JPH07204543A - Painting robot - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a painting robot that can run smoothly by preventing power cables from getting entangled. [Structure] A truck 4 equipped with a paint spray nozzle 6 and traveling
By attaching a skirt 8 to the wall surface 7 side of the body 2 and forming an exhaust port 22 in a portion surrounded by the skirt 8 of the body 2, an electric blower 9 provided at the exhaust port 22 exhausts the inside of the skirt 8. Adhesion is performed on the wall surface 7 and the like to perform painting work. The frame body 10 is provided on the carriage 4 so as to circulate around the outer peripheral portion of the body 2 and to be rotatable around the vertical axis of the wall surface 7.
The tilt angle sensor 40 is fixed to 0 and the tilt angle sensor 4
The frame 10 is rotated so that 0 always indicates a predetermined value.
The hose extending from the paint spray nozzle 6 and the electric blower 9 is supported on the frame body 10 in the middle of the cable, so that the hose from the coating robot 1 can be used no matter how the posture of the carriage 4 changes. The pull-out direction of the cable and the cable are always kept constant, and these can be prevented from being entangled with the dolly 4 or the like to ensure smooth running.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a painting robot that attracts a wall surface or the like to perform a painting operation.

[0002]

2. Description of the Prior Art Painting of walls and roofs of large buildings such as crude oil storage tanks and low temperature liquid storage tanks requires temporary scaffolding, etc., because installation and dismantling of temporary scaffolding are large-scale work. Instead, a painting robot is being developed that can perform painting work by self-propelled on the surface to be painted. This type of coating robot is equipped with a suction skirt for sucking a cloth-like body that is in sliding contact with the surface to be coated, an electric blower that discharges the air in the skirt, a paint spray nozzle, and wheels for running. Is driven to make the inside of the skirt negative pressure and adsorb to the surface to be coated to support its own weight, and in that state the coating spray nozzle is moved while scanning left and right to perform coating.

[0003]

By the way, a coating robot of this kind must turn in places and repeatedly move in different directions. However, since the paint supply source and power supply for the painting robot are installed in specified locations outside the painting area, the paint supply hose and power cable that connect these to the painting robot are entangled with the robot body and other obstacles to movement. There was a problem.

Further, the suction skirt mounted on the conventional coating robot has difficulty in copying on discontinuous surfaces such as curved surfaces, joints, and steps, and has a problem in sealing.

The present invention was created under such circumstances, and an object thereof is to provide a coating robot capable of preventing a power cable or the like from being entangled and smoothly traveling, and An object of the present invention is to provide a suction traveling mechanism that has good copying and sealing properties with respect to the surface to be coated.

[0006]

In order to achieve the above object, the coating robot of the present invention has a skirt attached to the running surface side of the body of a trolley which is equipped with a paint spraying device and is surrounded by the skirt of the body. The outer periphery of the body on the dolly is premised on the above-mentioned trolley with the assumption that an exhaust port is formed in the above-mentioned part and the electric blower installed in this exhaust port exhausts the inside of the skirt to adsorb it on the wall surface and perform painting work. A driving means for arranging a frame body around the vertical axis of the traveling surface and fixing the tilt angle sensor to the frame body and rotating the frame body so that the tilt angle sensor always shows a predetermined value. Is provided, and a hose or cable extending from the paint spraying device or the electric blower is supported by a frame partway.

In this coating robot, guide marks are installed on both sides of the coating range, and an optical sensor for detecting the distance between the guide mark and the frame is fixed to the frame body. It is desirable to control the drive of the paint spraying device. The optical sensor can be composed of a light source that projects near-infrared light and a light receiver that detects the return light from the measurement target.The light source and the light receiver are arranged in parallel in the casing with a partition wall, and the inside of the casing is It is desirable to be purged with clean air.

