JPH06226163A - Spraying robot - Google Patents

Abstract

PURPOSE:To enhance the safety of spraying work by preventing the falling-down of a spraying robot at the time of the running on a slab by collectively arranging the operation system of the spraying robot to the upper part of a moving member at a place separated from the edge part of the slab. CONSTITUTION:In a spraying robot, a first frame 73 is supported within a vertical plane in a revolvable manner at the place near the edge part 101 of the car body frame 71 moving on the upper surface 103 of a floor slab 1 along the edge part 101 thereof and a second arm 75 having a spraying nozzle 79 provided to the leading end thereof is supported so as to be slidable in the direction crossing the longitudinal direction of the first arm 73 and a drive wheel 7107 and a follower wheel 7109 are arranged to the rear surface 7105 of the car body frame 71. A housing 7129 is arranged to the upper part of the car body frame 71 at the place on the side of the follower wheel 7109 separated from the edge part 101 of the floor slab 1 and an operation system such as the display screen 7137 of a monitor television 7133 or manual operating switches 7139 is collectively arranged on the operation surface 7135 thereof.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a spraying robot for spraying a coating material.

[0002]

2. Description of the Related Art For example, in a high-rise building having a steel frame structure, a refractory material mixed with rock wool, cement slurry or the like is sprayed on an outer portion of a peripheral beam supporting a ceiling slab or a floor slab. And conventionally, the operation of spraying the refractory material has been performed manually.

However, when the refractory material is sprayed by hand, floating dust generated during spraying adheres to the worker, resulting in deterioration of working environment. Further, in order to manually perform the spraying work of the refractory material, in order to position the spraying worker on the outer portion of the outer peripheral beam, a scaffold is built around the building, or a gondola for carrying the spraying worker is placed on the building. You will have to hang it from the roof. Therefore, in recent years, the spraying work of the refractory material has been carried out by using a spraying robot which operates unmanned without any manual labor.

[0004]

When spraying a refractory material using a spraying robot, a moving body is run along the edges of a ceiling slab or a floor slab, and the outer periphery of the moving body is below the slab. The arm is extended toward the beam or the like, and the refractory material is ejected from the spray nozzle provided on the arm to the outer beam or the like.

In automatically performing the operation of spraying the refractory material using the above-mentioned spraying robot, it is necessary to perform the initial setting of the spraying area of the refractory material, the spraying thickness of the refractory material, etc. to the spraying robot, Further, when the spraying work is performed by manually changing the direction of the spraying nozzle, it is necessary to operate the operation switches according to the change. Therefore, how to perform the initial setting and the operation of the operation switches in a place close to the spraying robot is a problem for efficient spraying work using the spraying robot.

Further, because the arm extends below the slab from the moving body portion near the edge of the slab, the moving body falls to the moving body portion where the arm extends due to the weight of the arm. The force that makes it work. Therefore, from the viewpoint of safety such as prevention of falling of the spraying robot from the slab, how to make the spraying robot reliably travel on the ceiling slab or floor slab without tipping is a problem.

The present invention has been made by paying attention to the above points, and when performing the work of spraying a refractory using a spraying robot, various operations accompanying it can be efficiently performed, and the spraying is performed. An object of the present invention is to provide a spraying robot capable of preventing the robot from falling when traveling on a slab and improving the safety of spraying work.

[0008]

In order to achieve the above object, the present invention according to claim 1 is directed to a moving body which moves on the slab along an edge of the slab, and an edge of the slab in the moving body. An arm provided at a portion close to the part, a spray nozzle that is supported by the arm and sprays a covering material to a portion below the slab outside the edge of the slab, and the moving body along the edge of the slab. In the spraying robot, the operating system of the spraying robot is concentratedly arranged at a position apart from the edge of the slab above the moving body.

