JPH0256265A - Automatic coating apparatus - Google Patents

Abstract

PURPOSE:To control position by separately changing length of a hanging wire until a coating part main body with a regulating means for wire length. CONSTITUTION:When the position of a coating part main body 7 for a side face 2 in the vertical direction is decided by driving and controlling motors 4a, 4b, the vacuums 10 joined to a table 17 are actuated to perform positioning of the coating part main body 7. Thereafter a carriage 18 is moved right and left horizontally to perform coating operation. After this operation is completed, actuation of the vacuums 10 is stopped and length of a hanging wire 6 is regulated and the position of the coating part main body 7 is moved at prescribed rate to the upper direction or the lower direction to operate it. Thereby cost reduction is contrived and operability is improved.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to an automatic painting device for caulking, painting, and designing walls of buildings, or painting shutters or applying desired designs, for example. , especially regarding the overall configuration of the automatic coating device.

[Conventional technology]

Traditionally, when caulking or painting the walls of a building, for example, scaffolding was erected around the building, a net was placed on the outside of the scaffolding for safety, and workers climbed onto the scaffolding to apply caulking. They were performing scheduled work such as painting and painting.

[Problem to be solved by the invention]

However, with this conventional method, not only the painting work but also the preparation and dismantling of the scaffolding and netting require a great deal of cost and time, resulting in extremely low work efficiency.

Additionally, people often climb high scaffolding to perform caulking and painting work, which is often dangerous.

In order to overcome these drawbacks, various automatic painting robots have been studied and developed, but they have problems such as complicated structures, high costs, and complicated operations.

The purpose of the present invention is to eliminate such drawbacks of the prior art,
To provide an automatic painting device having a simple structure, low cost, precision, and good operability.

[Means to solve the problem]

In order to achieve the above-mentioned object, the present invention provides a method for installing a wall above a side surface on which work is performed, such as a wall of a building or a shutter of a store, for example.
Two hanging wires are hung at a predetermined interval, and a wire is connected to the tips of both of the hanging wires, and a nozzle is installed on the side where the work is to be performed. The wire length adjustment means, such as a stepping motor for winding and unwinding, is provided, and the length of the suspension wire to the entire length of the suspension wire can be adjusted individually. The present invention is characterized in that the position of the full covering part main body with respect to the side surface on which work is to be performed is controlled by individually changing the length of the lowering wire to the full covering part main body.

[Embodiments of the invention]

Next, embodiments of the present invention will be described with reference to the drawings.

Fig. 1 is a schematic configuration diagram of an automatic painting device according to an embodiment, Fig. 2
The figure is a side view of the main body of the full-coverage part, FIG. 3 is a diagram for explaining position control of the main body of the full-coverage part, and FIG. 4 is a plan view of the operating part.

As shown in Figure 1, side 2 of building 1 where work is to be carried out.
Pole 3.3 is erected at each corner of the roof. Winding/feeding motors 4a and 4b each consisting of a stepping motor are installed near this pole 3, and one end of a hanging wire 6 is attached to a pulley 5 fixed to the output shaft of this motor 4. They are connected so that the hanging wire 6 can be wound up or let out.

The two hanging wires 6 hang down toward the side surface 2, and the full-coverage main body 7 is connected to their tips, so that the full-coverage main body 7 is vertically suspended along the side surface 2.

As shown in Fig. 2, the complete body 7 has a nozzle 8 for caulking or painting directed toward the side surface 2 where work is to be performed.
is provided. Further, the full-coverage part main body 7 is provided with a plurality of casters 9 that roll into contact with the side surface 2, so that the full-coverage part main body 7 can freely move in any direction along the side surface 2.

Further, a vacuum 10 is attached to the full-coverage part main body 7 for fixing the full-coverage part main body 7 to the side surface 2 during work such as caulking or painting.

Furthermore, a television camera 11 is provided near the nozzle 8 in order to monitor the caulking state, painting state, etc. on the operating section.

