JP2001145843A - Robot for forming waterproof coating film - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve operation performance of forming a waterproof coating film and to secure accuracy in the coating film thickness by using a robot, when applying a waterproof agent on the roof top of a building by an operator through operating a spray nozzle held in his hand causes the bad operation performance and the inaccuracy in the coating film thickness. SOLUTION: This robot for forming waterproof coating film 1 is provided with an arm 4 to be reciprocated by a reciprocating mechanism 5, on a moving part 2 movable at a constant speed, in a direction almost perpendicular to the moving direction of the above moving part 2, and a spray nozzle 7 to inject a resin waterproof agent 6 which is installed at the head of the arm 4.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a waterproof coating film forming robot for forming a waterproof coating film by spraying a resin waterproofing agent on a target construction surface such as a building roof.

[0002]

2. Description of the Related Art For example, in a waterproofing operation for forming a waterproof coating film on a construction surface such as the top of a building, an operator conventionally holds a spray nozzle for spraying a resin waterproofing agent by hand to apply the resin waterproofing agent. A common method is to spray paint on the construction surface. For example, in waterproofing the upper surface of a building, the nozzle is kept at an appropriate height from the construction surface, and a waterproof coating film having a desired thickness is formed on the construction surface at an appropriate swing speed and an appropriate step.

[0003]

However, in the above-described construction method, the stability of the film thickness is limited due to the intuition of the worker, which is not preferable when the film thickness accuracy is required. For example, it is difficult to completely eliminate daily fluctuations (for example, the film thickness fluctuates in the morning and afternoon on the same day) and daily fluctuations (the film thickness fluctuates from day to day when working over a plurality of days). Actually, it is not easy to stabilize the film thickness because a difference easily occurs. In addition, since skill is required for work, there is a problem that it is not easy to secure and train skilled workers. Further, in the above method, the worker must perform the spraying operation while moving while dragging the hose for supplying the resin waterproofing agent to the nozzle. For a long time, and there is a problem that there is a practical limit to the stability of the film thickness on the entire construction surface.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and is capable of realizing automation of formation of a waterproof coating film, and at the same time, achieving a desired film thickness stably and improving construction accuracy. The purpose of the present invention is to provide a robot for use.

[0005]

SUMMARY OF THE INVENTION The present invention relates to a waterproof coating film forming robot for forming a waterproof coating film by spraying a resin waterproofing agent onto a target construction surface such as the top of a building. The running unit is provided with an arm that is reciprocated in a direction substantially perpendicular to the running direction of the running unit by a reciprocating mechanism, and a spray nozzle that sprays the resin waterproofing agent is provided at the end of the arm. The waterproof coating film forming robot described above is a means for solving the above-mentioned problem. In this waterproof coating film forming robot, while the traveling unit is traveling, the arm provided on the traveling unit is reciprocated in a direction substantially perpendicular to the traveling direction of the traveling unit by a reciprocating mechanism, and the tip of the arm is sprayed. A resin waterproofing agent is sprayed from the nozzle toward the target construction surface.
As a result, a waterproof coating film having a desired thickness is sequentially formed on the construction surface. Since the work is automated by the robot, the worker only has to monitor the normal operation of the robot, set the operation conditions corresponding to the construction conditions, etc., and is freed from troublesome work.

In the present invention, it is more preferable to adopt the following configuration. According to a second aspect of the present invention, in the waterproof coating film forming robot according to the first aspect, a traveling speed of the traveling section and a moving speed of the arm by the reciprocating mechanism can be changed. According to a third aspect of the present invention, in the waterproof coating film forming robot according to the first or second aspect, an output is provided when the obstacle is detected from an obstacle detection sensor that detects an obstacle in front of the traveling direction in the traveling direction. And a direction changing mechanism that changes the running direction of the running section by driving based on the detected detection signal. According to a fourth aspect of the present invention, there is provided the waterproof coating film forming robot according to any one of the first to third aspects, wherein one or both of the driving of the traveling unit and the reciprocating mechanism is driven, and the resin spray is applied to the spray nozzle. The driving of the waterproofing agent supply mechanism for supplying the agent is interlocked. Claim 5
According to a fourth aspect of the present invention, in the robot for forming a waterproof coating film according to the fourth aspect, when the traveling of the traveling unit is stopped, the supply of the resin waterproofing agent by the waterproofing agent supply mechanism is stopped in conjunction with the stoppage. It is characterized by the following. According to a sixth aspect of the present invention, in the waterproof coating film forming robot according to any one of the first to fifth aspects, the movement direction reversing position existing on both sides of the movable range of the arm by the reciprocating mechanism or the vicinity thereof is provided. A spray direction changing mechanism that changes a spray direction of the resin waterproofing agent from the spray nozzle when the arm reaches the spray nozzle is provided. According to a seventh aspect of the present invention, in the waterproof coating film forming robot according to any one of the fourth to sixth aspects, a high pressure is applied to the inside of the spray nozzle in conjunction with the stoppage of the supply of the resin waterproofing agent by the waterproofing agent supply mechanism. It is characterized by comprising a nozzle cleaning mechanism for cleaning by sending gas. According to an eighth aspect of the present invention, in the waterproof coating film forming robot according to any one of the first to seventh aspects, a cover for preventing the resin waterproofing agent from scattering is attached near the spray nozzle. And

