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Generally, the painting process requires regular work and its take time and effort to lift hands, and chemicals may cause problems with the respiratory system. As construction workers and robots work together, it is possible to properly manage the entire construction process and save human labor and energy. It would also provide an opportunity to reduce or eliminate human exposure to challenging and hazardous environments, which would solve most of the safety related issues at the same time as many activities take place.
So, the aim of the project is to design and implementing automatic wall painting robot to help achieve accuracy of painting and to decrease the time of operation. Instead of advances in robotics and wide-spread application, interior wall painting has little to do with research activities.
The Idea of spray-painting robot is not a new one. Many engineers have developed in the past, but they have not been successful as they did not have the ability to embrace the complexity of the real world.
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In recent years as townscape harmony of structures and civil structures in the surrounding environment have raised problems, civic designing has become an important issue in city development. As one example under this commitment, wall painting is sometimes prepared on walls and retaining wall apartments, etc. aiming to lessen oppressive impression of a structure and to please people’s eyes.
However present, most of those painting is drawn manually. For the purpose of labour saving and improvement in work environments, therefore, wall painting robot of porous vacuum attraction type was developed, with which picture drawing work in multiple colours was made available according to the data input in a personal computer.
Further, based on customer’s needs, a new type wall-surface operation robot which can perform not only painting work but also, with an attachment changed, various additional works such as wall clearing, and the tile separation sensing has been developed.
In this model a customized aluminum mobile platform of size 600*600*160mm frame is designed on which paint container and pump and circuit board is arranged in the frame. which is used to supply the pressurized paint to the spray gun are mounted. In this robot the end effector is a tool type end effector. i.e. spray gun which is triggered by linear actuator which mounted to the spray gun. And the frame is also mounted with two ball screw actuator of height 1.5m. And in between the ball screw actuators the rectangular frame (1.5m) is mounted to the input clamps. i.e. these two ball screw actuators are used to lift the rectangular frame. For the rectangular frame two pulleys are mounted at both ends. And belt is arranged between them for this belt the end effector is fixed. i.e. when belt rotates the belt will get a linear motion.
And two aluminum clamps are is attached to the mobile platform and ball screw actuator for the support to with stand load and height. In this model two 5 volts relays are used, and one relay is used to control the pump (on & of) for linear actuator to control the triggering spray gun. And two four channel motor drivers(L298n) are used in that one driver is used to four dc motor in mobile platform and other driver is used to ball screw actuator and belt drive motor. So that Arduino mega is used because of more number general purpose input output (gpio) pins. And one ultrasonic sensor is used to distance covered between wall and robot. And in assembling all the components and metals the joining technique is used riveting.
In this robot the power supply is AC. Whenever the Arduino give high signal signal to relay the pump get started. And after relay get signal the linear actuator and pulley get started at same time. And then the pulley is reached to maximum height 1.5m and after that ball screw actuator lift the frame to maximum height 1.5m. After that the polarity changes and came to position then the width of the spray line 15cm, so mobile platform moves 15cm side and same process is repeat until the task is completed. The input is given as per size of wall.
When ever a current carrying conductor is placed in a magnetic field is experience a mechanical force whose direction is given by Fleming’s left-hand rule & expectations of force magnitude is given by f= BIL newton.
In this model we are using 4 Dc- motors which mounted to the mobile platform for x, y axis of the robot.
Weight of my Robot = 40 Kg,
Speed required = 0.5m/s,
No of drive wheels = 4,
Acceleration required = 0.2m/s2,
Radius of each wheel = 0.0625m
T=ma∗r/N then t=0.31 kg .as the motor contains 4 times of required torque =1.225 Nm
v=r*ω (ω=rpm*0.10472) then rpm=305
We selected 500 RPM 12V DC Metal Gear Motor
Torque 2 kg-cm as it is available in market.
We need 4 motors as per the calculation made the dc motor selected.
Specifications:
Motor type: dc with gear box, metal gears
Base motor: dc 3000rpm
Shaft type: circular 6mm dia with internal hole,23mm shaft length.
Maximum torque: 2.5 Kg-cm at 12V
Speed: 300 RPM at 12V
Weight: 145 Gms
Max Load current: 250mA at 12V-30RPM
Mecanum wheels allow omnidirectional movement, providing the robot with unparalleled mobility across the work surface. This feature is critical for navigating complex construction environments and ensuring uniform paint application.
Ball screw mechanism is used to motor rotary motion to linear motion which come under the principle of nut and bolt. Which acts as the precision screw to withstand high axial loads, with the minimum internal friction.
Calculation:
Torque calculation for Ball screw
Diameter(D) = 15mm
Friction(F) = 0.4
Mass(m) = 5kg
Lead length(L) = 12mm
Velocity ratio (VR) = circumference/length = (3.14*15)/12=3.92
Lead screw efficiency = tan(a)/tan(a+b) = 0.38
a = Tan^(-1) (L/3.14D) = 17.65
b = tan^(-1) (F) =21.8
mechanical (MA) = VR*efficiency = 0.38
Force = m*g = 5* 9.81 = 49 N
effort = Force/MA = 32.88 N
Torque = Force * perpendicular distance = 32.88 * 0.0075
T = 0.02466 N-m
3.6 Belt Drive mechanism:
Belt drivers are a form of frictional drives used to transfer power form shaft to shaft that means pulleys spinning at the same rate or at different speed. i.e. belt drives are said not be a positive type of transmission system.
The belt drive mechanism facilitates the horizontal movement of the spray gun, ensuring even paint distribution. This system's design prioritizes reliability and ease of maintenance, key considerations for construction applications.
Comprehensive calculations were conducted to determine the optimal specifications for the DC motors, Mecanum wheels, ball screw actuators, and belt drive mechanisms. These calculations ensure the robot's performance meets the demands of modern construction environments, prioritizing efficiency, safety, and accuracy.
The development of an automatic wall painting robot represents a significant leap forward in construction technology. By addressing the limitations of manual labor and the health risks associated with traditional painting methods, this project paves the way for safer, more efficient, and aesthetically pleasing urban development. The integration of advanced robotics into construction not only enhances operational efficiency but also significantly reduces human exposure to hazardous conditions, marking a new era in construction safety and productivity.
Automating Construction: The Development of a Wall Painting Robot. (2024, Feb 20). Retrieved from https://studymoose.com/document/automating-construction-the-development-of-a-wall-painting-robot
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