JPH084766B2 - Structure painting robot - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a simple structure painting robot for automatically painting or repainting a relatively small-scale structure such as a side plate or a bottom plate of a footbridge.

[0002]

2. Description of the Related Art Conventionally, for painting or repainting bridges and retaining walls, scaffolds are assembled from the ground to manually paint, and when repainting, the paint is stripped off and stains are removed as a pretreatment. If it is not possible to build a scaffold from the ground, such as a pedestrian bridge where traffic is obstructed, scaffolding can be clamped at an appropriate place on the structure such as U-shaped steel used for bridge girders for transportation. Attaching rails, suspending the scaffolding floor on a carrier that is movably supported along this transport rail, multiple workers get on and work, and move the scaffolding floor manually as work progresses. What has been done is proposed. Also, sufficient strength
Was suspended scaffolding floor equipped with, running the entire range of the floor
There is a large-scale painting that has an articulated robot.
It (Actual Kaihei 1-152760 etc.)

[0003]

THE INVENTION Problems to be Solved] In this way, when working aboard the scaffold floor, which suspended the carrier is, since a plurality of workers to manually at the same time riding on the scaffold floor, enough
Requires a wide scaffolding floor with sufficient strength , the entire structure is enlarged to become a large-scale facility, and relatively small such as a pedestrian bridge.
It is not suitable for painting or maintaining large-scale structures.
Also, even if the carrier or scaffolding floor is simply made small,
It is hard to move because it shakes a lot to do the work.
However, there is a problem that the work is done at high
Therefore, improvement is desired. If the scale of construction is small
For installing large scaffolding floors, articulated robots, etc.
Installing expensive painting equipment will make the equipment larger and
It was rather inconvenient to install and operate on a bridge. Book
The invention is easy to use for painting such small structures.
To provide an automatic coating device (robot) that can
It

[0004]

For this reason, the present invention provides a carrier rail clamped to the outside of a structure, a carrier traveling along the carrier rail by a drive motor, and a carrier table suspended by the carrier. provided, in the conveying table, transport
Tool operating device installed in a direction almost perpendicular to the direction
Place the blasting device and the coating device, and
The operating device has a tool operating shaft consisting of a feed screw and this tool operating shaft.
Servo motor that rotates the work axis and tool operation axis are painted surfaces
So that the mounting angle can be adjusted to be parallel along
A brass that is screwed onto the mounting device and screwed onto the tool operating shaft.
Install the nozzle or painting nozzle facing the painting surface
It is equipped with a tool holder and can be operated remotely by an electric control device. <br /> The carrier drive motor and the tool operation axis servomotor can be
By driving with a program set in advance, the nozzle attached to the tool holder is moved along the painted surface to cover the entire painted surface.
No paint is put on the carrier, or only a worker for monitoring is used to paint or repaint.

[0005]

EXAMPLE An example shown in the drawings will be described below. 1
Is a structure such as a pedestrian bridge, 2 is a balustrade, 3 is a painted surface under the bridge girder, 4 is a clamp attached to the outside of the pedestrian bridge 1, 5 is a transport rail, and is suspended outside the pedestrian bridge 1 by the clamp 4. Reference numeral 6 denotes a drive carrier which is attached to the transport rail and travels along the transport rail by a drive motor 61, 7 denotes a driven carrier connected to the drive carrier, and 8 denotes a transport platform which is suspended by the driven carrier 7.

In the pedestrian bridge 1, as shown in FIG. 3, a bridge girder 11 is supported by vertical beams 12 and horizontal beams 13, and the outer and lower sides of these structural members are surrounded by an iron plate 14 to protect them from wind and rain. A painted surface 3 is provided to prevent rust. For example, as shown in FIG. 4, the clamp 4 is attached with bolts 43 by sandwiching the balustrade 2 with a support piece 41 and a contact plate 42,
The end of the support piece 41 protruding to the outside of the pedestrian bridge 1 is fixed by a bolt 44, and the transport rail 5 connected to the clamp 4 is hung outside the pedestrian bridge 1 in an overhung state. The transport rail 5 is meshed with the gears of the drive carrier 6 and the driven carrier 7 by a rack, for example, and travels by the drive motor 61 of the drive carrier 6.