According to a second aspect of the present invention, the arm is rotatably supported in a vertical plane at a position near the edge of the slab in the movable body, and the arm is not sprayed with the covering material. Is rotated upward so that the operation system is located below the arm.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a side view showing a schematic configuration of a spraying robot according to an embodiment of the present invention, and FIG. 1 shows a state during a spraying operation. In FIG. 1, 1 is a floor slab. The floor slab 1 is installed on each floor of a structure (not shown), and an edge portion 101 of the floor slab 1 is supported by a peripheral beam 3 of H steel or the like extending in the horizontal direction. On the upper surface 103 of the floor slab 1 near the edge 101, the edge 10
1, a rail member 5 having a substantially U-shaped cross section that extends in the horizontal direction is attached with its opening 501 facing the direction opposite to the edge portion 101 of the floor slab 1.

In FIG. 1, reference numeral 7 denotes a spraying robot, and this spraying robot 7 comprises a body frame 71 (corresponding to a moving body), a first arm 73, a second arm 75, a nozzle support mechanism 77, and a spray nozzle 79. ing. The body frame 71 travels horizontally on the upper surface 103 of the floor slab 1 along the edge portion 101 thereof, and at a position on the upper surface 7101 near the edge portion 101 of the floor slab 1,
A support shaft 730 fixed to the base end 7301 of the first arm 73.
3 is pivotally supported. That is, the first arm 73
Is the edge 1 of the vehicle body frame 71 via the support shaft 7303.
It is rotatably supported at a position near 01 in a vertical plane.

On the lower surface 7105 of the vehicle body frame 71, at a position near the edge portion 101 of the floor slab 1, drive wheels 7107 are arranged in a direction parallel to the extending direction of the edge portion 101. The lower surface 7105 of the side away from the edge 101 of the floor slab 1, that is, the location spaced from the drive wheel 7107 in the direction intersecting the extending direction of the edge 101 of the floor slab 1, the drive wheel A driven wheel (idle) 7109 is arranged in the same direction as the 7107.

As shown in FIG. 2, two drive wheels 7107 are arranged at intervals in the extending direction of the edge portion 101, and as shown in FIG. 1, both of them are the upper surface of the floor slab 1. At 103, the rail member 3 is grounded at a position closer to the edge 101 than the rail member 3. On the other hand, the driven wheel 7109 is grounded at a position inside the rail member 3 on the upper surface 103 of the floor slab 1 as shown in FIG.

As shown in FIG. 2, the body frame 71 has an arm rotating mechanism 7111 for rotating the first arm 73 in a vertical plane, and the two drive wheels 710.
7 and a drive mechanism 7119 for driving the drive unit 7.

As shown in FIG. 2, the arm driving mechanism 71 is provided.
11 includes a motor 7113, a speed reducer 7115, and a power transmission unit 7117. The motor 7113 and the speed reducer 7115 are disposed on one side of the vehicle body frame 71 in the traveling direction and on the driven wheel 7109 side. Has been done. The motor 7113 uses the first arm 7 in the vertical plane.
When the first arm 73 is rotated downward, the rotation moment of the first arm 73 caused by the weight of the first arm 73 accelerates the rotation of the first arm 73. In this embodiment, a geared motor with a brake is used so that the motor 7113 is not loaded by this.

The speed reducer 7115 is connected to the motor 7113 to reduce the rotation thereof. In this embodiment, a speed reduction ratio of 1: 1200 is used. Power transmission unit 71
A chain sprocket mechanism 17 connects the speed reducer 7115 and the support shaft 7303 of the first arm 73, and the power transmission portion 7117 also reduces the rotation speed of the motor 7113.

Therefore, in the arm rotating mechanism 7111, the power of the motor 7113 is decelerated by the speed reducer 7115 and the power transmission unit 7117 and then transmitted to the support shaft 7303, which rotates the support shaft 7303. The first arm 73 is rotated integrally with the vertical plane.

On the other hand, as shown in FIG.
Reference numeral 19 includes a motor 7121, a speed reducer 7123, a first power transmission unit 7125, and a second power transmission unit 7127. The motor 7121, the speed reducer 7123, and the first power transmission unit 7123.
The power transmission portion 7125 is disposed on the other side of the vehicle body frame 71 in the traveling direction and on the driven wheel 7109 side.

