高层建筑外墙智能喷涂机器人的设计

Design of Intelligent Spraying Robot for Outer Wall of High-rise Building

为解决高层建筑外墙涂料的自动喷涂问题,设计了一种智能化的喷涂机器人。该机器人由位于楼顶的上机体和吸附于外墙的下机体组成,上机体的卷扬机构通过两根绳索同步牵引下机体,可以保证机器人稳定运行、不会倾覆。下机体上的两组吸附足在墙面上可以交替爬行,因此具备一定的越障能力。无论是在爬壁过程还是喷涂过程中,下机体总有足够多的吸附足吸牢在外墙上,同时下机体还被楼顶的两条绳索牵引,因此下机体既可以抗风,又可以防止喷枪垂直墙面喷涂所产生的反冲力。安装在下机体上的喷枪受控于四轴工作台,喷涂作业空间大。机器人还安装有全景摄像头、陀螺仪、激光传感器、风速检测仪、负压传感器等,保证了其可靠性、稳定性、安全性和智能性。

In order to solve the problem of automatic spraying of the high-rise building outer wall coating,an intelligent spraying robot is designed.The robot is composed of the upper body on the roof and the lower body adsorbed on the outer wall.The winch mechanism of the upper body can synchronously pull the lower body through two ropes,which can ensure the stable operation of the robot without overturning.The two groups of adsorbed feet on the lower body can crawl alternately on the wall,so they have a certain ability of obstacle surmounting.No matter in the process of wall climbing or spraying,the lower body always has enough adsorption to firmly absorb on the outer wall,and at the same time,the lower body is also pulled by two ropes on the roof,so the lower body can not only resist the wind,but also prevent the recoil force produced by spraying the spray gun on the vertical wall.The spray gun installed on the lower body is controlled by a four-axis working table,so the spraying operation space is large.The robot is also equipped with panoramic camera,gyroscope,laser sensors,wind speed detectors,negative pressure sensors,etc.,which ensures its reliability,stability,safety and intelligence.