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张  隆^1,2，谢佳硕¹，乔文涛^1,3，孟丽军¹

(1.石家庄铁道大学，河北 石家庄  050043；2 河北比智智能科技有限公司，河北 石家庄  050000；3 道路与铁道工程安全保障省部共建教育部重点实验室(石家庄铁道大学)，河北 石家庄  050043)

 

摘 要：为提高木结构建造技术数字化水平，将已有工艺与机械臂运动系统相结合，形成数字化建造工具系统。以切割、开榫、铣削及开孔四种工艺为例，对木结构数字建造技术进行剖析与设计，辅助以建造装备系统、控制系统形成高度集成化的加工系统，并借助可视化编程技术手段对工具系统运动轨迹、几何数据分析、自动适配工具及路径自动规划进行标准程序开发，选取斗拱结构进行建造实践。结果表明：所提出的加工系统可精确、高效完成非标准化、定制化异形结构建造任务，开发的标准程序实现了建构逻辑集成化应用，输入构件模型可自动生成机械臂可识别路径，通过实际建造验证了加工系统和标准程序的可行性及适用性。

关键词：数字建造；古建筑；榫卯节点；机械臂；参数化设计

中图分类号：  TU366.2  

文献标志码：A           

文章编号：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

*基金项目：中央引导地方科技发展资金项目(206Z7601G)；河北省自然科学基金面上项目(E2020210074)。

作者简介：张隆（1997—），男，硕士，助理工程师，主要研究方向：智能建造相关研究。

通信作者：乔文涛（1982—），男，博士，教授，主要研究方向：智能建造与装配式结构相关研究。

收稿日期:2023-12-14