The carrier 8 is a hanging metal fitting 71 of the driven carrier 7.
In this embodiment , the carriages are suspended on both sides of the pedestrian bridge 1.
The carriage 5 so that the carriage 8 surrounds the underside of the footbridge 1.
And only one side is shown in the figure. Reference numeral 9 denotes a tool operating device attached to the carrier table 8, which has a tool operating shaft 92 composed of a feed screw provided in an outer frame 91, and a tool holder 93 is screwed to the tool operating shaft.
A tool such as a blast nozzle 10 shown in the drawing or a coating nozzle not shown in the drawing is attached to the servo motor 9
At 4, the tool operating shaft 92 is rotated to move the blast nozzle 10 along the painted surface 3.

Reference numeral 95 denotes a mounting device for the tool operating device 9 for carrying
The side plate 8a of the base 8 has a vertical mounting groove 81a and a horizontal mounting groove 81a.
A mounting seat 95 provided with an outer frame 91 having a mounting groove 81b.
Tool operation of a and 95b along the mounting grooves 81a and 81b
Adjust the mounting angle so that the shaft 92 is parallel to the painted surface 3.
Then, tighten the mounting screws 82a and 82b
I am making it. Reference numeral 20 denotes a blast device, which sends a blast material to a blast nozzle via a hose 21 and collects the blast material ejected from the blast nozzle with a hose 22. 100
Is an electric control device for driving the drive motor 61 and the servo motor 94 via the control wire 101 or wirelessly.

A support piece 41 is attached to the balustrade 2 of the pedestrian bridge 1, and the transport rail 5 is suspended by the clamp 4. A drive carrier 6 and a follower carrier 7 are attached to the carrying rail 5, and a carrying stand 8 carried under a pedestrian bridge is lifted up by a vehicle (not shown) and attached to a hanging metal fitting 71 of the follower carrier 7. The tool operating device 9 is attached to the side plate 8a of the carrier table 8 with attaching screws 82a and 82b .
Set the positions of the mounting screws 82a and 82b to the mounting grooves 81a and 81b.
To move the tool operating shaft 92 parallel to the painted surface 3.
Adjust so that it becomes tight and tighten it. The tool operating device 9 is fixed by adjusting the attachment position and the angle so that the blast nozzle 10 attached to the tool holder 93 of the tool operating shaft 92 contacts the coating surface 3 of the iron plate 14.

After this installation, the servo motor 9
4, the tool holder 93 is moved to set the moving range of the blast nozzle 10, and the moving carrier 6 is set in the electric control device 100 on the ground according to the speed of the servo motor 94, the amount of forward and reverse rotations, and the moving speed of the blast nozzle. The speed and movement amount of the drive motor 61 to be moved are stored. Therefore, the electric control device 100 controls the drive motor 61 from the ground.
Is operated to move the carrier 8 in the length direction of the pedestrian bridge 1, and the servo motor 94 is normally or reversely rotated within a predetermined range to reciprocally move the tool holder 93 to move the blast nozzle 10 to the length of the pedestrian bridge. while moving in the direction, it is reciprocated I along the tool operating shaft 92, to remove the peeling and dirt rust and old paint over the entire painted surface 3.

Adjustment of the tool operating device 9 and an electric control device
To store and operate the storage device 100, move the carrier 8 to the end of the pedestrian bridge 1.
If there is an obstacle such as a sign board on the painted surface, it can be removed from the moving range when setting the moving range in advance. Also,
The tool operating devices 9 may be provided on both sides of the carrier 8 with the pedestrian bridge 1 sandwiched therebetween, and the tool operating shafts 92 on both sides may be operated simultaneously, and another tool operating device 20 is provided below the iron plate 14, It is also possible to perform work on the bottom coated surface.

When the pretreatment such as rust and dirt removal by the blast nozzle 10 is completed, the blast nozzle 10 is replaced with a coating nozzle and connected to a coating device mounted on the carrier 8, and the same as in the case of the blast nozzle. Operate and repaint the painted surface. The moving speed during painting is 100
Can be different from the case of the blast nozzle.