The motor 7121 uses the two drive wheels 71.
In the present embodiment, an AC servo motor that facilitates speed control is used as the driving source for the motor 07. Reducer 71
A motor 2312 is connected to the motor 7121 to decelerate its rotation. In the present embodiment, a motor having a reduction ratio of 1: 100 is used. The first power transmission unit 7125 is composed of a chain sprocket mechanism, and connects the speed reducer 7123 and one driving wheel 7107.

The second power transmission section 7127 is composed of a chain sprocket mechanism, and the first power transmission section 71 is
25 to branch from the other side in the traveling direction of the vehicle body frame 71 to the one side, and connects the speed reducer 7123 and the other drive wheel 7107.

Therefore, in this drive mechanism 7119, the power of the motor 7121 is decelerated by the speed reducer 7123 and then transmitted to the two drive wheels 7107 via the first and second power transmission units 7125 and 7127. As a result, the two drive wheels 7107 are driven. In this embodiment, the drive wheel 7107, the driven wheel 7109, and the drive mechanism 7 are used.
The traveling means is constituted by 119.

In FIG. 1, reference numeral 7129 is a housing, which is an edge portion 101 of the floor slab 1 above the vehicle body frame 71.
At a position on the driven wheel 7109 side away from the motor 71
13, 7121, the speed reducers 7115, 7123, etc. are covered, and it is arrange | positioned so that it may project upwards. This case 71
A computer 7131 for overall control of the spraying robot 7, a monitor television 7133 for confirming the spraying state, and the like are housed in the upper space of 29. The housing 712
An operation surface 7135 is formed at an upper portion on the side of the driven wheel 7109 of 9 at an angle of about 30 ° with respect to the horizontal direction. On the operation surface 7135, a display screen 7137 of the monitor television 7133 and a manual operation screen are displayed. Operation switches 713
Operation systems such as 9 are centrally arranged.

Further, as shown in FIG. 1, the vehicle body frame 7
A cylinder 7141 is arranged on the lower surface 7105 of the floor slab 1, and the cylinder rod 7143 of the cylinder 7141 is located at the edge portion 1 of the floor slab 1.
It is directed to the 01 side. For the cylinder 7141, for example, a hydraulic cylinder, an air cylinder, a solenoid, or the like is used, and a roller 7145 is rotatably supported on the tip of a cylinder rod 7143 in a horizontal plane. The roller 7145 faces the vertical wall of the rail member 5 through the opening 501, and a roller (not shown) also faces the other surface of the vertical wall.

Therefore, the cylinder 7141 is operated to extend the cylinder rod 7143, and thereby the roller 7145 is pressed against the vertical wall of the rail member 5 from the opening 501, whereby the other surface of the roller 7145 and the vertical wall. The vertical wall of the rail member 5 is clamped by the roller (not shown) facing the
By driving the drive wheels 7107 in this state, the vehicle body frame 71 moves the upper surface 103 of the floor slab 1 onto the edge portion 1 thereof.
Drive horizontally along 01.

The first arm 73 is the second arm 75.
Together with this, it constitutes an arm that supports the spray nozzle 79, and is provided with a pair of left and right side plates 7305 as shown in FIG. 2, and each side plate 7305 has a support shaft 730 as shown in FIG.
Upper piece 73 extending from 3 to the edge 101 side of the floor slab 1
07, the vertical piece 7309 bent downward from the upper piece 7307, and the edge 101 from the vertical piece 7309.
And a lower piece portion 7311 extending to the side.

In the space 7313 between the lower piece portions 7311, the screw shaft 7 is provided along the longitudinal direction of the first arm 73.
315, support portions 7317 and 7319 that rotatably support the screw shaft 7315, and a motor 7321 that rotates the screw shaft 7315. As shown in FIG. 2, the screw shaft 73
A female screw member 7323 is screwed into the screw 15, and a flange 7325 is formed on the peripheral surface of the female screw member 7323.

