JP2001347197A - Coating robot for electrostatic coating - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a coating robot for electrostatic coating, which is capable of preventing the scattering of coating material droplets to the surroundings as immediatately as possible in a coating work for a transmission tower. SOLUTION: The coating robot 1 for electrostatic coating is for coating a material to be coated such as a pipe like material or the like as a frame work material for the tower. A robot body part 2 is provided with an arm part 4, which extends to surround the outside of the material to be coated and on which many electrostatic coating jetting nozzles 5 are arranged, and coating material supply means 10, 11 for supplying the spray coating material to each electrostatic coating jetting nozzle 5, an electrostatic controller 23 for impressing DC high voltage to each electrostatic coating jetting nozzle 5 and a control means 24 connected directly to a power source and for controlling the driving of the coating material supply means 10, 11 and the electrostatic controller 23 are incorporated in the robot body part 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a painting robot for electrostatic painting, and more particularly to, for example, a steel tower for power transmission, in which each frame of the steel tower is formed, in particular, a pipe-shaped support. The present invention relates to a painting robot for electrostatic painting that prevents paint splashes from splashing around during painting work.

[0002]

2. Description of the Related Art In general, such power transmission towers and the like are regularly subjected to maintenance such as painting, and in this case, it is necessary to prevent paints and the like from splashing around. As a measure to prevent this, painting work is being promoted after surrounding the tower with a protective net. In order to stretch this type of protective net, means for connecting the protective net to a log framed along a steel tower by using an appropriate metal fitting or string has been adopted. Since it is not preferable to add logs during the construction, it is common practice to enclose the entire tower with a log and a protective net in advance.

[0003]

In the above conventional method,
The number of logs becomes enormous, the weight becomes considerably heavy, and skill is required to assemble the logs. Therefore, it took a lot of man-hours to transport the logs and the frame, which was one of the factors that hindered the reduction of construction costs. Further, since the end of the protective net is tied to the log, it takes time to install the protective net, but there is a problem that it is not easy to remove the protective net in a strong wind.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems. For example, in painting a power transmission tower, the installation of a protective net is completely abolished, and paint splashes scatter around. It is an object of the present invention to provide a coating robot for electrostatic coating which can prevent the occurrence of the coating as much as possible.

[0005]

Means for Solving the Problems The above-mentioned problems are solved by the invention described in each claim. That is, the painting robot for electrostatic painting according to the invention according to claim 1 is a painting robot for electrostatic painting for painting an object to be painted such as a pipe as a framing material in a steel tower or the like, The robot body, which is mounted so as to be capable of self-running on the object to be coated, has an arm portion which extends so as to circumscribe the outside of the object to be coated and in which a plurality of spray nozzles for electrostatic coating are arranged. A paint supply means for supplying a spray paint to each of the electrostatic spraying nozzles; an electrostatic controller for applying a high DC voltage to each of the electrostatic spraying nozzles; And a control means connected to a power supply for controlling the driving of the paint supply means and the electrostatic controller.

With the above construction, a robot body is mounted on an object to be coated, and the robot body is self-propelled along the object to be coated, and is built in the robot body. The paint supply means and the electrostatic controller are driven by the drive control of the control means, respectively, and the paint particles which are ejected in the form of atomization from each of the spray nozzles for electrostatic coating and which are negatively charged are adsorbed on the object to be coated which is positive. The coating is done automatically. As a result, it is possible to improve the coating effect, which is a feature of electrostatic coating, and to reduce the number of paint particles that are not adsorbed to the object to be coated and are scattered as much as possible. Can be prevented.

According to a second aspect of the present invention, there is provided a coating robot for electrostatic coating according to the first aspect of the present invention, wherein the robot body is provided with the spray nozzle for electrostatic coating. On the other hand, the gist of the invention is to include a built-in compressed air supply means for supplying compressed air.

According to this configuration, the compressed air ejected from each of the electrostatic coating spray nozzles is similarly sprayed from each of the electrostatic coating spray nozzles in an atomized state, so that the negatively charged paint particles are covered from the outside. This prevents the paint particles from scattering in an unnecessary range beforehand, thereby further improving the effect of applying the paint particles to the object to be coated.

