Movement and binding control strategy based on a new type of rebar-binding robot

作者：Dong Shen, Shuai Guo, Hao Duan, Kehao Ji, Haili Jiang · 发表于：Industrial Robot the international journal of robotics research and application · 年份：2024 · DOI：10.1108/ir-12-2023-0326 · 被引用次数：6 · 研究领域：Innovations in Concrete and Construction Materials、BIM and Construction Integration、Advanced Manufacturing and Logistics Optimization

Purpose The paper focuses on the issue of manual rebar-binding tasks in the construction industry, which are marked by high labor intensity, high costs and inefficient operations. The rebar-binding robots that are currently available are not fully mature. Most of them can only bind one or two nodes in one position, which leads to significant time wastage in movement. Based on a new type of rebar-binding robot, this paper aims to propose a new movement and binding control that reduces manpower and enhances efficiency. Design/methodology/approach The robot is combined with photoelectric sensors, travel switches and other sensors. It is supposed to move accurately and run in a limited area on the rebar mesh through logical judgment, speed control and position control. Machine vision is used by the robot to locate the rebar nodes and then adjusts the binding-gun position to ensure that multiple rebar nodes are bound sequentially. Findings By moving on the rebar mesh with accuracy, the robot meets the positioning accuracy requirements of the binding module, with experimental testing accuracy within 5 mm. Furthermore, its ability to bind four rebar nodes in one place results in a high efficiency and a binding effect that meets building standards. Originality/value The innovative design of the robot can adapt itself to the rebar mesh, move accurately to the target position and bind four nodes at that position, which reduces the number of movements on the mesh. Repetitive and heavy r...