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A waterproof coating film forming robot 1 (hereinafter abbreviated as "robot 1") according to an embodiment of the present invention will be described with reference to the drawings. Figure 1 shows the robot 1
3A is a front sectional view schematically illustrating a structure, and FIG. 3B is a plan sectional view schematically illustrating the structure. FIG.
In (a) and (b), the robot 1 includes a traveling unit 2
, A reciprocating mechanism 5, and a waterproofing agent supply mechanism 8 for supplying a resin waterproofing agent to the spray nozzle 7 at the tip of the arm 4 reciprocated by the reciprocating mechanism 5.

The traveling section 2 is capable of traveling at a constant speed by wheels 2a which are rotationally driven by the driving force of a driving device 3 such as a motor. The arm 4 provided on the rear side in the traveling direction (arrow A) of the traveling unit 2 reciprocates in a direction substantially perpendicular to the traveling direction A of the traveling unit 2 by a reciprocating mechanism 5 mounted on the traveling unit 2. It is being moved. The arm 4 protrudes rearward in the traveling direction from the traveling portion 2, and a spray nozzle 7 for spraying the resin waterproofing agent 6 supplied from the waterproofing agent supply mechanism 8 is provided at a leading end in the projecting direction. The hose 8i connected to the spray nozzle 7 constitutes a part of a supply line for supplying the waterproof agent of the waterproof agent supply mechanism 8, and has excellent flexibility. Even if it is moved, since it follows and deforms appropriately between the hose support portion 2b provided on the traveling portion 2 and the spray nozzle 7 to prevent twisting or bending, the supply of the resin waterproofing agent 6 can be continued stably.

Since the periphery of the movable range of the spray nozzle 7 by the reciprocating mechanism 5 is surrounded by the cover 7c for preventing the splashing of the waterproofing agent, the waterproofing agent 6 is applied to the running part 2 and the surroundings other than the construction surface 10. Waste can be prevented. The cover 7c is made of a woven fabric, a non-woven fabric, a net-like structure or the like,
In (a), the stay 7 d protrudes from the traveling unit 2 and is arranged in a mosquito net shape surrounding the movable range of the spray nozzle 7. The cover is not limited to a configuration surrounding the movable range of the spray nozzle 7, and may be, for example, a spray nozzle 7.
The reciprocating mechanism 5 can reciprocate the spray nozzle 7 with the precision, drive stability, and the like.
The cover is preferably formed separately from the spray nozzle 7 from the viewpoint of preventing vibration and the like. Further, the cover 7c, the cover 7
1c (the stay 7d in FIG. 1A)
It is preferable to use a material that is as light as possible in view of energy saving, running stability such as roll prevention, ease of turning, and the like. If the waterproofing agent 6 is hardened after spraying, it takes time to remove the waterproofing agent 6. Therefore, the cover 7c
By preventing the waterproofing agent 6 from adhering to a part other than the intended construction surface 10 by installing the above, the subsequent removal operation or the like can be omitted or reduced. In addition, the cover 7c also serves as a countermeasure against crosswinds,
It is possible to spray the waterproofing agent 6 to the target position on the construction surface 10 even under a condition where a somewhat strong cross wind exists.

The robot 1 moves the running surface 2 on the running surface 2 such as a building surface or a floor.
While traveling, the resin waterproofing agent 6 is sprayed from the construction surface 10 side, that is, the downwardly directed spray nozzle 7, so that the construction surface 1
Spray paint on 0. At this time, as shown in FIGS. 4A and 4B, the traveling unit 2 travels while the spray nozzle 7 is reciprocated by the reciprocating mechanism 5, so that the traveling unit 2 travels. A waterproof coating film 6 is sequentially provided on the rear side in the running direction
a is formed. When the supply amount of the waterproofing agent 6 from the waterproofing agent supply mechanism 8 is constant, the traveling speed of the traveling unit 2 is constant, and the reciprocating motion of the spray nozzle 7 is constant speed. Can easily be obtained. The arm 4 is supported by a guide 9 (see FIGS. 1A and 1B) provided in the traveling section 2 at a central portion thereof, and slides the guide 9 to substantially move in the traveling direction A. Since the movement is performed in the vertical direction, the movement by the reciprocating mechanism 5 realizes a stable movement without rattling or tilting. The traveling speed of the traveling section 2 and the moving speed of the arm 4 by the reciprocating mechanism 5 are variable by setting. Traveling of the traveling unit 2, movement of the arm 4 by the reciprocating mechanism 5 (reciprocating motion)
Is basically constant after the change.