A cord 12 for controlling work conditions such as caulking and painting, as well as operating conditions of the television camera 11, is suspended from the main body 7 of the entire mounting section, and is attached to an operating vehicle 13 as shown in FIG.
connected to the control panel.

As mentioned above, the full-cover body 7 is vertically suspended from both sides by two hanging wires 6.6, and the full-cover body 7 is adjusted by adjusting the length of each wire 6.6. By doing so, the position relative to the side surface 2 can be controlled.

Next, the positional control of the complete mounting portion main body 7 will be schematically explained using FIG. 3. In the figure, the coordinate position of the motor 4a is Xx, Yx, and the coordinate position of the motor 4b is X2. Y2. Let the current coordinate positions of the painted cover body 7 be Xo and yo, and the target coordinate positions of the fully loaded body 7 be xi and y□.

In order to move the entire mounting body 7 from the current position to the target position, change the length of the hanging wire 6 connected to the motor 4a, and similarly move it to the motor 4b. The length of the connected hanging wire 6.

By changing to , the entire loading portion main body 7 can be moved to the target position.

Therefore, by using the attached microcombination unit 12, each winding/unwinding motor 4 corresponding to these amounts can be operated.
Calculate the amount of rotation of stepping motor 4a and 4b.
, 41> may be controlled.

The operating unit 14 installed in the operating vehicle 13 is a fourth
As shown in the figure, a first lever 15a moves the coating section main body 7 in large steps, and a second lever 15b moves the coating section main body 7 in small steps, that is, finely adjusts the position. It is provided. By operating the first lever 15a and the second lever 15b, the side surface 2
The position of the coating section main body 7 relative to the main body 7 can be freely adjusted. The operation unit 14 is also equipped with various display units and a television 16 on which the status of caulking and painting is displayed through the television camera 11.

5 and 6 are diagrams for explaining a second embodiment of the present invention, and FIG. 5 shows a painted part main body 7 according to the embodiment.
6 is an enlarged sectional view of the caulking cylinder mounted on the main body 7 of the coating section.

In the case of the first embodiment, by adjusting the length of the hanging wire 6.6 up to the painting part body 7, the painting part body 7 can be moved in any of the vertical, horizontal, and diagonal directions. As described above, this embodiment shows an example in which the vertical position of the coating section main body 7 is adjusted by the hanging wire 6.6, and the horizontal movement of the nozzle 8 is performed by a separate driving means.

As shown in FIG. 5, the coating section main body 7 is provided with a table 17 on which a rail (not shown) is laid, and a carriage 18 is movably mounted on the table 17 (rail). . Pulleys 19.1.9 are arranged at both ends of the upper surface of the table 17, and a stepping motor 20 is connected to one of the pulleys 19. An endless rope 21 is passed between these pulleys 19, 19 and the carriage 18. Therefore, by controlling the amount of rotation of the motor 20, the carriage 18
The position of (nozzle 8) in the left and right (horizontal) direction is adjusted.

The carriage 18 is equipped with a caulking cylinder 22 as shown in FIG. 6, for example, and a pushing motor 24 for discharging the caulking agent 23 in the cylinder 22 from the nozzle 8 at a constant pressure. ing.

Therefore, in the case of this embodiment, the coating part main body 7 is applied to the side surface 2 by drive control of the motors 4a and 4b (see FIG. 1).
Once the vertical position of the main body 7 is determined, the vacuum 10 connected to the table 17 is operated to position the main body 7 of the coating section.

Thereafter, the carriage 18 is moved left and right (horizontally) to perform caulking or painting work.

When the work at the spot is finished, the operation of the vacuum 10 is stopped and the length of the hanging wire 6 is adjusted.
The position of the coating section main body 7 is moved upward or downward by a predetermined amount, and the same operation as described above is performed.

Although FIG. 5 shows a state in which the table 17 (rail) is arranged horizontally, for example, if you want to draw a diagonal line to the side surface 2, the table 17 (rail) can be A diagonal line-in is drawn by moving the carriage 18 at a desired angle.