As shown in FIGS. 1 and 2, a total of four slide shafts 7327 are provided around the screw shaft 7315 in the vertical and horizontal directions, one end of which is connected to the flange 7325 and the other end thereof is a guide member 7329. To the edge portion 101 side of the floor slab 1, and a substrate 7331 is attached to the other end. As shown in FIG. 1, the substrate 7331 extends to the outside of the edge portion 101 of the floor slab 1, and the second arm 75 is supported by the substrate 7331.

Therefore, the screw shaft 7315 is rotated by the motor 7321, and accordingly, the female screw member 7323 slides in the extending direction of the screw shaft 7315 to move the slide shaft 7327 to the edge 101 side of the floor slab 1. By changing the protruding length, the second arm 75 slides in the longitudinal direction of the first arm 73. In this embodiment, the slide shaft 7327 slides so that the distance between the second arm 75 and the first arm 73 is variable within the range of 0 to 150 mm.

Also, the second arm 75 is provided on the substrate 7331.
The second arm 7 that intersects the longitudinal direction of the first arm 73.
5 is slidably supported in the longitudinal direction of the second
The arm 75 is slid in the longitudinal direction outside the edge portion 101 of the floor slab 1 by an arm slide mechanism (not shown).

As shown in FIG. 2, the floor slab 1 along the traveling direction of the vehicle body frame 71 is attached to the first arm 73.
An obstacle detection mechanism 7332 is provided for detecting an obstacle on the upper surface 103 of the. This obstacle detection mechanism 73
32 includes a rod 7333 formed to be longer than the width of the vehicle body frame 71 along the traveling direction. The rod 7333 is slidably provided at a position on the vertical piece portion 7309 side of the lower piece portion 7311 so as to be slidable along the traveling direction of the vehicle body frame 71. It projects in the traveling direction.

As shown in FIG. 3, a large-diameter cam 73 is provided at an intermediate portion of the rod 7333 located between the lower pieces 7311.
35 is formed, and this cam 7335 and both lower piece portions 7 are formed.
A coil spring 7337 for urging the rod 7333 is wound around the rod 7333 between 311 and 311 so that the cam 7335 is located at an intermediate position between both lower piece portions 7331.

Further, a micro switch 7339 is arranged at an intermediate position between the lower piece portions 7311, and the rod 7
On the pressing switch portion 7341 of the micro switch 7339 facing the 333 side, a roller 7343 rotatable along the sliding direction of the rod 7333 is provided on the rod 733.
It is arranged so that it can be engaged with and disengaged from the cam 7335 according to the sliding of 33.

The roller 7343 has the coil spring 7
Due to the urging of 337, the cam 7335 causes both lower piece portions 731.
When the roller 7343 is engaged with the cam 7335 and the roller 7343 is engaged with the cam 7333 when it is located at an intermediate position between the two, the pressing switch portion 734 of the microswitch 7339 is engaged.
1 is pressed. Also, the rod 7333
End portions of the cam 7 come into contact with an obstacle or the like, and accordingly, the rod 7333 slides along the traveling direction of the vehicle body frame 73 against the bias of the coil spring 7337, and the cam 7 moves.
When the position of 333 is displaced from the middle position between the lower piece portions 7311, the engagement between the roller 7343 and the cam 7333 is released, and the pressing switch portion 734 of the micro switch 7339 is released.
1 returns from the pressed state.

The pressing state of the pressing switch portion 7341 of the micro switch 7339 is the same as that of the computer 713.
1 is constantly monitored, and the drive wheels 7 are
The rotation direction of 107, that is, the traveling direction of the body frame 71 is controlled by the computer 7131.

The first arm 73 of the lower piece portion 7311
When the refractory material is sprayed onto the upper surface 103 of the floor slab 1, the drive wheels 710 are attached to the upper surface 103 of the floor slab 1.
The driven wheel 7345 that grounds at a position closer to the edge 101 than the position where 7 contacts the ground is the drive wheel 7107 and the driven wheel 71.
It is arranged in the same direction as 09.