FIG. 2 shows an example of the waterproofing agent supply mechanism 8.
The waterproofing agent supply mechanism 8 shown in FIG. 2 corresponds to the pressure-feeding / supply of a reaction-curable resin waterproofing agent 6 composed of two types of liquids, and is supplied from the two tanks 8b and 8c to the spray nozzle 7 by a pump 8a. Supply lines 8d and 8e for supplying the liquid agent
For each liquid agent (individual tank). The two types of liquids are stirred and mixed in a mixing unit 7a provided in the spray nozzle 7, and are sprayed from the tip of the spray nozzle 7 by a high-pressure spray gas supplied from a spray gas supply unit 8f. As the resin waterproofing agent 6, a known material such as a urethane resin, an acrylic resin, an epoxy resin, or a silicone resin is employed. For example, the urethane resin is cured by the reaction between a compound having an isocyanate group and a compound having an active hydrogen group such as an alcohol or an amine. Therefore, the liquids individually supplied from the tanks 8b and 8c by the supply pipes 8d and 8e are sprayed. The mixture is mixed by the mixing section 7a of the nozzle 7, and the mixture is sprayed from the nozzle 7 immediately after being mixed with the spray gas to perform the spraying. When the waterproofing agent 6 sprayed on the construction surface 10 cures, a waterproof coating film 6a is formed. In addition, it is optional to add a flame retardant, a brightener, and the like to the liquid material constituting the resin waterproofing agent 6. In a waterproofing agent supply mechanism corresponding to a waterproofing agent consisting of one liquid, the supply line is
Just a book.

Next, an example of the reciprocating mechanism 5 is shown in FIG.
A description will be given with reference to (a), (b), FIGS. 3 (a), (b), and FIG. 4 (a). In these figures, the reciprocating mechanism 5
An endless strip 5 is provided between a pair of gears 5a and 5b opposed to each other on both sides in a width direction (a direction perpendicular to the running direction) of the running portion 2.
d, and the arm 4 is attached to the endless strip 5d so that the arm 4 can be moved integrally. The arm 4 is driven by a driving force transmitted from a driving device 5c (a motor in the present embodiment) to one of the gears 5a. The arm 4 integrated with the endless strip 5d is moved by rotationally driving the endless strip 5d. Specifically, each of the endless strips 5d is a chain, and is provided two in parallel along the width direction of the traveling portion 2, and the arm 4 is provided so as to connect the endless strips 5d. Attached to the attachment 5e. The attachment 5e is fixed by screws or the like to a tongue piece 5g protruding from each of the connecting plates 5f constituting the chain, which is the endless strip 5d in the present embodiment. When the arm 4 reaches the movement direction inversion positions 5h and 5i existing at both ends of the movable range of the arm 4 by the reciprocating mechanism 5, the movement direction of the endless strip 5d by the driving device 5a is automatically inverted. . By repeating this reversal and continuously reciprocating the arm 4, the same operation as the nozzle swing conventionally performed by the worker is realized. As a means for detecting that the arm 4 has reached the movement direction reversal position 5h, 5i, for example, a stepping motor is employed as the driving device 5c of the reciprocating mechanism 5, and the movement signal of the arm 4 is obtained by the drive signal. By monitoring the rotation speed of the gears 5a and 5b.

In the robot 1, when the arm 4 reaches the movement direction reversal position 5h, 5i or its vicinity (a position slightly closer to the center of the movable range than the movement direction reversal position 5h, 5i), It is more preferable to adopt a configuration in which the amount of the resin waterproofing agent 6 sprayed from the spray nozzle 7 is reduced or the spray area is increased. Thereby, it is possible to prevent a thick portion or a thin portion from being formed at both ends in the spraying width (refer to the arrow W in FIG. 4B) due to the overcoating that occurs when the moving direction is reversed. The coating film 6a can be formed more stably, and construction accuracy can be improved. However, since the resin waterproofing agent 6 immediately after the spray coating is flattened by the fluidity, even if the worker conventionally performed the work by swinging the nozzle, the increase in the film thickness due to the repetitive coating is within a range that does not cause a problem. Therefore, by adopting a configuration in which the spray amount of the resin waterproofing agent 6 from the spray nozzle 7 is reduced or the spray area is increased, the coating film 6a having the target film thickness can be more stably and reliably obtained. The construction accuracy is improved.

