Design And Research Of Building Exterior Wall Painting Robot

At present,most of the building exterior wall painting relies on manual methods.This paper studies and designs a robot to automate the spraying of exterior walls.Compared with the traditional manual work,it has three advantages as follows(1)Higher efficiency(2)Avoiding the danger of working at height(3)Avoiding the impact of toxic and harmful substances in paint on people.In this paper,the structural design,statics and kinematics analysis,motion control strategy and control algorithm of the building exterior wall painting robot and the operation planning of the building exterior wall painting robot are studied systematically.(1)According to the functional requirements of the external wall painting robot,the structural design of the painting robot mainly includes four parts: the suspension system,the robot body,the spraying system and the stability adjustment system.The robot suspension system is placed on the top platform of the building,and its function is to provide the robot with vertical force;the robot body realizes the robot movement and spraying operation;the robot spraying system is installed on the robot body to deliver high-pressure paint to the robot body to realize the wall surface The spraying;the robot stability adjustment system can adjust the parameters according to the state of the robot to ensure the smoothness of the robot movement.(2)The model of the key part of the painting robot is simplified,and it is introduced into ANSYS for static analysis.The simulation results of stress and strain of the mechanical structure are obtained,and the strength check of the key parts of the painting robot is realized.The overall motion mechanism of the painting robot is carried out.The model is simplified,and the kinematics analysis is carried out into the ADAMS.According to its motion characteristics,the evaluation of the spraying effect of the spraying robot is realized,and then it can be judged whether or not the mechanism is stuck during the movement.(3)The hardware of the control system is selected and the control system scheme is designed.Based on the research of traditional PID control algorithm,a recommendation method of PID control parameters based on RBF neural network algorithm and optimization algorithm is proposed.The steepest descent method in the optimization theory is studied,and an iterative method combining negative gradient iteration and random iteration is proposed,which can effectively avoid the problem that the steepest descent method is easy to fall into the "local minimum value";The self-learning parameter recommendation method enables the control system to self-learn according to the current state of the system during the running process,and realizes the adaptive adjustment of the PID parameters.(4)An external wall recognition method based on polar coordinate transformation is proposed,which realizes the recognition of non-wall areas such as balconies and windows,thus realizing the intelligentization of spraying operation.The task of painting the exterior wall of the building is rationally divided.Transplanting the UC/OS? operating system realizes the coordination control of each task of the normal operation of the painting robot,and can brake in time when there is a machine failure.The exterior wall painting robot designed and studied in this paper can improve the painting quality and work efficiency of the building exterior wall,reduce labor costs,and bring good economic and social benefits to users.