Structure Design And Analysis On Painting Machine With Multi DOF

Painting machine with multi DOF is a kind of wall robot. Wall robot can move on the vertical wall and complete the painting, cleaning, detection and other tasks, it has been widely used in various fields, especially in external walls of high-rise building operation be regarded by more and more people, because it not only can replace the dangerous work of high-altitude operations, but also can effectively increase the efficiency. In view of manual painting for exterior wall of high-rise building is the main way at home and abroad, this paper designed a painting machine with multi DOF is used in paint for exterior wall of high-rise building to replace the high risk and low efficiency. The main research contents are as follows:In view of detailed analysis and research for the development status of wall robot, and make a detailed description. The overall scheme of painting machine with multi DOF is determined by the study. According to the overall scheme and technical requirements have been determined, detailed analysis and design the hanging device multi DOF painting machine and detailed structural design of painting machine with multi DOF is completed. At last, driving devices are determined through the analysis and calculation of each structure for painting machine with multi DOF.The influence factors of the spraying quality is systematically analyzed and completed the analysis of spraying trajectory by theoretical modeling. By using D-H method mathematical modeled a robotic painting arm and complete the kinematic analysis. The vibration characteristics on fan frame and body were analyzed by workbench. With the results of resonance frequencies and mode shapes, the fan speed was selected to avoid resonance phenomenon.Through the analysis of trajectory planning in joint space trajectory and descartes space trajectory method for mechanical arm, which provided a reference for the development of mechanical arm control systemComplete the 3D solid modeling and the simulation analysis for painting machine with multi DOF, to verify the mechanical constraints can meet the requirement between each part. Determine the rationality of structure design.This paper not only completed the overall design and analysis of painting machine with multi DOF, provides an important reference value for the research and development of automation technology for high-rise painted wall.