As shown in FIG. 1, a spray nozzle 79 is attached to the tip 7501 of the second arm 75 via a nozzle support mechanism 77. As shown in FIGS. 1 and 4, the nozzle support mechanism 77 includes a support piece 7701, rotary actuators 7703 and 7705, a rotary substrate 7707,
It is composed of a cylinder 7709 and a swing plate 7711.

As shown in FIG. 1, the support piece 7701 is attached to the tip end 7501 of the second arm 75 and is attached to the tip end 750.
It extends from 1. Rotary actuator 770
As shown in FIG. 1, 3 is attached to the surface of the support piece 7701 on the side opposite to the surface facing the outer peripheral beam 3, and the spray nozzle 7
9 for moving the position of the second arm 75 from one side of the second arm 75 to the other side thereof.
The thing of ° is used. As shown in FIG. 1, the rotating substrate 7707 is arranged on the surface side of the support piece 7701 facing the outer peripheral beam 3 and is connected to the rotary actuator 7703. That is, the rotating substrate 7707 is rotatably supported by the support piece 7701, and the rotary actuator 770 is supported.
By the operation of 3, the rotating substrate 7707 rotates 180 ° with respect to the support piece 7701.

As shown in FIG. 4, the swing plate 7711 is connected to one side of the rotating substrate 7707 via a hinge 7713. As shown in FIG. 4, the cylinder 7709 is horizontally rotatably supported via a hinge 7717 by a support frame 7715 that is erected from the side of the rotating substrate 7707 opposite to the hinge 7713 side. The cylinder rod 7719 of the cylinder 7709 facing the swing plate 7711 is connected to the swing plate 7711 via a hinge 7721.
Is horizontally rotatably connected to the inner surface of the.

Therefore, the rocking plate 7711 is the same as the cylinder 77.
09 cylinder rod 7719 expands and contracts to allow hinge 7
It swings in a horizontal plane with 713 as the swing center. In this embodiment, the expansion / contraction stroke of the cylinder rod 7719 is set so that the rocking plate 7711 can rock within the range of 45 °, and this cylinder 7709 includes, for example, a hydraulic cylinder and an air cylinder. Alternatively, a solenoid or the like is used.

The rotary actuator 7705 is for changing the direction of the spray nozzle 79 to the vertical direction, and is attached to the outer surface of the swing plate 7707 as shown in FIG. In this embodiment, the horizontal direction serves as a boundary and the upper and lower sides are 45 °.
The rotation angle of 90 ° is used so that the direction of the spray nozzle 79 can be changed within the range of.

In the spraying robot 7 of the present embodiment constructed as described above, the first arm 73 is connected to the edge portion 10 of the floor slab 1 at the time of spraying the refractory material as shown by the solid line in FIG.
The front end 7501 of the second arm 75 is located at a position facing the outer peripheral beam 3 below the floor slab 1, and the drive wheels 7107 are rotated by the power transmitted from the drive mechanism 7119 to turn the drive wheels 7107 toward the vehicle body frame 71. , The first arm 73 and the second arm 75 are integrally reciprocated in the horizontal direction along the edge portion 101 of the floor slab 1 with a predetermined width.

At the same time, the second arm 75 is slid in the longitudinal direction by the arm slide mechanism (not shown), and the refractory material ejected from the spray nozzle 79 is
The web 31 and the upper and lower flanges 33 and 35 (FIG. 1) of the outer peripheral beam 3 are sprayed in a zigzag shape over the region of the predetermined width. When adjusting the thickness of the refractory material sprayed onto the outer peripheral beam 3, the slide shaft 7327 is used.
The second arm 75 is slid in the longitudinal direction of the first arm 73 by the above slide, and the interval between the spray nozzle 79 and the outer peripheral beam 3 is adjusted appropriately.