Next, in the adsorption traveling mechanism of the present invention, a skirt having a length in contact with the wall surface is attached to the body of the carriage for traveling on the wall surface, and the space surrounded by the skirt is exhausted from the body side to a negative pressure. Assuming a mechanism of adsorbing to the wall surface by running and running, the skirt is a tubular skirt member made of a cloth-like body attached to the wall surface side of the body,
A skirt member formed of a plate material having a certain degree of flexibility and provided outside the hem of the skirt member so as to be framed, and deformation of the skirt member is restricted to the skirt member near the flange member. A seal member composed of a ring-shaped bone member provided for that purpose and a cloth-like body provided on the wall surface side so as to form a hollow double structure from the bone member position of the skirt member to the outer peripheral edge portion of the collar member. And an opening formed in the collar member for introducing the atmosphere between the seal member and the collar member.

[0009]

According to the coating robot of the present invention constructed as described above, the posture of the frame body is adjusted so that the inclination angle sensor of the frame body rotatably provided on the carriage always shows a constant value. Therefore, by supporting the hose or cable extending from the paint spraying device or electric blower in this frame, the hose or cable from the painting robot can be supported no matter how the dolly's posture changes. The pull-out direction of the vehicle is always kept constant, and these can be prevented from being entangled with the trolley to ensure smooth running.

Next, according to the adsorption traveling device of the present invention, when the electric blower is driven to start exhausting, an air flow is formed through the gap between the seal member of the skirt member and the wall surface, and the static pressure in the gap is reduced. The falling seal member is attracted to the wall surface. When this gap becomes smaller, the resistance becomes larger than the capacity of the electric blower, the flow velocity of the air passing through the gap decreases, and the static pressure rises. On the other hand, if the gap increases due to this increase in static pressure, the flow velocity of air increases and the static pressure decreases. By maintaining the balance between these two states, an appropriate minute gap is maintained between the seal member and the wall surface, and sealing performance and low sliding resistance are simultaneously realized. Since the outer peripheral edge portion of the seal member is connected to and supported by the collar member,
It does not buckle during adsorption. Since the inner ring frame is attached to the cloth-like skirt member to prevent deformation in the radial direction and allow deformation in the length direction, the followability of the flange member and the seal member with respect to the wall surface is ensured. Also,
By providing the collar member with flexibility to some extent by using a resin plate or the like, the collar member can be made to follow curved surfaces and undulations, and high followability can be secured. Furthermore, by adopting a structure in which air can flow in and out between the collar member and the seal member, the seal member can be freely deformed, and it is possible to ensure the followability to joints, steps, etc. that cannot be copied by the collar member.

[0011]

EXAMPLES Next, examples of the present invention will be described.

FIG. 1A is a plan view of a coating robot of the present invention, and FIG. 1B is a side view. The painting robot 1 includes a trolley 4 having traveling wheels 3a, 3b, 3c provided at three locations on a body 2, and a painting arm 5 provided at a rear portion of the body 2.
A paint spray nozzle 6 attached to this, a skirt 8 provided around the peripheral portion of the body 2 on the lower portion of the body 2, that is, on the side of the wall surface 7, and an electric blower 9 attached to the central portion of the upper portion of the body 2. The main part is composed of an annular frame 10 provided around the outer periphery of the body 2 and a drive means 11 for driving the frame.

The body 2 of the trolley 4 is formed in a substantially disc shape, and traveling wheels 3a, 3b, 3c are attached to the wall surface side of the overhanging portion 12 formed at three peripheral portions thereof. Two of the traveling wheels are driving wheels, and the other one is a driven wheel 3c. Motors 14 for driving wheels are provided outside the wheel support frame 13 of the drive wheels 3a and 3b. The carriage 4 controls these motors 14 to drive the left and right drive wheels 3
By driving a and 3b at the same rotational speed, the vehicle travels straight, and by stopping one driving wheel or driving at different rotational speeds, the vehicle turns left and right. An aluminum plate or the like having a honeycomb structure is used for the body 2 of the dolly 4 to reduce the weight.

