室内建筑喷涂机器人设计关键技术研究  

Design and Research of Indoor Building Spraying Robot

作　　者：方勇 史彩凤 董庆 刘增炜 FANG Yong;SHI CaiFeng;DONG Qing;LIU ZengWei(Jinan First Construction Group Green Building Industry Co.,Ltd.)

机构地区：[1]济南一建集团绿色建筑产业有限公司

出　　处：《中国建设信息化》2025年第2期53-57,共5页Informatization of China Construction

摘　　要：为助力传统建筑行业转型升级,实现建筑业高质量发展,文中针对室内喷涂这种有危害的工作类型,设计并研发了一款智能室内建筑喷涂机器人,主要包括三大部分:移动行走机构、六自由度全方位喷涂机构、升降机构及控制装置等,使之具备相应的功能,本文通过算法仿真以及在实际机器人上进行的相关试验,并通过与普通民用机器人(如扫地机器人)在算法方面的比较,验证了算法的可行性与在实际喷涂中的实用性,为室内建筑喷涂机器人的发展提供参考。In order to help the transformation and upgrading of the traditional construction industry,to achieve a new stage of high-quality development of the construction industry,this paper for indoor spraying this harmful type of work,aimed at solving the problem of freeing workers from the harmful environment,designed and developed an intelligent indoor building spraying robot,mainly including three parts:Mobile walking mechanism,six degrees of freedom omnidirectional spraying mechanism,lifting mechanism and control device,so that it has the corresponding function,this paper through the algorithm simulation and related tests on the actual robot,to verify the feasibility of the algorithm and the practicability in the actual spraying,to provide a reference for the development of building interior wall spraying robot.

关 键 词：建筑机器人 移动机构 喷涂机构 算法仿真 

分 类 号：TU65[建筑科学—建筑技术科学]