【作者】 刘强；

【导师】 张元；

【作者基本信息】 哈尔滨理工大学 ， 机械设计及理论， 2015， 硕士

【摘要】 本文所研究粉刷机为一种壁面移动机器人，壁面机器人可以在垂直的壁面上灵活地移动并完成例如检测、喷漆、除锈、清洁、侦查等工作，随着时代的发展，壁面机器人在各个领域得到了广泛应用。近年来，作为城市面貌的建筑物外墙表面装饰与清理等工作已成为城市形象工程的工作重点之一，而传统的高层建筑物外墙刷涂工作均是由工人通过高空作业完成，作业环境差、劳动强度高、工作效率低、费用高。目前，将壁面移动机器人技术应用于高层建筑外墙粉刷的事例及研究鲜有报道。本文通过比较分析现有壁面移动机器人的技术原理，确定了粉刷机的总体设计方案，对粉刷机各个模块进行分析设计，并通过计算对粉刷机关键零部件进行选型，最终完成悬吊式高层建筑粉刷机的结构设计。通过理论建模的方法，完成粉刷轨迹建模并确定了连续和对称粉刷条件，分析研究了不同杆件参数对粉刷轨迹的影响规律，对粉刷工作过程中涉及的推力风扇静推力进行理论计算，建立了粉刷机吸附稳定性数学模型及刷子粉刷速度的数学模型。采用Ansys Workbench仿真软件，分别对推力叶片和架体进行了振动特性分析，获得了引起粉刷机振动的共振频率，对粉刷机各杆件进行运动学、动力学仿真分析，获得相关杆件的运动学、动力学数据，进而得到粉刷机工作性能相关数据，为全面分析粉刷机性能提供依据。通过物理样机实验，对粉刷机无载荷空转性能进行测试，验证了粉刷机粉刷动作的准确性，并获得了推力风扇的静推力曲线，进行了不同工况下粉刷测试，实验结果验证了设计的合理性。更多还原

【Abstract】 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.更多还原