JP2019136651A - Flight type injector and coating method - Google Patents

Abstract

To provide a flight type injector which can easily move to an arbitrary coating position by using an air thrust device and enables stable coating to be executed by fluid spray, and a coating method.SOLUTION: A flight type inject comprises an air thrust device, an injection device capable of spraying a fluid to a coating face, a cover that covers the injection device and has an opening end in a shape corresponding to the coating face, a frame coupled with the air thrust device to be capable of rotating the injection device and the cover around at least one shaft, and a space which can keep the cover counter to the coating face at a predetermined interval, where the at least one shaft is located in a plane vertical to a direction of thrust the air thrust device generates and passes the thrust center of the flight type injector.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a flight type injection apparatus and a coating method.

  When a wall or ceiling is repainted in a large structure such as a factory building, a preliminary surface treatment process and a coating film generation process are performed. In the ground treatment, for example, spraying high-pressure water removes dirt and rust on the painted surface. In the coating film generation, for example, a coating film is generated on the painted surface by spraying a paint. Usually, these processes are carried out by the workers on the scaffold, but especially when the painted surface is at a high place, the amount of work for assembly and disassembly of the scaffold becomes enormous, and the work of painting itself Often exceeded the amount.

  In this regard, in Patent Document 1, a gondola that can be moved up and down along the wall surface is covered with an electrostatic net, and an operator who gets on the gondola paints the wall surface with a paint gun or is installed in the gondola. A technique for painting a wall surface by moving a painting gun remotely is described. In this case, a scaffold is not required, but a large-scale device for raising and lowering the gondola is required. In addition, when placing a worker on a gondola or installing a paint gun, avoid obstacles such as pipes and structural materials protruding from the wall surface, or follow the part where the wall surface is retracted at the window or opening. Is difficult.

  On the other hand, Patent Document 2 discloses a flying object used for inspecting structures such as viaducts, and has wheels larger than the flying object attached to both sides to enable land travel and is attached to the structure. Techniques are described for attaching possible links to an aircraft body or axle so that the aircraft body can be suspended. Such flying objects are widely used for sensing applications such as image capturing. An aircraft with wheels that can travel on land can be driven by wheels on, for example, tunnel ceilings and walls, viaduct piers and beam surfaces, so it has the advantage of low power consumption and high handling stability during movement. Have

JP-A-11-76873 JP 2017-71379 A

  However, for example, an attempt to install the electrostatic net and the paint gun described in Patent Document 1 on the flying object described in Patent Document 2 does not always work. A flying object such as that described in Patent Document 2 is premised on the use in sensing applications, and is not designed for an operation that receives a large reaction force, such as spraying a fluid. When the paint is sprayed, it is separated from the painted surface by the reaction force. In order to prevent this, it is necessary to generate thrust in the direction in which the flying object approaches the painted surface, but the attitude of the flying object changes at that time, so the state where the painting gun is directed toward the painted surface is maintained. It will not be done.

  The present invention has been made in view of the above, and can be easily moved to an arbitrary painting position by using an air thrust device, and can be applied stably by spraying a fluid. It is an object of the present invention to provide an improved flying spray device and coating method.

According to an aspect of the present invention, a flight type injector is provided. The flight type injection device includes an air thrust device, an injection device capable of spraying a fluid onto the painted surface, a cover that covers the injection device and has an open end corresponding to the painted surface, and at least the injection device and the cover. A frame coupled to the air thrust device so as to be rotatable around one axis; and a spacer capable of facing the cover to the painted surface at a predetermined interval, wherein the at least one axis includes the air thrust It lies in a plane perpendicular to the direction of thrust generated by the device and passes through the thrust center of the flight injector.
According to said structure, it can move to arbitrary coating positions easily, for example, when a flight type injection apparatus is provided with an air thrust device. In addition, since the spraying device and the cover for painting are rotatably connected to the air thrusting device, and the rotation shaft passes through the thrust center of the flying jetting device, the air thrusting device is positioned at the position of the flying jetting device. Regardless of the orientation directed to control the posture, the spray device and the cover can be directed to the painting surface, and the painting by spraying the fluid can be stably performed.

In the above-described flight type injection device, the air thrust device is connected to the first position of the frame, the air thrust device or the attachment device for the injection device is connected to the second position of the frame, and the injection device and the cover are Coupled to the third position of the frame, the second position and the third position being such that the axis of rotation passes through the center of gravity of the flying injector when the injector and cover rotate about at least one axis As such, they may be located on opposite sides of the first position.
In this case, the center of thrust of the air thrust device and the center of gravity of the frame connecting the spray device and the cover coincide with each other, so that the frame of the spray device and the cover is directed upward and downward from the horizontal during flight and hovering. Even if it fluctuates up to the vertical direction, it can continue to fly stably.