The arm 4 which is reciprocated by the reciprocating mechanism 5 having the above-described structure is linearly moved except for the vicinity of the moving direction reversing positions 5h and 5i at both ends of the movable range. , 5i, the gears 5a, 5b are moved along the outer periphery.
b is rotated about the central axis. The spray nozzle 7 fixed to the tip of the arm 4 is also rotated integrally with the arm 4 to change its direction, so that the spray direction of the resin waterproofing agent 6 from the spray nozzle 7 is changed. Specifically, as shown in FIGS. 4A and 4B, the direction of the arm 4 reaching the movement direction reversal positions 5h and 5i is changed to the gears 5a and 5b.
When it is changed around the central axis of b, the spray direction of the spray nozzle 7 is inclined toward the end of the spray width W. Thereby, the waterproofing agent 6 sprayed obliquely from the spray nozzle 7 toward the construction surface 10 is dispersed in a wider range as compared with the case where the waterproof agent 6 is sprayed perpendicularly to the construction surface 10. This allows the spray nozzle 7 to move at the movement direction reversal positions 5h and 5i.
In the over-painted part that occurs when the moving direction of
A desired film thickness or a film thickness very close to the desired film thickness can be easily obtained. Although not shown, the moving direction reversal position 5
Near h and 5i, the guide 9 is curved in accordance with the movement locus of the arm 4.

When the resin waterproofing agent 6 is sprayed toward the end of the desired spraying width W, the spraying nozzle 7 is not located directly above the end of the spraying width W but at a position closer to the center of the spraying width W. Since it is disposed at the position and inclined, the movable range of the arm 4 and the spray nozzle 7 by the reciprocating mechanism 5 can be narrowed compared to the case where the waterproof coating film 6a is always formed by spraying vertically downward. For this reason, downsizing of the traveling section 2 becomes possible,
For example, it is possible to make the width dimension of the traveling portion 2 smaller than the spray width W. If the traveling portion 2 is reduced in size, it is advantageous, for example, in a direction change to be described later, etc., in a construction site where a number of obstacles are present, or in a case where the shape of a region where the waterproof coating film 6a is formed is complicated. Even when the robot 1 is constructed, the construction becomes easy and the versatility of the robot 1 is improved.

The gears 5a and 5b function as a spray direction changing mechanism for changing the spray direction of the resin waterproofing agent 6 from the spray nozzle 7. The spraying direction changing mechanism is not limited to this, and various configurations such as a configuration in which only the nozzle 7 is tilted without tilting the arm 4 and a configuration in which the nozzle 7 is tilted forward in the traveling direction of the traveling unit 2 are used. Can be adopted.

As shown in FIGS. 1A and 1B, an obstacle detection sensor 11 for detecting an obstacle ahead of the traveling direction A is provided in front of the traveling section 2 in the traveling direction A. As the obstacle detection sensor 11, various types of contact type and non-contact type sensors can be adopted. However, from the viewpoint of facilitating direction change at the time of obstacle detection, for example, a non-contact type sensor such as an ultrasonic sensor is used. Is more preferable.

A direction change mechanism 12 provided at the center of the traveling section 2 is adapted to output a detection signal output from an obstacle detection sensor 11 which has detected an obstacle 13 such as various structures on a building roof or various types of character. To change the running direction of the running section 2. The direction change mechanism 12 is driven by an elevating mechanism 12 a driven based on a detection signal from the obstacle detection sensor 11, by projecting a support leg 12 b downwardly of the traveling unit 2 and pressing the construction surface 10. After lifting up the portion 2, the pinion gear 12 meshed with the master gear 12c provided around the support leg 12b
d is driven to rotate by the driving device 12e (a motor in the present embodiment) and rolls around the support leg 12b, thereby rotating the traveling unit 2 around the support leg 12b integrally with the pinion gear 12d. To change direction. The master gear 12c, the pinion gear 12d, and the driving device 12e constitute a direction changing mechanism 12f that changes the direction of the traveling unit 2 that has been lifted up. In addition, FIG.
In (b), a cylinder device that drives the support leg 12b to move in and out of the traveling section 2 by being driven by air pressure or hydraulic pressure is illustrated as the elevating mechanism 12a. However, it is needless to say that various configurations such as a configuration in which the support leg 12b moves in and out via a link mechanism driven by the driving force of the cylinder device can be adopted.