The coating arm 5 is fixed to the left and right overhanging portions 12a and 12b provided with the traveling wheels 3a and 3b, respectively, and a pair of support frames 15 extending rearward of the carriage 4 from this.
It is composed of a pneumatic cylinder (rodless cylinder) 16 which is hung and supported by the front ends of both the support frames 15, and a sliding block 17 which is provided on a rear side surface 16 a of the cylinder 16. The sliding block 17 is attached to the piston head 19 in the cylinder tube 18 through a slit (not shown) formed in the cylinder tube 18 over substantially the entire length, and air is supplied to the left and right cylinder chambers in the cylinder 16. By supplying and discharging, the piston head 19 reciprocates between both ends of the cylinder 16. Parts such as the support frame 15 and the cylinder tube 18 of the coating arm 15 are made of aluminum.

The paint spray nozzle 6 is attached to a sliding block 17 with its discharge port 6a facing the wall surface 7, and can be reciprocated between both ends of the cylinder 16 by driving the cylinder. . The paint spray nozzle 6 sprays the paint by diffusing it in a direction orthogonal to the direction in which the cylinder 16 moves the nozzle. In FIG. 1, the injection range is shown by a two-dot chain line. In this case, a wide coating width is secured by using the cylinder 16 that is longer than the width of the carriage 4.

The skirt 8 has a cylindrical skirt member 20 attached to the wall surface 7 side of the body 2 so as to go around the peripheral edge portion of the body 2, and the skirt 8 is edged to the outside of the hem of the skirt member 20. Collar member 2 attached to
It is composed of 1 and 1. Skirt member 2 of body 2
An exhaust port 22 is formed in the center of the portion surrounded by 0, and the electric blower 9 is attached to the exhaust port 22.

The skirt member 20 is formed of a non-breathable cloth-like body such as a resin sheet of nylon or the like or a cloth coated with a resin, and is formed to have a length such that its hem contacts the wall surface 7. . The upper peripheral portion of the skirt member 20 is hermetically connected to the body 2. Collar member 21
Is a resin plate material processed into an annular shape, and its inner peripheral edge portion is airtightly connected to the skirt portion of the skirt member 20 by a method such as bonding. The brim member 21 has much higher rigidity than the skirt member 20 and has flexibility to imitate the uneven wall surface to some extent.

As shown in FIG. 2, an annular frame member (inner ring frame) 23 is attached to the skirt member 20 near the flange member 21 along the inner circumference of the skirt member 20. The skeleton member 23 is formed by annularly forming an aluminum rod and joining both ends thereof, and has a rigidity that does not deform when the suction force of the electric blower 9 is applied to the skirt member 20. . Further, a seal member 24 is provided on the wall surface 7 side of the skirt member 20 and the collar member 21 to cover a portion from the position of the bone member 23 to the outer peripheral edge portion of the collar member 21. This seal member 24
2C, a cloth-like body made of the same material as the skirt member 20 is formed into a shape shown in FIG. 2C by fitting the lower part of the skirt member 20 and the collar member 21, and the inner peripheral edge portion thereof is a bone of the skirt member 21. By connecting the outer peripheral edge portion to the outer peripheral edge portion of the collar member 21 airtightly by a method such as bonding at the member 23 attachment position, the position from the bone member 23 of the skirt 8 to the outer peripheral edge portion of the collar member 21 is connected. The air chamber 25 is formed by forming a hollow double-layered structure. Small-diameter openings 26 are formed in places on the collar member 21 so that air can enter and leave the air chamber 25.