According to a third aspect of the present invention, there is provided a coating robot for electrostatic coating according to the first or second aspect, wherein the object to be coated is a frame material for a steel tower or the like. A rail having a rack is vertically arranged along the column, and gear means meshing with the rack is provided on the robot main body, and the gear means is driven to rotate in the normal and reverse directions. And driving means controlled by the control means.

According to this structure, the robot main body can be moved up and down with respect to the pipe-like support as a frame material in the steel tower or the like to be coated, thereby performing the electrostatic coating.

According to a fourth aspect of the present invention, there is provided a coating robot for electrostatic coating according to the first or second or third aspect, wherein the driving means is operated by a remote control. The gist of the present invention is as follows.

According to this configuration, the vertical movement of the robot main body and the operation of the electrostatic coating can be operated by the operator, so that the coating operation at a high place can be performed simply and easily. Things.

[0013]

BRIEF DESCRIPTION OF THE DRAWINGS FIG.
A description will be given based on FIG. In the present embodiment, for example, an object to be coated is a power transmission tower, which constitutes each framing material of the tower, and in particular, a coating for electrostatic coating for coating a pipe-like column t. The robot 1 will be described in detail. A rail r provided with a rack 1 is vertically arranged on the pipe-shaped support t along the support t.

As shown in FIGS. 1 and 2, a painting robot 1 for electrostatic painting has a robot body 2 formed in a substantially box shape and hinges 3, 3 from both sides of the robot body 2. The main body is composed of left and right curved arms 4 and 4 which are rotatably extended so as to circumscribe the outside of a pipe-shaped support t which is an object to be coated via The left and right arms 4 and 4 are provided with a plurality of upper and lower rows of a plurality of electrostatic coating spray nozzles 5 to 5 directed to a pipe-shaped support t of the object to be coated. The upper and lower portions of the left and right arms 4, 4 are integrally extended from the robot body 2 and are covered by covers 6, 6.

Auxiliary arms 7, 7 are provided on the arms 4, 4 so as to be able to enter and exit along the curved state. The nozzles 8, 8 are mounted in a state where they are directed to the pipe-shaped support t of the object to be coated, similarly to the spray nozzles 5 to 5 for electrostatic coating.

As shown in FIG. 1, a drive motor 9 for forward / reverse rotation, a paint tank 10, a paint pump unit 11, and a control unit 12 are incorporated in the robot main body 2, respectively.

As shown in FIGS. 3 and 4, a drive pinion 13 and a driven pinion 1 meshed with a rack l of the rail r for constituting a self-propelling means are provided in the robot body 2.
The drive pinion 13 is rotatably mounted on the upper and lower portions. The drive pinion 13 is driven by the drive motor 9 for forward / reverse rotation.
5 is configured to be driven forward and reverse. On the opposite side of the robot body 2 where the drive pinion 13 and the driven pinion 14 are located, press rollers 16, 16 abutting against the back surface of the rail r are rotatably supported. 13 and driven pinion 1
The rail r is nipped from both sides by the pressing roller 4 and the pressing rollers 16 to hold the entire robot body 2 on the rail r.

As shown in FIG. 4, the paint tank 10 comprises, for example, two paint tanks 17 and 18 for different colors of white and red, and the paint pump unit 11 has two paint tanks. And two paint pumps 17, 20 each of which has two paint tanks 17,
A pipe line 21 connected to the pipe 18 and having a flexible discharge side;
Each of the spray nozzles 5 for electrostatic coating positioned above and below via 22
To 5, 8, and 8, respectively.

Further, the control unit 12 includes:
As shown in FIG. 4, it is composed of an electrostatic controller 23 and a control box 24, and this electrostatic controller 23 applies a DC high voltage to each of the spray nozzles 5 to 5, 8 and 8 for electrostatic coating. The control box 24 is connected to a power source and the drive motor 9,
The driving of the fuel pumps 19 and 20 and the electrostatic controller 23 is controlled.

As shown in FIG. 4, an air compressor 25 is incorporated in the robot main body 2 and the pipes 21 and 2 are passed through flexible pipes 26 and 27.
2, each of the spray nozzles 5 for electrostatic coating
, 5, 8 and 8 are respectively supplied with compressed air.

The robot main body 2 is provided with a remote control antenna 28 connected to the control unit 12 so as to receive a radio wave from the remote control operating means 29. Each of the controls is remote-controlled.