In the above embodiment, the side surface and the lower surface of the pedestrian bridge were repainted. However, even when the carrier table 8 is suspended only on one side like a retaining wall, the carrier rail 5 and the carrier rail are conveyed to the retaining wall. If the table 8 is overhung and the tool operating shaft on the carrying table is installed so as to face the retaining wall, it can be operated from the ground by the electric control device. Also, in order to make fine adjustments to the painted surface, if it is necessary to work while directly observing the movement state of the nozzle, put a worker on the carrier to monitor and operate the electric control device. Alternatively, in this case, the operator does not have to manually move the carrier or the nozzle other than the operation of the electric control device.

[0014]

As described above, according to the present invention, the carrier rail mounted on the outer side of the structure and the carrier table suspended by the carrier traveling by the drive motor along the carrier rail are provided on the carrier table. In a direction almost perpendicular to the transport direction.
Installed tool operating device, and the tool operating shaft is painted
The mounting position can be adjusted so that it is parallel to the mounting surface.
In addition , a nozzle is attached to the tool operating shaft, and an electric control device for controlling a drive motor for traveling the carrier and a servo motor for driving the tool operating shaft is provided.
And the tool operating device for painting is small and easy to use as a carrier.
It is configured as a single unit, has a small carrier, and has a separate coating roll.
You don't need a bot. Further, by controlling the carrier and the tool operating shaft from the ground by the electric control device, it is possible to automate the pretreatment of the painting surface and the painting work required for repainting.

Also, when it is necessary to operate the electric control device on the carrier, one or two workers do not have to move on the carrier, so the space on the carrier is small. It is possible to do, and there is almost no shaking caused by the movement of the worker.

Therefore, the carrying platform has a small loading weight,
It can be easily made compact and effective for small-scale structures.
Ri, there is no shaking, nozzle and stabilize the holding distance between the painted surface finish eliminating unevenness of blasting and painting is beautiful, not only improves the work efficiency, the work itself is electrically pretreatment and painting It has the effects of being automated by control, improving the work environment, and ensuring work safety.

[Brief description of drawings]

FIG. 1 is a schematic front view of a part showing an example in which the present invention is applied to a pedestrian bridge.

FIG. 2 is a partially enlarged view showing a part of the embodiment in detail.

FIG. 3 is a side sectional view taken along the line AA in FIG.

FIG. 4 is a top view showing an example of a clamp attached state.

[Explanation of symbols]

1 Pedestrian Bridge 2 Parapet 3 Painted Surface 4 Clamp 5 Conveyor Rail 6 Drive Carrier 7 Driven Carrier 8 Conveyor Table 9 Tool Operating Device 10 Blast Nozzle 61 Drive Motors 81a, 81b Mounting Grooves 82a, 82b Mounting Screws 92 Tool Operating Axis 93 Tool Holder 94 Servo Motor 95 Mounting device 95a, 95b Mounting seat 100 Electric control device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toshimoto Io 2 315 Uesoko Ino, Nakazai, Fukuoka, Fukuoka Prefecture Yasukawa Kikai Giken Co., Ltd. (72) Go Hirayama, 315 Kaosoko Ino, Nakashi, Fukuoka Address No. 2 within Yasukawa Equipment Giken Co., Ltd. (72) Inventor Yuji Kumamoto No. 315, Ujisoko Ino, Nakazai, Fukuoka Prefecture No. 2 Address within Yaskawa Equipment Giken Co., Ltd. (56) Reference JP-A-61-122313 (JP, A) Japanese Unexamined Patent Publication No. 61-122310 (JP, A) Actual Kaihei 1-152760 (JP, U)

Claims (1)

[Claims] 1. A carrier rail detachably attached to the outside of a structure, a carrier traveling along the carrier rail by a drive motor, and a carrier table suspended by the carrier, the carrier table comprising: Almost in the transport direction
Tool operating device installed at right angles and blasting device
Place the coating device and the tool operating device
The same tool operating axis and this tool operating axis are rotated.
The servo motor and tool operating axis are parallel to the painted surface.
Mounting with screws so that the mounting angle can be adjusted
The blast nozzle or coating is screwed onto the device and the tool operating shaft.
Install the tool holder with the mounting nozzle facing the painted surface.
An electric control for controlling the drive motor and the servo motor.
A structure painting robot characterized by having a control device .