The operation of each device constituting the robot 1, such as each device mounted on the traveling unit 2 and each device on the side of the waterproofing agent supply mechanism 8, is controlled by a control unit 20 shown in FIG. In addition, the installation position of the control unit 20 may be any of the traveling unit 2, the vicinity of the tanks 8b and 8c installed at or near the construction site, or the like. As shown in FIG. 5, a CPU 24 (central processing unit) provided in the control unit 20
The input unit 22 receives signals and commands from sensors 14 and 11 (speed sensor 14 and obstacle detection sensor 11) provided on the robot 1 and an operation panel 21 operated by a worker. An output unit 23 that outputs an operation command to each operation unit of the robot 1 based on a signal input to the input unit 22 is connected.

In the robot 1, the driving of the traveling section 2 and the reciprocating mechanism 5 and the driving of the waterproofing agent supply mechanism 8 are linked by the control section 20. That is, the film thickness obtained by the robot 1 is determined by the relationship between the traveling speed of the traveling section 2 and the moving speed of the arm 4 by the reciprocating mechanism 5 and the supply amount of the resin waterproofing agent 6 by the waterproofing agent supply mechanism 8. For example, by inputting a film thickness to be obtained by operating the operation panel 21 with respect to a preset supply amount (flow rate) of the waterproofing agent 6, the traveling speed of the traveling unit 2 and the reciprocating mechanism 5 A configuration in which the moving speed of the arm 4 is automatically set or the like can be adopted.

For example, when a detection signal of the obstacle 13 from the obstacle detection sensor 11 is input to the control unit 20,
The running of the running section 2 and the resin waterproofing agent 6 by the waterproofing agent supply mechanism 8
Supply is automatically stopped. In addition, a stop command input by an operator from the operation panel 21, a ride on an obstacle not detected by the obstacle detection sensor 11, a traveling floor (construction surface 1).
Even if the traveling unit 2 stops due to any cause, such as being stuck in a step or a recess existing in step 0) or a failure of the traveling drive system, the waterproofing agent is supplied in conjunction with the traveling stop of the traveling unit 2. The supply of the resin waterproofing agent 6 by the mechanism 8 is stopped. For example, it is possible to detect the remaining amount of the liquid in the tanks 8b and 8c, and to automatically stop the running of the running unit 2 and the supply of the resin waterproofing agent 6 by a signal indicating that the liquid has run out. It is possible.

When the traveling of the traveling section 2 is stopped, it is preferable that the driving of the reciprocating mechanism 5 is automatically stopped in conjunction with this. As a result, it is possible to safely and promptly investigate the cause of an emergency stop. Stopping the supply of the waterproofing agent 6 by the waterproofing agent supply mechanism 8 in conjunction with the stopping of the traveling of the traveling unit 2 is unnecessary use of the waterproofing agent 6 due to unnecessary consumption of the waterproofing agent 6 or scattering of the waterproofing agent 6 at the site. It is preferable in that it can prevent excessive contamination. When the supply of the resin waterproofing agent 6 by the waterproofing agent supply mechanism 8 is stopped, the nozzle cleaning mechanism 1
5 is operated to feed high-pressure gas into the spray nozzle 7 for cleaning. By this operation, clogging due to hardening of the resin waterproofing agent 6 remaining at the tip of the nozzle 7 can be prevented. Therefore, the spraying of the waterproofing agent 6 can be smoothly resumed even in the spraying operation including the temporary stop. After the spraying operation is completed, the nozzle 7 removed from the arm 4 is washed or replaced, so that there is no problem of the nozzle 7 being clogged. Since the residual waterproofing agent 6 in the nozzle 7 hardens and causes clogging, the nozzle 7 can be clogged by cleaning with the nozzle cleaning mechanism 15 simultaneously with or immediately after stopping the waterproofing agent supply mechanism 8. Can be effectively prevented.

Next, an example of the waterproofing operation of the robot 1 will be described with reference to FIG. For example, in the construction of a flat field such as a building roof, the waterproof part 6 is sprayed and applied to the construction surface 10 to form the waterproof coating film 6a while the traveling part 2 travels zigzag in the intended construction area. The movement route of the traveling unit 2 can be set by a command input from the operation panel 21 or the like, but there is an obstacle such as a parapet on a building roof that extends to surround a target construction area. In this case, the running direction of the running unit 2 is turned back every time the obstacle is detected by the obstacle detection sensor 11, so that the spraying of the working surface 10 in the entire working area can be performed.