The frame 10 is formed by connecting a large-diameter ring member 27 and a small-diameter ring member 28 with spoke members 29. In this case, on a ring-shaped base plate 30 attached to the body 2 of the carriage 4. A plurality of support blocks 31
It is rotatably supported via. Ring member 27,
28, the spoke member 29, and the base plate 30 are all made of aluminum. Support block 31
Are arranged at substantially equal intervals on the outer peripheral portion of the base plate 30 to support the large-diameter ring member 27 in places. As shown in FIG. 3, each support block 31 has a large-diameter ring member 27 that slightly protrudes into the inside of the block body in which a concave portion 31a for receiving the outer peripheral portion of the large-diameter ring member 27 is formed. And a pair of ball bearings 32 in contact with the upper and lower sides. The surface of the ball bearing 32 is coated with a resin to reduce sliding resistance. The large-diameter ring member 27 has the support blocks 31.
It is rotatably supported by the ball bearing 32. The hose 33 for supplying paint to the paint spray nozzle 6, the hose 34 for sending air to the cylinder 16, the electric blower 9, and the small-diameter ring member 28 of the frame 10 rotatably provided in this manner. A cable supporting member 36 for collectively supporting a power cable 35 for supplying electric power to the wheel drive motor 14 is fixed.

Driving means 11 for driving the frame body 10
Is a chain 3 attached to a large-diameter ring member 27.
7, a sprocket 38 provided on the rear portion of the base plate 30, and an electric motor 39 having an anti-exposure structure for rotating the sprocket 38. The chain 37 is fixed by surrounding the entire circumference of the large-diameter ring member 27. The sprocket 38 meshes with the chain 37 to form a so-called pin gear drive mechanism. By rotating the sprocket 38 with an electric motor 39, the chain 37 can be fed to rotate the frame 10.

An inclination angle sensor 40 is attached to the spoke member 29 of the frame body 10. This tilt angle sensor 40
Is within a range of ± 10 degrees, and a detection signal thereof is sent to a servo circuit in the electric motor 39 via a signal line (not shown) so that the inclination angle sensor 40 always indicates 0 degrees. The motor 39 is driven to adjust the posture of the frame body 10. That is, this painting robot 1
Is designed so that the posture of the frame body 10 does not change regardless of the posture of the carriage 4, and in this case, the cable support 36 is always positioned at the top of the frame body 10. The posture of the body 10 is adjusted. In order to allow relative rotation of the frame 10 with respect to the carriage 4, the hoses 33, 34 and the cables 35 are temporarily raised on the carriage 4 as shown in FIG. Three
It is fixed at 6. The hoses 33 and 34 and the cable 35 are connected to a paint tank (not shown), a power source, etc., which are provided at predetermined locations outside the painting area.

An optical sensor 41 is provided on the large-diameter ring member 27 of the frame 10 at a position symmetrical to the inclination angle sensor 40. The optical sensor 41 is a sensor for detecting a distance to guide marks 53a and 53b described later,
The detection unit side is arranged on the cable supporting member 36 side and is attached in parallel to the tangent line of the ring member 28.
The optical sensor 41 includes a light source 42 that projects near-infrared light and a photodetector 43 that detects the return light from the measurement target. The optical sensor 41 determines the distance based on the amount of light that is attenuated until the light returns. measure. The detection value of the optical sensor 41 is the trolley 4,
It is adapted to be sent to a coating operation control device (not shown) which controls the drive of the coating arm 5 and the coating material spray nozzle 6.

The light source 42 and the light receiver 43 of the optical sensor 41
Are arranged in parallel in the casing 44 as shown in FIG. The housing part 45 of the light source 42 and the housing part 46 of the light receiver 43 are partitioned by a partition wall 47. Further, the light source 42 and the light receiver 43 are arranged in the back of the respective housing portions 45 and 46, and the emitting portion 42a and the light receiving portion 43a are sufficiently separated from the openings 44a and 44b on the front surface of the casing 44, so that the disturbance light is incident. To reduce as much as possible. Also, the partition wall 47
An air passage 48 that connects the rear end surface 44c of the casing 44 and the housing portions 45, 46 is formed inside the housing 44, and each housing portion 45 is connected from the pipe 49 connected to the rear end surface 44c of the casing 44 through the air passage 48. , 46, clean air is introduced. This allows the opening 44 on the front surface of the casing 44 from the inside of the accommodation portions 45 and 46.
It is possible to prevent an mist of paint or the like from entering the housing portions 45 and 46 by forming an air flow that flows to the outside through a and 44b, and prevent the emission portion 42a and the light receiving portion 43a from being soiled. In this case, a part of the air sent to drive the cylinder 16 is used as the purge air.

