一种室内刷墙机器人的研发

The Development of An Indoor Wall Robot

目前我国建筑行业室内粉饰工程主要采用依靠脚手架的传统人工作业方式,劳动强度大、工作环境恶劣.鉴于此,作者利用真空液体增压技术、光电技术、伺服驱动技术、混合及过滤技术,研发了一种建筑室内刷墙机械人,其主要组构有车载机构、串联式四轴坐标模组等.采用PID控制器,实现对墙面自动检测,并驱动机器进行运动补偿,在有效的作业范围内使机器人自动升降,保证建筑物室内粉刷的质量和安全性.

The interior decoration project of China＇s construction industry relies mainly on the traditional way of labor-intensified manual work in a poor work environment. By using the technology of vacuum liquid booster, electro-optical technology, servo drive technology, mixing and filtering technology, the authors develop an indoor wall robot, whose main structure is composed of the vehicle mounted mechanism, the series of four axis coordinate module, etc. PID controller is adopted to realize the automatic detection and driving mechanism of motion compensation, which can ensure the robot＇s up and down automatically in an effective operating range, and the quality and safety of indoor painting.