The above-described flight injection device may further include a connection pipe that connects the space in the cover to the air suction device.
In this case, the negative pressure in the cover effectively prevents the splash of fluid ejected from the ejection device from being scattered outside.

In the above-described flight injection apparatus, a wheel may be provided at the tip of the spacer. Furthermore, the wheel may be provided with a rotation drive device.
In this case, by providing the wheels, it is easy to move the flying spray device in a direction parallel to the painted surface while maintaining the state where the cover is opposed to the painted surface. Further, by providing a rotational drive device on the wheel, the flight type injection device can be moved along the paint surface by driving the wheel in a state where the air thrust device imparts neutral buoyancy to the flight type injection device.

According to another viewpoint of this invention, the coating method using said flight type injection apparatus is provided. In the painting method, the air thruster generates thrust in a direction in which the flying injector approaches the paint surface with the step of moving the flight injector close to the paint surface and the cover facing the paint surface. The process of bringing the spacer into contact with the paint surface, and after the spacer comes into contact with the paint surface, the air thrust device generates thrust in a direction to bring the flying spray device closer to the paint surface, Spraying a fluid on the substrate.
According to the above configuration, for example, the thrust generated by the air thrust device counters the reaction force generated by spraying the fluid onto the paint surface by the spray device, thereby maintaining the position of the flying spray device, and the cover It is possible to prevent separation from the painted surface.

In the above coating method, a wheel is provided at the tip of the spacer, and the wheel is provided with a rotation drive device. The coating method rotates while giving neutral buoyancy to the flying jet device by the thrust generated by the air thrust device. You may further include the process of moving a flight type injection device along a painting surface by driving a wheel using a drive device.
In this case, since the flying thrust device can be moved along the painted surface by driving the wheels in a state where the thrust thrust device imparts neutral buoyancy to the flying thrust device, the control of the air thrust device is easy. In addition, the alignment accuracy in the direction along the painted surface is improved.

  As described above, according to the present invention, a flying jet apparatus that can be easily moved to an arbitrary painting position by using an air thruster and can stably perform painting by spraying fluid. And a coating method is provided.

It is a perspective view which shows the flight type injection apparatus which concerns on one Embodiment of this invention. It is a figure which shows the state which the flight type injection apparatus shown in FIG. 1 is coating the wall surface. It is a figure which shows the state which the flight type injection apparatus shown in FIG. 1 has painted the ceiling surface. It is a figure which shows the state which the flight type injection apparatus shown in FIG. 1 is coating inclined surfaces, such as a roof surface.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the present specification and drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant description is omitted.

  FIG. 1 is a perspective view showing a flight type injection apparatus according to an embodiment of the present invention. As shown in FIG. 1, the flight type injection device 1 includes a flight device 2, an injection device 3, a cover 4, a frame 5, a spacer 6, and a cable 7. Hereinafter, each part will be further described.

The flying device 2 includes propellers 21 </ b> A to 21 </ b> D that are air thrust devices, a control unit 22, and a power supply unit 23. Propeller 21A~21D is at a first position _{P 1} of the frame 5, is connected to the inner frame 51. The control unit 22 is connected to the reinforcing frame 54. The power supply unit 23 is connected to the outer frame 53 at the second position P ₂ of the frame 5. Propellers 21 </ b> A to 21 </ b> D constitute a multi-rotor that is driven according to the control of control unit 22, and generate thrust for ascending and descending, and for forward, backward, and turning of flight injector 1. The control unit 22 includes a sensor such as a gyro sensor or an acceleration sensor, and a computer connected to the sensor, and the attitude and moving direction of the flight type injection device 1 determined based on the detection result of the sensor and an instruction from the operator. The driving of the propellers 21A to 21D is controlled so that the moving speed is realized. The instruction from the operator is received by, for example, wired communication via a communication line included in the cable 7 or wireless communication using an antenna included in the control unit 22. The power supply unit 23 supplies power to the drive units and the control unit 22 of the propellers 21A to 21D.