As shown in FIG. 6, the obstacle detecting sensor 11 of the traveling section 2 which travels linearly in the direction of arrow B while spraying and painting the resin waterproofing agent 6 detects the obstacle 13 and outputs a detection signal. Then, based on this detection signal, first,
The traveling of the traveling unit 2, the driving of the reciprocating mechanism 5, and the supply of the waterproofing agent 6 by the waterproofing agent supply mechanism 8 are stopped, and the traveling direction of the traveling unit 2 is changed by 90 degrees by the driving of the direction changing mechanism 12 (arrow C). ) Is done. The supply of the waterproofing agent 6 is stopped by the solenoid valve 8 provided in each of the supply lines 8d and 8e (see FIG. 2).
g and 8h are closed, and the driving of the pump 8a of the waterproofing agent supply mechanism 8 is stopped. In the following description, stopping the supply of the waterproofing agent 6 indicates the same operation.
Further, immediately after the supply of the waterproofing agent 6 is stopped, the nozzle cleaning mechanism 15 is automatically driven immediately and the residual waterproofing agent in the nozzle 7 is removed. In the following description, the cleaning of the inside of the nozzle 7 by the nozzle cleaning mechanism 15 is necessarily performed immediately after the supply of the waterproofing agent 6 is stopped.

To change the direction of the traveling section 2, first, the lifting mechanism 1
2a (see FIG. 1A) is driven to lift up the traveling unit 2, and then the direction changing mechanism 12f is driven to change the direction of the traveling unit 2 by 90 degrees, and the arrow C is set. When the traveling unit 2 is directed to the arrow C, the lifting mechanism 12a is driven again to lower the traveling unit 2 onto the construction surface 10, and the waterproofing agent 6 is sprayed, that is, the traveling of the traveling unit 2 and the reciprocating mechanism 5 Driving and supply of waterproofing agent 6 by waterproofing agent supply mechanism 8 (pump 8
a), and restart the pressure-feeding of the waterproofing agent 6 and open the solenoid valves 8g and 8h). When the traveling distance of the traveling portion 2 in the direction of arrow C reaches the spray width W (about 1 m) of the waterproofing agent 6, after the spraying operation is stopped, the traveling direction is again changed by 90 degrees by driving the direction change mechanism 12 again. This time, arrow B is exactly 180
The direction is an arrow D direction which is a direction inverted by degrees. Since the traveling distance of the traveling unit 2 can be grasped by the control unit 20 based on data from the speed sensor 14 (“distance velocity sensor” in FIGS. 2 and 5), the traveling distance of the traveling unit 2 At the same time as the spray width W is reached, the control of the control unit 20 automatically stops spraying. In addition, the direction change and the restart of the spraying in the direction of arrow D can be automatically performed under the control of the control unit 20.

In the spraying construction by traveling of the traveling unit 2 in the direction of arrow D, the construction is stopped and the direction of the traveling unit 2 is automatically changed by detecting an obstacle such as a parapet part. Thereby, every time an obstacle is detected, the direction is changed so that the traveling unit 2 turns back, and by repeating this, after all, the traveling unit 2 travels zigzag in an area surrounded by the obstacle. The waterproof coating film 6a can be sprayed and applied to the entire target construction surface 10. In the direction change by the direction change mechanism 12, between arrows B and C, arrows C and D
Since the coating film is made continuous between the layers, the desired film thickness can be stably obtained over the entire construction surface 10.

If there is no appropriate obstacle such as a parapet part which serves as a guide for the edge of the construction area, the operation panel 21
It is also possible to program the movement route and the like of the traveling unit 2 by inputting a command or the like, and to perform the spraying construction under the control of the control unit 20 based on this program. The traveling distance and the like of the traveling unit 2 are determined by the control unit 2 based on data from the speed sensor 14.
Since it can be grasped as 0, the traveling movement of the traveling unit 2 can be automatically controlled based on the command based on the command input from the operation panel 21. In addition, even if there is an appropriate obstacle such as a parapet part which is a guide of the edge of the construction area, the shape of the construction area (for example, the shape of a building roof) is complicated, and the shape and arrangement of the obstacle are also complicated. In some cases, it is difficult to control the direction change of the traveling unit 2 by a control program. In such a case, the direction change mechanism 12 or the like is directly operated by operating the operation panel 21 to change the direction. May be performed.

The direction change of the traveling section 2 can be automatically performed even when an obstacle existing in the construction area is detected. The position of the obstacle existing inside the construction area and the position of the obstacle
The control unit 20 is instructed in advance about the direction change operation at the time of detection by the control unit 20. Note that the direction change of the traveling unit 2 is not limited to reversing the traveling direction of the traveling unit 2 by 180 degrees in the order of arrows B, C, and D as shown in FIG. 2 is set as appropriate. Control unit 2
When an obstacle that is not taught to 0 is detected by the obstacle detection sensor 11, it is determined that an abnormality has been detected.
The operation of the entire robot 1 is stopped. That is, the control unit 2
The detection of an obstacle that is not taught to 0 may be a detection of an intrusion of a person ahead of the traveling direction of the traveling unit 2 or a detection of an obstacle neglected carelessly. At the same time, it is necessary to stop the robot 1 (particularly the traveling unit 2) in an emergency to prevent accidents.

