JP2019093542A - 建物の壁表面に吹き付けるためのシステム及びその方法 - Google Patents
建物の壁表面に吹き付けるためのシステム及びその方法 Download PDFInfo
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- 238000005507 spraying Methods 0.000 title claims abstract description 12
- 238000000034 method Methods 0.000 title description 5
- 230000007246 mechanism Effects 0.000 claims abstract description 70
- 239000007921 spray Substances 0.000 claims abstract description 30
- 238000012544 monitoring process Methods 0.000 claims abstract description 19
- 239000012636 effector Substances 0.000 claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 11
- 230000000007 visual effect Effects 0.000 claims abstract description 9
- 239000003381 stabilizer Substances 0.000 claims description 15
- 238000004140 cleaning Methods 0.000 description 10
- 239000003973 paint Substances 0.000 description 9
- 238000010422 painting Methods 0.000 description 7
- 239000000969 carrier Substances 0.000 description 5
- 239000007788 liquid Substances 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000007689 inspection Methods 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 239000003599 detergent Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000010348 incorporation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007592 spray painting technique Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/004—Arrangements for controlling delivery; Arrangements for controlling the spray area comprising sensors for monitoring the delivery, e.g. by displaying the sensed value or generating an alarm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
- B05B13/041—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/70—Arrangements for moving spray heads automatically to or from the working position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B9/00—Kinds or types of lifts in, or associated with, buildings or other structures
- B66B9/16—Mobile or transportable lifts specially adapted to be shifted from one part of a building or other structure to another part or to another building or structure
- B66B9/187—Mobile or transportable lifts specially adapted to be shifted from one part of a building or other structure to another part or to another building or structure with a liftway specially adapted for temporary connection to a building or other structure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/042—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations actuated by lazy-tongs mechanisms or articulated levers
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Structural Engineering (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Civil Engineering (AREA)
- Transportation (AREA)
- Combustion & Propulsion (AREA)
- Analytical Chemistry (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Automation & Control Theory (AREA)
- Electrochemistry (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (12)
- 建物の壁に吹き付けるための自動化システムであって、
キャリアと、
前記キャリア上に搭載されたロボット機構であって、エンドエフェクタを更に有し、前記エンドエフェクタは前記エンドエフェクタ上でスプレーノズルを支持するように適合される、ロボット機構と、
前記壁の構造特徴及びプロファイルをスキャンするように構成される視覚モニタリングシステムと、
前記視覚モニタリングシステム及び前記ロボット機構と通信状態で配設されたコンピューティングデバイスであって、前記視覚モニタリングシステムから前記壁の前記スキャン済み構造特徴及びプロファイルを受信するように構成される、コンピューティングデバイスと、
前記コンピューティングデバイスに通信可能に結合されるコントローラであって、前記壁の前記スキャン済み構造特徴及びプロファイルに従って前記ロボット機構及び前記スプレーノズルのそれぞれの1つの動作を独立に制御するように構成される、コントローラとを備える、システム。 - 前記キャリアは、空中作業プラットフォームである、請求項1に記載のシステム。
- 前記キャリアは、ブームリフトを備える、請求項2に記載のシステム。
- 前記キャリア上に位置し、前記建物の高さに関して水平に配設されたリニアトラックを更に備え、前記ロボット機構は前記リニアトラック上に摺動可能に搭載される、請求項3に記載のシステム。
- 前記キャリア上に配設された2方向トラックを更に備え、前記ロボット機構は前記2方向トラック上に摺動可能に搭載され、前記2方向トラックは、少なくとも2つの軸移動を含み、前記少なくとも2つの軸移動は、前記ロボット機構が前記2つの軸移動にわたって摺動することを可能にする、請求項3に記載のシステム。
- 前記キャリアはシザーリフトを備える、請求項2に記載のシステム。
- 前記キャリア上に位置し、前記建物の高さに関して水平に配設されたリニアトラックを更に備え、前記ロボット機構は前記リニアトラック上に摺動可能に搭載される、請求項6に記載のシステム。
- 前記キャリア上に配設された2方向トラックを更に備え、前記ロボット機構は前記2方向トラック上に摺動可能に搭載され、前記2方向トラックは、少なくとも2つの軸移動を含み、前記少なくとも2つの軸移動は、前記ロボット機構が前記2つの軸移動にわたって摺動することを可能にする、請求項6に記載のシステム。
- 前記キャリアは、建物上に搭載されたゴンドラを備え、前記ゴンドラは、各リニアアクチュエータの自由端に位置し、前記建物の壁に対向する関係で配設された少なくとも吸引カップを備え、前記吸引カップは、前記ゴンドラキャリアを位置決めするために前記建物の壁に選択的に付着するように構成される、請求項1に記載のシステム。
- 前記キャリアの下に配設され、接続バーを通して前記キャリアに移動可能に接続する安定化器プラットフォーム、及び、前記接続バーに沿って前記キャリアに対して前記安定化器プラットフォームを動作可能に位置決めするように適合されるドライブシステムと、
前記安定化器プラットフォーム上に設置された2次吸引機構であって、前記建物の壁に付着するように別個に制御される、2次吸引機構とを備え、
動作上、前記安定化器プラットフォームが前記キャリアに対して移動しているとき、前記吸引カップまたは前記2次吸引機構の少なくともいずれか一方は、前記建物の壁に付着する、請求項9に記載のシステム。 - 前記キャリア上に位置し、前記建物の高さに関して水平に配設されるリニアトラックを更に備え、前記ロボット機構は、前記リニアトラック上に摺動可能に搭載される、請求項9に記載のシステム。
- 前記キャリア上に配設された2方向トラックを更に備え、前記ロボット機構は前記2方向トラック上に摺動可能に搭載され、前記2方向トラックは、少なくとも2つの軸移動を含み、前記少なくとも2つの軸移動は、前記ロボット機構が前記2つの軸移動にわたって摺動することを可能にする、請求項9に記載のシステム。
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JP2023122960A JP2023153903A (ja) | 2017-11-24 | 2023-07-28 | 建物の壁表面に吹き付けるためのシステム及びその方法 |
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JP2023122960A Pending JP2023153903A (ja) | 2017-11-24 | 2023-07-28 | 建物の壁表面に吹き付けるためのシステム及びその方法 |
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US (4) | US11135611B2 (ja) |
JP (2) | JP7329228B2 (ja) |
KR (2) | KR102669739B1 (ja) |
CN (3) | CN208618757U (ja) |
AU (1) | AU2018247200A1 (ja) |
MY (1) | MY197029A (ja) |
TW (2) | TWI772534B (ja) |
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GB201909111D0 (en) * | 2019-06-25 | 2019-08-07 | Q Bot Ltd | Method and apparatus for renovation works on a building, including method and apparatus for applying a covering to a building element |
CN110424683B (zh) * | 2019-07-12 | 2024-05-28 | 广东天凛高新科技有限公司 | 一种3d打印装饰面层机器人 |
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US20210180351A1 (en) * | 2019-12-16 | 2021-06-17 | Chun Wo Construction & Engineering Co., Limited | System and method for building façade cleaning and painting with a dual cable-driven robot |
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- 2018-06-04 CN CN201810563403.5A patent/CN109838073B/zh active Active
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US20220062936A1 (en) | 2022-03-03 |
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US11135611B2 (en) | 2021-10-05 |
AU2018247200A1 (en) | 2019-06-13 |
JP2023153903A (ja) | 2023-10-18 |
US11931754B2 (en) | 2024-03-19 |
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