At this time, the refractory material is sprayed on the web 31 by directing the spray nozzle 79 perpendicularly to the web 31, and the refractory material is sprayed on the upper and lower flanges 33 and 35 by the rotary actuator 77.
The spray nozzle 79 is moved upward or downward by 45 °
It is done by tilting and pointing. Although not shown in FIG. 1, the cylinder 770 is used to spray the refractory material onto the reinforcing ribs provided between the upper and lower flanges 33 and 35.
By extending and contracting the cylinder rod 7719 of No. 9, hinge 77
The oscillating plate 7709 is oscillated in the horizontal plane with the oscillating center 13 as the oscillating center, whereby the spray nozzle 79 is horizontally moved to 4
It is performed by turning 5 °.

When the refractory material is sprayed onto the ribs (not shown), when the spraying on one surface of the rib is completed and the other surface is sprayed, the rotary actuator 7703 rotates Board 7707
The spray nozzle 79 is rotated by 80 ° to move the position of the spray nozzle 79 from one side of the second arm 75 to the other side, whereby the spray nozzle 79 swung in the horizontal direction is moved to the other surface of the rib. Orient it.

After spraying the refractory material on the area of the predetermined width of the outer peripheral beam 3, the drive wheels 7107 are rotated to move the vehicle body frame 71 horizontally along the edge 101 of the floor slab 1 by the predetermined width. At this position, the second frame 75 is slid in the longitudinal direction while reciprocating the vehicle body frame 71 with a predetermined width in the same manner as described above, and the refractory material is sprayed.

The blowing robot 7 traveling on the upper surface 103 of the floor slab 1 approaches an obstacle, such as a pillar, which is erected on the upper surface 103, and accordingly, the obstacle detecting mechanism 7332 is operated. When one end of the rod 7333 comes into contact with the obstacle or the like, and accordingly, the pressing switch portion 7341 of the microswitch 7339 returns from the pressed state and is detected by the computer 7131,
The body frame 71 is controlled by the computer 7131.
The running direction of is reversed. At the same time, the second arm 75 is slid by a predetermined amount in the longitudinal direction under the control of the computer 7131, and the outer peripheral beam 3 region to which the refractory material is sprayed by the spray nozzle 79 is shifted.

When the refractory material is not sprayed, or when the vehicle body frame 71 is caused to travel by passing through an obstacle such as a pillar on the upper surface 103 of the floor slab 1, the tip 7501 of the second arm 75 is set to the first position. The second arm 75 is slid upward as shown by an imaginary line A in FIG. 1 so as to approach the arm 73, and the power transmitted from the arm rotating mechanism 7111 causes the first arm 73 to rotate upward by 120 °. The arms 73 and 75 are moved to be positioned above the housing 7129 on the vehicle body frame 71 as shown by an imaginary line B in FIG. At this time, the first arm 73 stands up while being inclined from the support shaft 7303 toward the upper center of the vehicle body frame 71, and the second arm 75 is above the vehicle body frame 71 and has its tip 7501 at the other second arm. It is in a state of being supported by the first arm 73 while being inclined so as to be higher than the 75th part.

In the above, in the spraying robot 7 of the present embodiment, the casing 7 is provided at a position on the side of the driven wheel 7109 which is separated from the edge portion 101 of the floor slab 1 above the vehicle body frame 71.
129 is provided, and the monitor TV 7 is provided on the operation surface 7135.
A display screen 7137 of 133 and operation systems such as operation switches 7139 for manual operation are centrally arranged. Therefore, it is possible to perform the initial setting of the spraying area of the refractory material, the spraying thickness of the refractory material and the like, and to manually operate the spraying robot 7 while observing the situation of the site near the spraying site. Robot 7 to spray the system
The initial setting operation and the manual operation of the spraying robot 7 can be efficiently performed, as compared with the case where they are provided separately.

Further, a housing 7129, a computer 7131 housed in the upper space thereof, a monitor television 7133.
And the like are added to a portion on the side of the driven wheel 7109 that is away from the edge portion 101 of the floor slab 1 in the upper portion of the vehicle body frame 71 in which the housing 7129 is arranged, so that the first and second arms 73, 75 The force of overturning the body frame 71 generated at the body frame 71 near the edge 101 of the floor slab 1 due to the weight is offset, the stability of the blowing robot 7 on the upper surface 103 of the floor slab 1 is improved, and a blowing robot is provided. It is possible to improve safety when the vehicle 7 travels on the upper surface 103 of the floor slab 1.