The spray device 3 is a device that can spray a fluid onto the coating surface W. In the present embodiment, the injection device 3 includes a high-pressure water injection device 31 and a paint injection device 32. The high-pressure water injection device 31 removes dirt, rust, and the like on the painted surface W by spraying the painted surface W with high-pressure water supplied from a supply device installed on the ground via a connecting pipe included in the cable 7. be able to. The coating material injection device 32 can generate a coating film on the coating surface W by spraying the coating material W supplied from the supply device installed on the ground via the connecting pipe included in the cable 7 onto the coating surface W. . The high-pressure water injection device 31 and the paint injection device 32 may include a communication circuit and a control circuit, respectively, and may execute injection in accordance with an operator instruction received by wired communication via a communication line included in the cable 7. Alternatively, the high-pressure water injection device 31 and the paint injection device 32 may be configured to automatically perform injection when the fluid is supplied. The injection device 3 is connected to the third position P ₃ of the frame 5 together with the cover 4. Here, in the frame 5, and the third position P ₃ the injection device 3 and the cover 4 are coupled, and the second position P ₂ by the power supply unit 23 of the flying device 2 is connected, the first position P ₁ opposite to each other. As a result, the load due to the injection device 3 and the cover 4 and the load due to the power source 23 are dispersed across the connecting positions of the propellers 21A to 21D, which are air thrusters, so that the balance during the flight of the flight type injection device 1 is improved. Is done. Specifically, passing through the center of gravity of the flying type injector 1 that rotation axis A ₁ includes the portion connected to the frame 5 when the injection device 3 and the cover 4 is rotated about the axis of rotation A _1, described later This improves the balance of the flying injector 1 during flight. Incidentally, being connected to the second position P ₂ may not necessarily be a power supply unit 23, may be other accessory devices for propellers 21A~21D or injectors 3.

  The cover 4 covers the injection device 3 and has an open end 41 having a shape corresponding to the painted surface W. In the illustrated example, since the coating surface W is a flat surface, each side of the substantially rectangular opening end 41 is linear. In another example, when the coating surface W is a cylindrical surface or a spherical surface, each side of the opening end 41 may have a convex shape or a concave curved shape along the coating surface. In the illustrated example, the cover 4 has a square frustum shape without a bottom surface, but may similarly have a truncated cone shape without a bottom surface or another truncated pyramid shape. The cover 4 opposes the coating surface W at a predetermined interval by the action of the spacer 6 described later, thereby preventing the spray of fluid sprayed from the spraying device 3 disposed inside the cover 4 from scattering to the outside. To do. As long as such a function is realized, the cover 4 does not necessarily have a frustum shape without a bottom surface, and may have a shape such as a cylinder or a prism without one bottom surface. Although not shown, in the present embodiment, a connection pipe that connects the space in the cover 4 to the air suction device is provided. By operating the air suction device, the inside of the cover 4 becomes a negative pressure, and the splash of the fluid ejected from the ejection device 3 is more effectively prevented from being scattered outside. The air suction device may be mounted on the flight type injection device 1 or may be installed on the ground. When the air suction device is installed on the ground, the cable 7 includes a connection pipe connected to the air suction device.

The frame 5 includes an inner frame 51, a rotary joint 52, an outer frame 53, and a reinforcing frame 54. Frame 5, as described below, is connected to the flying device 2 to the injector 3 and the cover 4 is rotatable about an axis of rotation A _1. The rotation axis A ₁ is in a plane perpendicular to the direction of thrust generated by the flying device 2 (z direction in the figure) and passes through the thrust center CoT of the flying injector 1. The inner frame 51 is a rod-shaped member disposed along the rotational axis A _1, the propeller 21A~21D flight device 2 is connected to the center. Both ends of the inner frame 51 are connected to the outer frame 53 via a rotary joint 52. In the illustrated example, the outer frame 53 is substantially square, and a rotary joint 52 is provided near the midpoint of a pair of opposite sides. By the operation of the rotary joint 52, the outer frame 53 may be rotated about an axis of rotation A ₁ with respect to the inner frame 51. The rotary joint 52 is provided with a rotation drive device such as a stepping motor or a servo motor, and an arbitrary rotation angle of the outer frame 53 with respect to the inner frame 51 can be set. The rotary drive device included in the rotary joint 52 may be controlled by the control unit 22 included in the flying device 2, for example, and may be supplied with power from the power supply unit 23. Alternatively, a control device and a power supply unit for the rotary drive device may be provided separately. Near the midpoint of a pair of opposite sides of the outer frame 53 where the rotary joint 52 is not provided, the injection device 3 and the cover 4 and the power supply unit 23 of the flying device 2 are connected to each other. The reinforcing frame 54 is installed between a pair of opposing sides of the outer frame 53 so as to be orthogonal to the inner frame 51. Reinforcing frame 54 for rotation with the outer frame 53 about the axis of rotation A _1, the inner frame 51 and the reinforcing frame 54 are connected through the bearing. In the present embodiment, the control unit 22 of the flying device 2 is connected to the reinforcement frame 54.

