Design And Research On Hang Painting Machine Of High-rise Building Wall

This paper studies a wall climbing robot for wall painting machine. Wallclimbing robot which has an ability of vertical climbing can move flexibly in avertical wall surface and complete detection, such as detection, painting,derusting, cleaning and inspecting work. With the development of the times, theapplication of climbing robots is more and more extensive. In recent years, as anappearance of city buildings, the exterior wall surface decoration and clean-upwork has become one of the key work of city image project, while the traditionalpainting work of exterior walls of high-rise buildings is done by workers throughhigh altitude operation, their operating environment is poor, labor intensity ishigh, working efficiency is low and final cost is high. So far, the application ofthe wall climbing robot technology in high-rise building outer wall painting hasfew examples and research reports. This paper has designed a painting machinefor the exterior wall painting on high-rise building by wall climbing robottechnology.This paper defines the whole design scheme of painting machine throughcomparative analysis of the technical principles of existing climbing robots.Finally completed high-rise buildings suspended painting machine design byanalyzing each module and selecting key components through calculate. Throughtheoretical modeling, we completed painting trajectory modeling and identifiedcontinuous/symmetrical painting conditions, analyzed the effects of differentparameters on the rod painting track, calculated the fan thrust by theoreticalcalculation and studied the stability of the brush adsorption by mathematicalmodeling. Using Ansys Workbench simulation software, we analyzed the thrustforce of the blade and frame body vibration characteristics, gained resonancefrequency caused by vibration. We gained dates of rods and frame structure bypainting machine kinematics and dynamics simulation analysis, which provide a basis for analyzing the performance of painting machine.Through the physical prototype test, we tested the machine idlingperformance, verified the accuracy of the painting action of painting machine,gained the static thrust curves of fans and conducted painting test under differentconditions. The experimental results demonstrate the rationality of the design andfinally designed a painting machine applied to high-rise building external wall.