In this embodiment, the first arm 73 is rotatably supported in the vertical plane with respect to the vehicle body frame 71, but the first arm 73 is rotated by the vehicle body frame 71. You may make it impossible to support. Similarly, the second arm 75 may be non-slidingly supported by the first arm 73, or the first and second arms 73, 75 may be integrally formed and supported by the vehicle body frame 71.

Further, in this embodiment, the web 3 of the outer peripheral beam 3 is used.
1 and the upper and lower flanges 33, 35 have been described by taking a spraying robot that sprays a refractory material as an example. However, a spraying robot that sprays other members such as columns, walls, and floors,
Needless to say, the method of the present invention can be applied to a spraying robot other than the refractory material, for example, spraying a paint.

[0052]

As described above, according to the present invention, the movable body that moves on the slab along the edge of the slab, and the arm provided in the movable body near the edge of the slab. And a spray nozzle that is supported by the arm and that sprays a coating material to a position below the slab outside the edge of the slab, and a traveling unit that causes the moving body to travel along the edge of the slab. In the robot,
Since the operation system of the spraying robot is concentratedly arranged on the upper part of the moving body at a position apart from the edge of the slab, various kinds of operations are accompanied by the operation of spraying the refractory using the spraying robot. It is possible to efficiently perform the above operation, and prevent the spraying robot from falling when traveling on a slab, and improve the safety of spraying work using the spraying robot.

[Brief description of drawings]

FIG. 1 is a side view showing a schematic configuration of a spraying robot according to an embodiment of the present invention.

FIG. 2 is a plan view showing a main configuration of the spray robot shown in FIG.

FIG. 3 is an explanatory diagram showing a schematic configuration of an obstacle detection mechanism in the spray robot shown in FIG.

FIG. 4 is an explanatory diagram showing a schematic configuration of a nozzle support mechanism in the spray robot shown in FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Floor slab (slab) 101 Floor slab edge 103 Floor slab upper surface 7 Spraying robot 71 Body frame (moving body) 7107 Drive wheel (traveling means) 7109 Driven wheel (traveling means) 7119 Drive mechanism (traveling means) 7129 Housing 7135 Case operation surface 7137 Monitor television display screen (operation system) 7139 Operation switches (operation system) 73 First arm (arm) 75 Second arm (arm) 79 Spray nozzle

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Shinya Imai 4-6-15 Sendagaya, Shibuya-ku, Tokyo Fujita Co., Ltd. (72) Inventor Sadao Nakajima 4-6-15 Sendagaya, Shibuya-ku, Tokyo Company Fujita (72) Inventor Shuichi Tomoda 4-6-15 Sendagaya, Shibuya-ku, Tokyo Stock Company Fujita (72) Inventor Hiroyuki Iriya 2-20-15 Shimbashi, Minato-ku, Tokyo Tokunaga Sangyo Co., Ltd. (72) Inventor Tsuneki Aikawa 2-20-6 Gobongi, Meguro-ku, Tokyo NIPPON DENYO CORPORATION

Claims (2)

[Claims] 1. A moving body that moves on the slab along an edge of the slab, an arm provided near the edge of the slab in the moving body, and an edge of the slab supported by the arm. In a spraying robot comprising a spraying nozzle that sprays a coating material to a location below the slab outside the section, and a traveling unit that causes the moving body to travel along the edge of the slab, an operating system of the spraying robot, A spraying robot, characterized in that the spraying robot is arranged in a concentrated manner at a position apart from an edge of the slab above the moving body. 2. The arm is rotatably supported in a vertical plane at a position near an edge of the slab in the moving body, and the arm is rotated upward when the covering material is not sprayed to perform the operation. The spray robot according to claim 1, wherein the system is located below the arm.