筑环境对图像处理检测精度的影响。通过对结构光视觉数学模型的分析与图像处理算法的研究，建立基于线结构光的视觉检测系统。应用基于神经网络的摄像机在线标定方法，解决复杂建筑环境下的视觉系统参数标定问题。最后，研制幕墙安装机器人样机，并在模拟工况和实际工程上对系统进行实验验证。实验结果证明，幕墙安装机器人系统理论依据充分，串并联混合六自由度结构设计合理，能够完成建筑幕墙的自动化安装，提高大型板材安装的自动化水平。更多还原

【Abstract】 With the accelerating process of urbanization in China, building walls are more andmore favored by people as dominant outdoor decoration of modern buildings. Widespreadproblems are existed in the current building curtain wall installation and construction, suchas: site security is poor, construction efficiency is low, construction quality is difficult toguarantee, manual tasks are labor-intensive and process standards are not uniform.Under the support of Research on plate installation and interior decoration robotsystem （2007AA04Z240）in the National High Technology Research and DevelopmentProgram (863Program), according to the building panels installation process andconstruction site environmental characteristics, we carry out the key technology research onrobotic construction equipment of construction curtain wall installation, and aim to developthe automated construction equipment for building curtain wall installation. This article willfocus on the key technologies of building curtain wall installation robot to perform thefollowing studies:First, analyses on problems of traditional hand-building curtain wall installationprocess and the installation process have been put forward, and according to thecharacteristics of the automated installation, we have developed a complete automatedinstallation process for building plates. The research status on construction robot and platemounting robot at home and abroad has been analyzed, also, combined with automatedinstallation process, we have research and designing on the structure of the installationrobot.According to the installation robot workflow, utilizing the robot kinematics theory, wehave established an inverse kinematics equation of the series-parallel structure. And theinverse kinematics equation of the parallel mechanism was verified by simulation software,also provides a reliable theoretical basis for the robot motion control. We have donesingularity analysis for parallel structure platform, and have used mathematical analysissoftware to make search algorithm on work space of their attitude adjustment.For the low-frequency vibration on operating robot in the process of building platesinstalled robot system, we have modal analysis on upgrading system structure of theinstallation robot, depending on the installation process, the vibration modes which affectthe plate mounting accuracy can be determined. The damping vibration suppression methodbased on passive combining the vibration characteristics of the system has been put forward. According to the principle of vibration parameters and damping vibration suppressionsystem, design vibra buttresses institutions to make the system vibration near criticaldamping vibration to achieve the goal of the vibration suppression, and we do experimentalverifications.The article selects visual inspection method based on structured light to detect theposition of the pending installation plate relatives to the wall, to overcome the impact of thedetection accuracy of unstructured built environment towards the image processing. By theresearch of the structured light detection mathematical model analysis and imageprocessing algorithms, Visual inspection methods and principles based on structured lightare established. And applying online calibration method based on neural network cameras,to solve visual system parameter calibration problems under complex built environment.Finally, we develop the curtain wall installation robot prototype, and do experimentalverifications both under simulation conditions and in actual engineering. Experimentalresults show that, the structure of the curtain wall installation robot is reasonable, and therobot can complete the automated installation of curtain wall construction, also, to someextent, this system improves the level of automation of large panels installed.更多还原