The base plate 30 to which the frame body 10 is attached has the body 2 of the carriage 4 at three outer peripheral edge portions.
The business trip portions 30a, 30b, 30c are formed in accordance with the above, and the body 2 is attached to each business trip portion 30a, 30b, 30c.
A hole through which the fixing screw 50 is inserted is formed in communication with the side hole. The painting robot 1 uses three fixing screws 50, two of which are used for the painting arm 5.
The support member 51, the base plate 30, the body 2, and the support members 52a and 52b of the drive wheels 3a and 3b together.
It is assembled by tightening the base plate 30 and the body 2 with the remaining one.

Next, the coating operation of the coating robot 1 of this embodiment will be described with reference to FIG. This figure shows the case of painting a vertical wall such as a cylindrical tank. Although not shown here, hoses and cables connected to the painting robot 1 extend upward along the wall 7 and Is equipped with winches for hoses and cables.

In such a case, guide marks 53a and 53b are provided on the left and right sides above the coating area A, and coating is started from one of the left and right ends of the lower end of the coating area A, which is the right end in this example. Specifically, the electric robot blower 9 is driven to attract the skirt 8 to the wall surface 7 so that the paint spray nozzle 6 faces the coating start position A1.
After placing the in a horizontal running posture, start the painting operation.
The subsequent operation of the painting robot 1 is controlled by the painting operation control device.

That is, the coating robot 1 controls the left and right drive wheels 3a and 3b to run the carriage 4 in the horizontal direction under the control of the coating operation control device, and drives the coating arm 5 to advance the nozzle 6. While reciprocating left and right with respect to the direction,
The paint is sprayed on the wall surface 7 to apply the paint. At this time, the optical sensor 41 constantly projects near infrared light and detects the returned light. The coating operation control device determines whether the coating robot 1 is at the left or right end of the coating area each time the reflected light from the guide marks 53a and 53b is detected, and the distance from the guide robot 53 to the guide marks 53a and 53b. After stopping the spraying of the paint at the edge of the painting area, move the trolley 4 180 degrees upward so that the next painting range wraps around the painted part a little, and then run the trolley 4 again. And start spraying paint. The coating robot 1 repeats this operation to sequentially perform coating from the lower side of the wall surface 7 to the upper side, and coat a predetermined area. After the painting is completed, the painting robot 1 travels on an unpainted portion and moves to the next painting start point or the like.

As described above, the coating robot 1 of this embodiment
Is a guide mark 5 installed on both the left and right sides of the painting area A.
With 3a and 53b as a reference, paint back and forth by yourself. At that time, the carriage 4 turns in places and changes its direction repeatedly, but the frame body 10 provided on the carriage 4 has a driving means such that the inclination angle sensor 40 attached to the spoke member 29 always indicates 0 degree. Driven by 11,
Even if the carriage 4 travels in any posture, it is always kept in a constant posture. In this case, the cable supporting member 36 attached to the frame body 10 is always positioned at the top.
The posture of is maintained. Therefore, the withdrawal direction of the hose and cables from the painting robot 1 is always kept constant (upward), and there is no problem that the hose and cables get entangled with the painting robot 1 and hinder the movement.