A case will be described in which the object to be coated by the coating robot 1 configured as described above constitutes each of the frame members of the power transmission tower, in particular, the pipe-shaped column t.

First, a pipe-like column t of a steel tower to be painted
The drive pinion 13 and the driven pinion 14 as self-propelling means are meshed with the rack 1, and the drive pinion 13 and the driven pinion 14 and the pressing rollers 16, 16
Thus, the entirety of the robot main body 2 is held on the rail r while holding the rail r from both sides.

Therefore, when the drive motor 9 is driven by a drive command from the control box 24, the drive pinion 13 rotates while meshing with the rack 1 via the speed reducer 15, and the whole of the robot main body 2 is rotated in the forward or reverse direction. Move up or down along the pipe-like column t of the steel tower to be painted.

On the other hand, when one of the two fuel pumps 19, 20, for example, the fuel pump 19 on the white paint tank 17 side is driven by a drive command from the control box 24, the white paint passes through the pipe 21. For example, it is supplied to the upper-stage electrostatic spraying nozzles 5 to 5, 8, and 8, and the electrostatic controller 23 is operated by a drive command from the control box 24 to operate the upper-stage electrostatic spraying nozzles. Since a DC high voltage is applied to the nozzles 5 to 5, 8 and 8, as shown in FIG. The sprayed paint particles are negatively charged, and the negatively charged paint particles are adsorbed to the positive pipe-shaped column t of the steel tower to be coated, and the coating is automatically performed.

This makes it possible to improve the coating effect, which is a feature of electrostatic coating, and to reduce paint particles that are not adsorbed and scattered by the pipe-shaped column t of the steel tower to be coated. It is possible to prevent scattering to the surroundings as much as possible.

In this case, the air compressor 25 is operated by a drive command from the control box 24, and the pipeline 2
6, 27, and compressed air are supplied to the respective electrostatic spraying nozzles 5 to 5, 8 and 8 through the conduits 21 and 22, respectively. The paint is applied to the pipe-shaped column t of a steel tower to be painted by spraying in the form of an atom and acting to cover the negatively charged paint particles from outside to prevent the paint particles from scattering in an unnecessary range beforehand. The effect of coating particles is further improved.

When the fuel pump 20 on the side of the red paint tank 18 is driven by a switching drive command from the control box 24, the red paint passes through the pipe 22 and, for example, the lower spray nozzles 5 for electrostatic coating. , 5, 8 and 8 and, similarly to the above, each of the lower spray nozzles 5 for electrostatic coating.
The paint particles ejected in the form of atomization from 5, 8, and 8 are negatively charged, and the negatively charged paint particles are adsorbed on the pipe-shaped column t of the steel tower to be coated, which is positive, to automatically perform coating. Is to do

As described above, color-coded electrostatic coating is automatically and continuously performed on the pipe-like column t of the steel tower to be coated.

In this embodiment, by pulling out the auxiliary arms 7 and 7 with respect to the arms 4 and 4,
The electrostatic painting range can be adjusted. Further, the remote control operation means 29 allows the operator to operate the vertical movement of the robot main body 2 and each operation of the electrostatic painting at hand. The coating work in the place is easily and easily accomplished.

In the present embodiment, the spray nozzles 5 to 5, 8 and 8 for electrostatic coating are arranged in two rows in the upper and lower directions. However, the present invention is not limited to this. Three or more rows may be provided.

Although the electric drive motor 9 is employed for driving the self-propelled means, instead of this, as shown in FIG.
The self-propelled means may be driven by a combination of the engine 30, a hydraulic pump 31 operated by the engine 30, and a hydraulic drive motor 32.

[0033]

As described above, according to the first aspect of the present invention, an object to be coated in which the negatively charged paint particles ejected in the form of atomization from each electrostatic spraying nozzle are positive. The coating can be performed automatically by adsorbing it. As a result, it is possible to improve the coating effect, which is a feature of electrostatic coating, and to reduce the number of paint particles that are not adsorbed to the object to be coated and are scattered as much as possible. Can be prevented.

