Key Technology Research On Climbing Scaffold Type Robot For External Metope Polishing

Since the beginning of the 21 st century,the construction polishing demand of highrise buildings has been increasing year by year.Therefore,researchers hope to use robots to replace or assist human beings in order to improve the operating environment and efficiency.However,the unreasonable performance-weight ratio of robot in highaltitude construction environment will lead to engineering waste or safety accidents.How to reduce the robot’s quality while ensuring its performance is an urgent problem to be solved.Based on the requirement of building surface polishing,the key technology of the climbing frame robot for building surface polishing is studied in this paper.The main contents of this paper are as follows:Firstly,the robot development requirements are put forward by consulting and summarizing the research status and combining the research purposes.The overall structure design and the detailed design of the concrete parts of the robot are completed on the premise of satisfying the functional requirements.The hardware system of robot’s lower computer based on Beckoff is built and the operation process of the robot is described briefly.Secondly,it is verified that whether the initial design meets the mechanical requirements such as strength,stiffness and reliability in the design requirements.when the initial verification is reasonable,using the verification results as constraints and taking the part quality as the objective function,topology optimization and smooth processing are carried out to complete the lightweight design of the robot.Thirdly,in order to ensure the robot safety and reliability in the actual high-altitude operation environment and terminal positioning accuracy,the dynamic analysis of the key components is carried out to understand the vibration characteristics and calculate the dynamic response of manipulator base after lightweight design.The reliability and reliability sensitivity of the whole support structure of the robot are analyzed by the probability model.Fourthly,the whole kinematics model of the robot is established and the operating ability of manipulator is analyzed.And a position-based speed control algorithm is proposed to optimize the robot turning process.According to the manipulator ’s operating ability in each plane of the fixed manipulator,the orbit position is reasonably arranged.Then,the target equation is established to improve operation efficiency of the robot by optimizing distance between adjacent operating position of the mobile platform and manipulator base.Fifthly,the system integration test of robot is carried out.According to the design drawings,the robot processing,assembling and debugging is finished,which means that the overall structure design is rational.The motion performance of the mobile platform on the track is tested,which verifies the position-based speed control algorithm and the track location accuracy of the robot.Then the force control system is tested to verify the operation stability and safety of robot.The polishing operation of the robot is also tested to verify its high efficiency compared with human operation.