Further, the coating robot of this embodiment employs a so-called air adsorption system in which the inside of the skirt 8 is negatively pressured by the electric blower 9 so as to adsorb to the wall surface 7.
This does not make the skirt 8 adhere to the wall surface 7,
A slight gap is formed between the skirt 8 and the wall surface 7 to reduce the sliding resistance. That is, when the electric blower 9 is driven to start exhausting, the pressure inside the skirt member 20 decreases, the skirt member 20 deforms as shown by the dotted line in FIG. 2B, and the seal member 24 and the wall surface 7 are separated. Gap d
A flow of air is formed therethrough. When this gap d becomes smaller, the resistance becomes larger than the capacity of the electric blower 9, the flow velocity of the air passing through the gap d decreases, and the static pressure rises. When the gap d becomes large due to this increase in static pressure, the flow velocity of air increases and the static pressure decreases. By maintaining the equilibrium between these two states, an appropriate minute gap is maintained between the seal member 24 and the wall surface 7, which is the attracted surface, and sealing performance and low sliding resistance are realized at the same time. The seal member 24 is
Since the outer peripheral edge portion is connected to and supported by the collar member 21, it is not drawn into the skirt during suction. Since the inner ring frame 23 is attached to the cloth-like skirt member 20 to prevent the deformation in the radial direction and allows the deformation in the length direction, the collar member 21 and the flange member 21 with respect to the discontinuous portion such as joints or steps of the wall surface 7 are formed. The followability of the seal member 24 is secured. Further, the air chamber 25 formed between the collar member 21 and the seal member 24 has an opening 26 in the collar member 21.
By adopting a structure in which air can flow in and out through the seal member 24, the seal member 24 can be freely deformed to ensure the followability when overcoming a step or the like as shown in FIG.

FIG. 8 compares the followability of the seal member 24 with respect to the wall surface 7 when the inner ring frame 23 is attached to the skirt member 20 and when it is not attached. As can be seen from the figure, when the inner ring frame 23 is present, the skirt member 20 is deformed to improve the followability of the seal member 24, and when the inner ring frame 23 is not present, conversely the skirt member 20 is deformed to cause the seal member 24 to deform. The trackability of is poor.

In this way, a slight gap is formed between the skirt 8 and the wall surface 7 and the sealing member 24 for the wall surface 7 is formed.
By making it possible to secure the following ability, it is possible to simultaneously realize a reduction in sliding resistance and an improvement in suction force. Therefore, it is possible to use the electric blower 9 and the wheel drive motor 14 having a small capacity, and it is possible to reduce the weight of the robot.

Further, since the coating robot of this embodiment is connected by the three fixing screws 50 as described above, by removing these screws 50, the coating arm 5 and the coating material spray nozzle 6 can be separated. A block consisting of a base plate 30, a frame body 10 and a driving means 11, a body 2, a skirt 8, an electric blower 9 and a driven wheel 3.
a block consisting of c and two running wheels 3a, 3b, 3
The block of c can be easily decomposed into a total of 5 blocks.
Therefore, the total weight of the coating robot 1 is, for example, 80
If it is about kg, it can be divided into blocks of about 20 kg, which is convenient for transportation.

In this embodiment, the case where the guide marks 53a and 53b are installed on the left and right sides above the coating area S and the painting robot 1 is made to perform the painting work is explained. However, the installation places of the guide marks 53a and 53b are explained. Is not limited to this, and may be provided, for example, on the left and right sides below the coating area or at three or more locations. In short, a coating operation control device for controlling the operation of the coating robot 1 is equipped with an arithmetic circuit or a program for detecting the position of the coating robot 1 based on the guide mark, and the coating robot 1
It suffices that the robot automatically moves in a predetermined area based on the guide mark so that the painting work can be performed.

In this embodiment, the case of painting a vertical wall surface of a cylindrical tank or the like has been described, but the painting robot of the present invention can be applied to painting the roof or ceiling of a tank. Since this painting robot adopts the air adsorption method, unlike the magnetic adsorption method, it can be used in a very wide range regardless of the material of the attracted surface.

[0035]

In summary, according to the present invention, the following excellent effects can be exhibited.

(1) According to the coating robot of the present invention,
Since the attitude of the frame body is adjusted so that the tilt angle sensor of the frame body rotatably provided on the trolley always shows a constant value,
By supporting the hose or cable extending from the paint spraying device or electric blower in the middle of this frame, the drawing direction of the hose or cable from the painting robot is always constant no matter how the dolly's posture changes. Therefore, it is possible to prevent them from being entangled with the dolly and ensure smooth running.