According to the robot 1 of the present embodiment, the formation of the waterproof coating film 6a by spraying the waterproofing agent 6 can be automated, so that the worker can be released from troublesome work, and conventionally, it depends on the intuition of the worker. As compared with the conventional construction, the desired film thickness can be obtained more stably and reliably.
Can be obtained. For example, even when it takes several days to construct the entire construction surface 10, the waterproof coating film 6a having a constant film thickness can be stably obtained unless the condition setting of the robot 1 is changed.
Further, since the worker only needs to monitor the driving of the robot 1, the required manpower can be reduced and the cost can be reduced. In addition, since the target film thickness can be stably obtained by setting the conditions, there is no need to secure skilled workers, and there is an advantage that it is easy to secure personnel.

The present invention is not limited to the above embodiment, and various changes can be made. For example, the specific structures and the like of the traveling unit and the reciprocating mechanism can be appropriately changed. In the above-described embodiment, the robot 1 suitable for forming a waterproof coating film on a building roof surface, a floor surface, or the like is illustrated. However, the present invention is not limited thereto. By changing the direction, it is possible to cope with the formation of a waterproof coating film on a vertical surface such as a building wall. Furthermore, if the configuration of the reciprocating mechanism or the like is changed, it is possible to form a waterproof coating film continuously from a horizontal or nearly horizontal surface such as the top surface of the building or a floor surface to a wall surface of the building that is continuous with the horizontal surface. Become.

[0031]

As described above, according to the robot for forming a waterproof coating film of the present invention, the traveling portion travels at a constant speed, and the reciprocating motion of the spray nozzle by the reciprocating mechanism of the arm provided in the traveling portion. By this, the spray coating of the resin waterproofing agent sprayed from the spray nozzle on the target construction surface can be automated, so that the amount of work of the workers is reduced, the number of workers is reduced, etc.
Labor saving and cost reduction of the formation of the waterproof coating film can be realized. Further, since the waterproof coating film having the target film thickness is formed according to the set application conditions, an excellent effect is achieved that can cope with a case where film thickness accuracy is required.

According to the waterproof coating film forming robot of the present invention, it is easy to adjust the film thickness to be formed by changing the running speed of the running section and the moving speed of the arm by the reciprocating mechanism. It has excellent effects.

According to the third aspect of the present invention, the detection signal output when the obstacle is detected by the obstacle detection sensor that detects the obstacle in front of the traveling direction of the traveling section is detected. The direction changing mechanism driven on the basis of the above-described structure has an excellent effect that the direction of the running direction of the running section can be automatically changed.

According to a fourth aspect of the present invention, there is provided a waterproof coating film forming robot that drives one or both of the traveling unit and the reciprocating mechanism and supplies the resin waterproofing agent to the spray nozzle. Since the driving and the driving are linked, the thickness of the film to be formed can be easily and accurately adjusted. In addition, the interlocking control of the traveling section, the reciprocating mechanism, and the waterproofing agent supply mechanism has an excellent effect that it is advantageous in terms of site management, such as automatic maintenance of construction conditions.

According to the waterproof coating film forming robot of the present invention, when the traveling of the traveling section is stopped, the supply of the resin waterproofing agent by the waterproofing agent supply mechanism is automatically performed in conjunction with the stoppage. Since the operation is stopped, it is possible to prevent the resin waterproofing agent from being unnecessarily sprayed at the time of a change of direction or an emergency stop due to the occurrence of an abnormality, and there is no problem such as soiling the site. Also,
In the case of a change of direction or a temporary stop of the running of the running part, there is a demand to continue the coating film when spraying of the waterproofing agent is resumed. It has an excellent effect that it is easy to make the coating film continuous.

According to the waterproof coating film forming robot of the present invention, when the arm arrives at or near the reversal position of the moving direction existing on both sides of the movable range of the arm by the reciprocating mechanism, the spraying is performed. Equipped with a spray direction changing mechanism that changes the spray direction of the resin waterproofing agent from the nozzle, so that the target film thickness or a film thickness close to it can be easily and easily obtained on the coating film formed at the end of the spraying width of the waterproofing agent. It has excellent effects such as being able to be performed.

According to a seventh aspect of the present invention, in accordance with the waterproof coating film forming robot, the nozzle cleaning mechanism for sending high-pressure gas into the spray nozzle for cleaning in conjunction with the stoppage of the supply of the resin waterproofing agent by the waterproofing agent supply mechanism. Therefore, an excellent effect that the clogging of the nozzle due to the hardening of the residual waterproofing agent in the spray nozzle can be reliably prevented in a short time is achieved.

