Intelligent spraying robot for outer wall of high-rise building and control method of intelligent spraying robot

Abstract

The invention discloses an intelligent spraying robot for the outer wall of a high-rise building and a control method of the intelligent spraying robot. The intelligent spraying robot is composed of an upper machine body and a lower machine body, the upper machine body is installed on the roof of the building, and vertical lifting is carried out by hoisting equipment in the upper machine body on the lower machine body through ropes; and the lower machine body is attached to the outer wall of the building through adsorption feet, and can use the adsorption feet to achieve up and down walking ona wall surface, a spray gun movement worktable arranged on the lower machine body has multiple degrees of freedom, and a spray gun in the spray gun movement worktable can move in the X direction, theY direction and the Z direction separately as well as rotate around the Z axis. The intelligent spraying robot has high wind resistance capability and high safety factors, can realize intelligent spraying through the matched arrangement of a controller, and can effectively improve spraying quality and spraying efficiency.

Description

technical field [0001] The invention relates to a spraying device for outer walls of high-rise buildings, in particular to a wind-resistant and automatic wall-climbing outer wall spraying robot and a control method thereof. Background technique [0002] At present, the exterior walls of high-rise buildings have been prohibited from being decorated with materials that are easy to fall off such as tiles and mosaics. More and more exterior walls have begun to be sprayed with various colors of paint. The traditional spraying method is for workers to carry out high-altitude operations with hanging baskets. There are problems: first, high-altitude operations pose a serious threat to the life safety of operators. When there is wind, the hanging basket shakes, posing serious safety hazards; The quality of the sprayed coating is uncertain due to human factors, such as the speed of the gun, the distance of spraying and the amount of spraying, etc.; third, the long-term direct contact ...

AI Technical Summary

Problems solved by technology

The traditional spraying method is for workers to carry out high-altitude operations with hanging baskets. There are problems: first, high-altitude operations pose a serious threat to the life safety of operators. When there is wind, the hanging basket shakes, posing serious safety hazards; The quality of the sprayed coating is uncertain due to human factors, such as the speed of the gun, the distance of spraying and the amount of spraying, etc.; third, the long-term direct contact with the paint is not conducive to the health of the operator; fourth, the labor intensity and efficiency of manual work are high. Low

In practical applications, the robot has the following problems: the inflatable wheel that acts as a support and guide does not cooperate with the rope controlled by the hoist; the inflatable wheel rotates passively, and it is difficult to synchronize the rotation of the inflatable wheel with the movement of the rope during the lowering process , the rope is either loose or under tension, which makes the running speed of the robot unstable, resulting in uneven spraying; in addition, relying on ducted fans to produce wall adhesion is not reliable, the adsorption force is insufficient, and the wind resistance effect is poor

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