7 and 8 are diagrams for explaining the third embodiment of the present invention, in which FIG. 7 is a front view of the coating section main body 7, and FIG.
The figure is a sectional view of the main body of the coating section.

As shown in these figures, there is a fixed cylinder 2 on one side of the mounting plate 25, which is suspended by two hanging wires 6.6.
6 is installed. A rotary ring 27 is rotatably supported inside the fixed cylinder 26 via a bearing 28, and a plurality of cylinder mounting plates 29 are installed inside the rotary ring 27. A book cylinder 22 is supported. This cylinder 22 is for caulking, for example, and has nozzles 8 that communicate with each other, and the tips of the nozzles 8 protrude outward from the fixed cylinder 26, as shown in FIG.

An opening 30 is formed in a part of the mounting plate 25 facing the side surface of the rotary ring 27, and a rubber roller 31 passes through this opening 30 and comes into elastic contact with the side surface of the rotary ring 27. The rubber roller 31 is fixed to the output shaft of the drive motor 32, so the rotating ring 27 is attached to the rubber roller 31.
It can be rotated in a desired direction by a drive motor 32 via. Then, due to the rotation of the one-turn ring 27,
The position of the tip of the nozzle 8 can be changed around the fixed cylinder 26. If the position of the nozzle 8 can be rotated 360 degrees by the rotation mechanism in this way, the entire mounting body 7 can be kept suspended.

For example, it is possible to easily work on the left and right ends and the upper and lower ends of the side surface 2.

Furthermore, as in this embodiment, by dividing the cylinder 22 into a plurality of parts and mounting them on the entire loading section main body 7, the overall thickness can be made thinner than when mounting a single large-diameter cylinder 22. .

In each of the above embodiments, the case of caulking or painting a building has been described, but the present invention is not limited thereto, and can be applied to, for example, painting or designing the shutters of a store or a building.

〔Effect of the invention〕

Since the present invention has the above-described configuration, it is possible to provide an automatic coating device that has a simple structure, low cost, precision, and good operability.

[BRIEF DESCRIPTION OF THE DRAWINGS] Figures 1 to 4 are for explaining the first embodiment of the present invention, and Figure 1 is a schematic configuration diagram of an automatic painting device, and Figure 2 is a schematic diagram of the automatic painting device.
The figure is a side view of the main body of the fully loaded part, FIG. 3 is a diagram for schematically explaining the position control of the main body of the fully loaded part, and FIG. 4 is a plan view of the operating part. 5 and 6 are for explaining the second embodiment of the present invention, FIG. 5 is a front view of the main body of the fully loaded part, and FIG. 6 is a caulking cylinder mounted on the main body of the fully loaded part. FIG. 7 and 8 are diagrams for explaining a third embodiment of the present invention, in which FIG. 7 is a front view of the main body of the full-coverage part, and FIG. 8 is a sectional view of the main body of the full-coverage part. 1... Building, 4... Motor, 6... Hanging wire, 8... Nozzle. 14...Operation unit, 1 2...Side surface, 5...Pulley, 7...Full body part, 0...Vacuum, 7...Table, 18...Carriage, 22...Cylinder, 25...Mounting plate, 26...Fixed cylinder, 27... ...Rotating ring, 31...Rubber roller. Figure 1 Figure Figure (xo, yo) Unillustrated funeral map Figure 1

Claims (1)

[Scope of Claims] Two hanging wires are hung at a predetermined interval above the side surface on which work is to be performed, and the hanging wires are connected to the tips of both of the hanging wires and suspended. and a coating section main body provided with a nozzle on the side surface on which the work is performed, and wire length adjustment means that can individually adjust the length of the hanging wire up to the coating section main body, and the wire length adjustment means. The present invention is characterized by being configured to control the position of the painting part main body with respect to the side surface on which work is to be performed by individually changing the length of the hanging wire to the painting part main body by means. automatic painting equipment.