According to the waterproof coating film forming robot of the present invention, since the cover for preventing the resin waterproofing agent from being scattered is attached near the spray nozzle, the waterproofing agent is sprayed on a surface other than the target construction surface. Stains the site due to the adhesion of
It is possible to prevent inconvenience such as affecting the operation of the traveling unit and the reciprocating mechanism. In addition, since the waterproofing agent can be sprayed even in a slight crosswind, an excellent effect of improving the weather resistance of the work can be obtained.

[Brief description of the drawings]

FIG. 1 is a view showing one embodiment of a robot for forming a waterproof coating film of the present invention, wherein (a) is a front sectional view and (b) is a plan sectional view.

FIG. 2 is a block diagram showing a waterproofing agent supply mechanism of the waterproof coating film forming robot of FIG. 1 and a control system thereof.

3A and 3B are diagrams illustrating an example of a spraying direction changing mechanism applied to the waterproof coating film forming robot of FIG. 1, wherein FIG. Shows the nozzle orientation when the width end is constructed.

4A and 4B are diagrams showing an operation of a reciprocating mechanism applied to the waterproof coating film forming robot of FIG. 1, and FIG. 4A is a side view schematically showing movement of a spray nozzle by the reciprocating mechanism. (B) is a plan view showing the spraying of the resin waterproofing agent by the spray nozzle moved by the reciprocating mechanism.

FIG. 5 is a block diagram showing an example of a control unit applied to the waterproof coating film forming robot of FIG. 1;

FIG. 6 is a plan view showing an example of a direction changing operation of the waterproof coating film forming robot of FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Robot, 2 ... Running part, 4 ... Arm, 5 ... Reciprocating mechanism, spraying direction changing mechanism, 5h, 5i ... Moving direction reversal position, 6 ... Resin waterproofing agent, 6a ... Waterproof coating film, 7 ... Spray nozzle, 7c: cover, 8: waterproofing agent supply mechanism, 10: construction surface, 11: obstacle detection sensor, 12: direction changing mechanism, 1
3 ... obstacle (parapet part), 15 ... nozzle cleaning mechanism.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Kazuhisa Kawabata 86, Uehongo, Matsudo-shi, Chiba Die Flex Matsudo Plant Co., Ltd. Terms (reference) 4D075 AA01 AA36 AA85 CA38 DC01 4F035 AA03 BA02 BB02 BC02 CD02 CD03 CD11 CD19

Claims (8)

[Claims] 1. A waterproof coating film forming robot for spraying a resin waterproofing agent onto a target construction surface such as the top surface of a building to form a waterproof coating film. An arm for reciprocating in a direction substantially perpendicular to the running direction of the running section is provided, and a spray nozzle for spraying the resin waterproofing agent is provided at the end of the arm. . 2. The waterproof coating film forming robot according to claim 1, wherein a traveling speed of the traveling section and a moving speed of the arm by the reciprocating mechanism can be changed. 3. The traveling direction of the traveling unit is driven based on a detection signal output when an obstacle is detected from an obstacle detection sensor that detects an obstacle ahead of the traveling direction of the traveling unit. 3. The waterproof coating film forming robot according to claim 1, further comprising a direction changing mechanism for changing directions. 4. The driving of one or both of the traveling section and the reciprocating mechanism and the driving of a waterproofing agent supply mechanism for supplying the resin waterproofing agent to the spray nozzle are interlocked. Item 4. The waterproof coating film forming robot according to any one of Items 1 to 3. 5. The waterproof coating film according to claim 4, wherein when the traveling of the traveling section is stopped, the supply of the resin waterproofing agent by the waterproofing agent supply mechanism is stopped in conjunction therewith. Forming robot. 6. A spray for changing a spraying direction of a resin waterproofing agent from the spray nozzle when the arm reaches a moving direction reversal position existing on both sides of a movable range of the arm by the reciprocating mechanism or a position near the reverse position. The waterproof coating film forming robot according to any one of claims 1 to 5, further comprising a direction changing mechanism. 7. A nozzle cleaning mechanism according to claim 4, further comprising a nozzle cleaning mechanism for feeding high-pressure gas into the spray nozzle to perform cleaning in conjunction with the stoppage of the supply of the resin waterproofing agent by the waterproofing agent supply mechanism. The waterproof coating film forming robot according to any one of the above. 8. The waterproof coating film forming robot according to claim 1, wherein a cover for preventing scattering of the resin waterproofing agent is attached near the spray nozzle.