Innovations in Robotic Wall Painting: Enhancing Efficiency and Safety in Construction

Abstract

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.

Introduction to Spray Painting

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.

Construction and Working

Construction

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.

Dc motor calculation:

Torque (T) Required for Movement: �=��×��T=Nma×r

• m = mass of the robot (40 Kg)
• a = acceleration required (0.2 2m/s2)
• r = radius of each wheel (0.0625 m)
• N = number of drive wheels (4)
• The calculation provides the torque per wheel, and the total torque required is four times this value for all wheels.

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.

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

Velocity (v) and RPM: v=r×ω × 2ω=RPM×0.10472

• r = radius of the wheel
• ω = angular velocity in rad/s
• This formula calculates the wheel's linear velocity based on its RPM (Revolutions Per Minute).

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

Calculations and Specifications

• DC Motor Calculation: The calculation involves determining the torque, RPM, and power requirements based on the robot's weight, desired speed, and acceleration, leading to the selection of a 500 RPM, 12V DC Metal Gear Motor.
• Ball Screw Actuator Calculation: This calculation assesses the torque needed for lifting, factoring in the diameter, friction, mass, lead length, and efficiency of the ball screw mechanism.

Conclusion

The automatic wall painting robot represents a significant leap forward in construction technology, offering a safer, more efficient, and aesthetically pleasing solution to traditional manual painting. By automating the painting process, the project not only aims to save time and labor but also to minimize human exposure to potentially harmful environments, marking a notable advancement in the intersection of robotics and construction.