室内墙面滚涂机器人结构设计和检测方法研究  

Research on the Structure Design and Testing Methods of Indoor Wall Rolling Coating Robot

作　　者：刘新波[1] 顾瑞钦 席业成 吴欢 张磊[1] LIU Xinbo;GU Ruiqin;XI Yecheng;WU Huan;ZHANG Lei(Laboratory of Multi Power Regional Power Grid Operation and Control,Shaoyang University,Shaoyang 422000,China)

机构地区：[1]邵阳学院多电源地区电网运行与控制湖南省重点实验室,湖南邵阳422000

出　　处：《传感器世界》2024年第6期20-26,共7页Sensor World

基　　金：邵阳学院研究生科研创新项目(No.CX2023SY066)

摘　　要：针对解决室内墙面人工滚涂劳动强度大的问题,设计了一套自动化室内墙面滚涂机器人。对机器人需求功能进行结构设计,其移动载车在地面多方向移动,其机械臂提升柱将UR机械臂举升至目标位置,使用UR机械臂末端的滚筒进行墙面滚涂,对其中关键承载零件进行有限元分析;使用激光位移传感器对滚涂之后的墙面进行测量,测量数据传输至上位机处理;最后,可视化滚涂层数据并计算平面度,对于平面度不满足要求的墙面进行打磨,以提高室内装修的滚涂质量。In order to solve the problem of high labour intensity of manual rolling coating of indoor walls,designs a set of au-tomated indoor wall rolling coating robot.Structural design of the robot demand function,its mobile vehicle moves in multiple directions on the ground,and its robotic arm lifting column lifts the UR robotic arm to the target position,the use of UR arm end of the roller for wall rolling coating,the key load-bearing parts of which for finite element analy-sis.Measurement of the wall surface after roller coating is carried out using a laser displacement sensor and the measurement data is transmitted to the host computer for processing.Finally,the rolled coating data is visualised and the flatness is calculated,and the wall surfaces that do not meet the flatness requirements are sanded to improve the quality of the rolled coating for interior decoration.

关 键 词：墙面滚涂 结构设计 有限元分析 激光位移传感器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]