Further, in the invention according to claim 2,
Compressed air ejected from each spray nozzle for electrostatic coating is also sprayed out of each spray nozzle for electrostatic coating in the form of atomization, and acts to cover negatively charged paint particles from the outside, thereby making unnecessary the paint particles. A range of scattering can be prevented beforehand, and the effect of applying the coating particles to the object to be coated can be further improved.

According to the third aspect of the present invention, it is possible to reliably move the robot main body up and down with respect to a pipe-shaped support as a frame material in a steel tower or the like to be coated to perform electrostatic coating. it can.

According to the fourth aspect of the present invention, the vertical movement of the robot main body and the operation of electrostatic painting can be operated by the operator, making painting work at a high place simple and easy. Can be carried out.

[Brief description of the drawings]

FIG. 1 is a front view schematically showing an entire coating robot.

FIG. 2 is a plan view schematically showing the entire coating robot.

FIG. 3 is an explanatory view schematically showing a self-propelled means.

FIG. 4 is an explanatory view schematically showing each means of the robot body.

FIG. 5 is an explanatory view schematically showing another example of the self-propelled means.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Painting robot 2 Robot body part 4 Arm part 5 Injection nozzle for electrostatic painting 8 Injection nozzle for electrostatic painting 9 Drive motor 10 Paint tank 11 Paint pump unit 12 Control unit 23 Electrostatic controller 24 Control box

Continuing from the front page (72) Inventor Koichi Matsuya 5-34-3 Shimbashi, Minato-ku, Tokyo Takenan Construction Co., Ltd. (72) Inventor Keizo Uno 5-34-3 Shimbashi, Minato-ku, Tokyo Gakunan Construction Co., Ltd. (72) Inventor Kotaro Masuyama 5-34-3, Shimbashi, Minato-ku, Tokyo Takenan Construction Co., Ltd. (72) Inventor Tadahiko Nakayama 5-34-3, Shimbashi, Minato-ku, Tokyo Gakunan Construction Co., Ltd. (72) Inventor Masayoshi Otsuka 5-34-3, Shimbashi, Minato-ku, Tokyo Gakunan Construction Co., Ltd. (72) Inventor Kazuyuki Makino 5-34-3, Shimbashi, Minato-ku, Tokyo Gakunan Construction Co., Ltd. (72) Inventor Yukio Yokohari 5-34-3, Shimbashi, Minato-ku, Tokyo, Japan Gakunan Construction Co., Ltd. (72) Inventor Tomio Okada 5-34-3, Shimbashi, Minato-ku, Tokyo Gakunan Construction, Inc. (72 ) Inventor Yoshikatsu Sasaki 5-34-3 Shimbashi, Minato-ku, Tokyo Yukinan Construction Co., Ltd. (72) Inventor Tetsuya Uchida 5-34-3, Shimbashi, Minato-ku, Tokyo South Construction Co., Ltd. in the F-term (reference) 3F060 AA05 CA07 CA12 DA04 EB07 GA05 GA13 GA15 GB22 GD13 HA03 4D075 AA09 AA37 4F034 AA04 BA14 BB07 BB12 DA11 4F035 AA03 BC02 CC01 CD02

Claims (4)

[Claims] 1. A coating robot for electrostatic coating for coating an object to be coated such as a pipe as a framing material in a steel tower or the like, which is mounted so as to be able to move on the object to be coated. The robot main body includes an arm portion that extends so as to surround the object to be coated and has a plurality of spray nozzles for electrostatic coating disposed thereon. Paint supply means for supplying spray paint to the spray nozzles, an electrostatic controller for applying a DC high voltage to each electrostatic paint spray nozzle, and the paint supply means and the electrostatic controller connected to a power supply A painting robot for electrostatic painting, comprising a control means for controlling the driving of the paint. 2. A painting robot for electrostatic painting according to claim 1, wherein said robot body has a built-in compressed air supply means for supplying compressed air to said spray nozzle for electrostatic painting. Painting robot for electric painting. 3. The coating robot for electrostatic coating according to claim 1, wherein the object to be coated is a pipe-like column as a frame material in a steel tower or the like, and a rack is provided along the column. A rail is disposed vertically, and the robot body has built-in gear means for meshing with the rack, and driving means for driving the gear means to rotate in forward and reverse directions and controlled by the control means. A painting robot for electrostatic painting. 4. The painting robot for electrostatic painting according to claim 1, wherein the driving means is operated by remote control.