多自由度墙体喷涂机器人机构设计

Mechanism Design of Multi-Degree-of-Freedom Wall Surface Spraying Robot

房屋装修过程中墙体涂料的喷涂主要由人工粉刷完成,劳动强度大,工作环境恶劣,喷涂机器人能够代替人在房屋装修过程中进行建筑墙面自动喷涂各种涂料。整个机构采用5个自由度的开放关节型机械臂完成,移动小车作为基座并完成机构的整体水平移动,腰部关节、大臂、小臂及粉刷头在运动控制卡及步进电机的控制下,使得粉刷头始终紧贴墙壁做上下往复运动完成粉刷动作,并获得持续的涂料供给。

Considering wall paint spraying problems during house decoration like chiefly manually rendering, large work intensity and bad surroundings, use a multi-degree-of-freedom spraying robot to substitute human to do automatic spray painting. It is designed with open articulated manipulator with 5 degrees of freedom. Its mobile car is the base to finish the whole horizontal movement of mechanism; waist joint, big arm, lower arm and the paint head are controlled by motion control card; the paint head can be clung to wall and be moved up and down to plaster the wall, and can be continually obtained the paint supply.