(2) According to the adsorption traveling device of the present invention,
An appropriate minute gap is maintained between the seal member and the wall surface,
A high sealing property and a low sliding resistance can be realized at the same time, and a high sealing property at the step can be realized.

[Brief description of drawings]

FIG. 1 is a diagram showing an embodiment of a coating robot of the present invention, (a) is a plan view and (b) is a side view.

2A and 2B are views showing a suction skirt mounted on the coating robot of FIG. 1, in which FIG. 2A is a perspective view and FIG.
FIG.

FIG. 3 is an enlarged side view of a main part of the coating robot of FIG.

4 is a partial side view of the painting robot of FIG. 1. FIG.

5 is a cross-sectional view showing an optical sensor mounted on the coating robot of FIG.

6 is a plan view showing an example of a coating operation of the coating robot of FIG.

7A and 7B are conceptual views showing a suction mode of the skirt of FIG. 2 with respect to a suction surface, where FIG. 7A is a perspective view and FIG. 7B is a partial sectional view of FIG.

FIG. 8 is a cross-sectional view taken along the line AA of FIG. 7, where (a) shows a follow-up state with respect to the wall surface of the seal member when the inner ring frame is provided and (b) is not provided.

[Explanation of symbols]

 1 Painting Robot 2 Body 3 Running Wheel 4 Truck 5 Painting Arm 6 Paint Spraying Nozzle 7 Wall Surface 8 Skirt 9 Electric Blower 10 Frame 11 Drive Means 20 Skirt Member 21 Slit Member 22 Exhaust Port 23 Bone Member (Inner Ring Frame) 24 Sealing Member 25 air chamber 26 opening

Front page continued (72) Inventor Riki Naito 3-2-16 Toyosu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries, Ltd. Toyosu General Office (72) Hideo Hikiji 3-2-16 Toyosu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries Co., Ltd. Toyosu General Office (72) Inventor Tadayuki Yamamoto 3-15 Toyosu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries Co., Ltd. Toni Technical Center

Claims (5)

[Claims] 1. A skirt is attached to a traveling surface side of a body of a trolley that is mounted with a paint spraying device, and an exhaust port is formed in a portion surrounded by the skirt of the body. In a painting robot that performs painting work by adsorbing to a wall surface by exhausting the inside of a skirt, a frame body is provided on the dolly around the outer periphery of the body and rotatable around a vertical axis of the running surface. A drive means for fixing the inclination angle sensor to the frame body and rotating the frame body so that the inclination angle sensor always shows a predetermined value is provided in the middle of a hose or a cable extending from the paint spraying device or the electric blower. A painting robot characterized by being supported by a frame. 2. Guide marks provided on both sides of a coating range, optical sensors fixed to the frame for detecting a distance between the guide marks, and the trolley and the paint sprayer based on detection values of the optical sensors. The painting robot according to claim 1, further comprising a painting operation control device that controls driving of the device. 3. The coating robot according to claim 2, wherein the optical sensor includes a light source that projects near-infrared light and a light receiver that detects return light from a measurement target. 4. The coating robot according to claim 3, wherein the light source and the light receiver are arranged in parallel in a casing with a partition wall between them, and the casing is purged with clean air. 5. A suction device that mounts a skirt in contact with a wall surface on a body of a trolley for traveling on a wall surface, and exhausts the space surrounded by the skirt from the body side to a negative pressure to adsorb to the wall surface for traveling. In the traveling mechanism, the skirt is provided with a tubular skirt member formed of a cloth-like body attached to the wall surface side of the body, and extending outside the skirt of the skirt member so as to be framed. A flange member made of a plate material, an annular bone member provided near the flange member of the skirt member to restrict the deformation of the skirt member, and a portion from the bone member position of the skirt member to the outer peripheral edge portion of the flange member. A seal member made of a cloth-like member provided on the wall surface side so as to have a hollow double structure, and an opening provided in the collar member for introducing the atmosphere between the seal member and the collar member. An adsorption traveling mechanism characterized by having.