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張  隆^1,2，謝佳碩¹，喬文濤^1,3，孟麗軍¹

(1.石家莊鐵道大學，河北 石家莊  050043；2 河北比智智能科技有限公司，河北 石家莊  050000；3 道路與鐵道工程安全保障省部共建教育部重點實驗室(石家莊鐵道大學)，河北 石家莊  050043)

 

摘 要：為提高木結構建造技術數字化水平，將已有工藝與機械臂運動系統相結合，形成數字化建造工具系統。以切割、開榫、銑削及開孔四種工藝為例，對木結構數字建造技術進行剖析與設計，輔助以建造裝備系統、控制系統形成高度集成化的加工系統，并借助可視化編程技術手段對工具系統運動軌跡、幾何數據分析、自動適配工具及路徑自動規劃進行標準程序開發，選取斗拱結構進行建造實踐。結果表明：所提出的加工系統可精確、高效完成非標準化、定制化異形結構建造任務，開發的標準程序實現了建構邏輯集成化應用，輸入構件模型可自動生成機械臂可識別路徑，通過實際建造驗證了加工系統和標準程序的可行性及適用性。

關鍵詞：數字建造；古建筑；榫卯節點；機械臂；參數化設計

中圖分類號：  TU366.2  

文獻標志碼：A           

文章編號：1005-8249（2024）02-0140-08        

DOI:10.19860/j.cnki.issn1005-8249.2024.02.026

ZHANG Long^1,2，XIE Jiashuo¹，QIAO Wentao^1,3，MENG Lijun¹

(1.Shijiazhuang Tiedao University,ShiJiaZhuang 050043, China；2. Hebei Bizhi Intelligent Technology Co., Ltd.,ShiJiaZhuang 050000, China;

3.Key Laboratory of Roads and Railway Engineering Safety Control (Shijiazhuang Tiedao University), Ministry of Education,ShiJiaZhuang 050043, China)

Abstract: In order to improve the digital level of wood construction technology, the existing process and the robot arm motion system were combined to form a digital construction tool system. Taking cutting, tenoning, milling and hole-opening as examples, the digital construction technology of wood structure is analyzed and designed, and the highly integrated machine system is formed by the construction equipment system and control system. The standard program development of tool system trajectory, geometric data analysis, automatic adaptation tool and path automatic planning is carried out by means of visual programming technology. the bucket arch structure  is selected for construction practice. The results show that the proposed machine system can accurately and efficiently complete the construction task of non-standardized and customized special-shaped structures. The developed standard program realizes the integrated application of construction logic. The input component model can automatically generate the identifiable path of the manipulator. The feasibility and applicability of the machine system and the standard program are verified by actual construction.

Keywords: digital construction; ancient building; mortise and tenon joint; robotic arm; parametric design

*基金項目：中央引導地方科技發展資金項目(206Z7601G)；河北省自然科學基金面上項目(E2020210074)。

作者簡介：張隆（1997—），男，碩士，助理工程師，主要研究方向：智能建造相關研究。

通信作者：喬文濤（1982—），男，博士，教授，主要研究方向：智能建造與裝配式結構相關研究。

收稿日期:2023-12-14