  The spacer 6 is attached to the cover 4 or the frame 5 and makes the cover 4 face the painted surface W at a predetermined interval. Specifically, the spacer 6 protrudes toward the painting surface W from the cover 4, and the flying jet device 1 is brought close to the painting surface W by thrust generated by the propellers 21 </ b> A to 21 </ b> D as will be described later. Sometimes, it comes into contact with the paint surface W before the opening end 41 of the cover 4. By arranging such a spacer 6 at an appropriate position with respect to the cover 4 (in the illustrated example, since the cover 4 is a quadrangular frustum, in the vicinity of the four corners of the bottom surface), the cover 4 is stabilized at a predetermined interval. Thus, it can be made to face the painted surface W. It is desirable that the tip portion of the spacer 6 in contact with the painted surface W has a rounded shape or is formed of an elastic material so as not to damage the painted surface W. In the present embodiment, a wheel 61 is provided at the tip of the spacer 6. By providing the wheel 61, the spacer 6 can be brought into contact with the painting surface W without damaging the painting surface W as described above, and in addition, the cover 4 faces the painting surface W. It is easy to move the flying spray device 1 in a direction parallel to the paint surface W while maintaining the above. Furthermore, the wheel 61 may be provided with a rotational drive device such as a motor, and may be able to travel in any direction (for example, the x direction in the figure). In this case, the flight type injection device 1 can be moved along the paint surface W by driving the wheels 61 in a state where the propellers 21 </ b> A to 21 </ b> D impart neutral buoyancy to the flight type injection device 1.

  The cable 7 includes one or a plurality of electric wires or conduits that connect the flight type injection device 1 to a device fixedly installed on the ground or the like. For example, the cable 7 may include a communication line that transmits an operator instruction to the flying device 2. In this case, the communication line is connected to a remote controller operated by the operator. Further, the cable 7 may include a connection pipe for connecting the high-pressure water injection device 31 of the injection device 3 to the high-pressure water supply device and a connection pipe for connecting the paint injection device 32 to the paint supply device. . Further, the cable 7 may include a communication line for transmitting an operator instruction to the injection device 3. In this case, the communication line and the remote controller may be the same as those for the flying device 2 or may be separate. The cable 7 may include a connection pipe for connecting the space in the cover 4 to the air suction device.

FIG. 2 is a diagram illustrating a state in which the flight type injection device illustrated in FIG. 1 is painting a wall surface. In the illustrated example, the painted surface W is a wall surface that coincides with a vertical surface (zx plane in the drawing). In this case, first, the flight type injection device 1 flies by the thrust generated by the propellers 21A to 21D and moves to the vicinity of the paint surface W. Next, the flight type injection device 1 approaches the coating surface W by the thrust generated by the propellers 21A to 21D with the cover 4 facing the coating surface W. At this time, the propellers 21A to 21D are inclined with respect to the horizontal plane (xy plane in the figure) in order to generate thrust in the direction approaching the paint surface W (y direction in the figure). for injection device 3 and the cover 4 by the configuration of the frame 5 is rotatable about an axis of rotation a ₁ with respect to the propeller 21A to 21D, the flight-type injection device 1, the cover 4 is inclined with respect paintwork W It is possible to approach the painted surface W while maintaining the facing state without any problems. Because the rotation axis A ₁ is passing through the thrust center CoT flight type injector 1, the injection device 3 and the cover 4 is flying type injector be rotated about an axis of rotation A ₁ with respect to the propeller 21A~21D 1 stable flight is maintained.

  With the configuration of the spacer 6 as described above, when the flying spray device 1 approaches the painting surface W with the cover 4 facing the painting surface W, the spacer 6 (illustrated in front of the opening end 41 of the cover 4). In this example, the wheel 61) included in the spacer 6 comes into contact with the painted surface W. Until all the spacers 6 are in contact with the painted surface W, the propellers 21 </ b> A to 21 </ b> D continue to generate thrust in a direction (y direction in the figure) that causes the flying spray device 1 to approach the painted surface W. By making the tip of the spacer 6 rounded like the wheel 61 or made of an elastic material, damage to the painted surface W due to contact with the spacer 6 pressed against the painted surface W is prevented. The Further, the spacer 6 comes into contact with the painting surface W before the cover 4 and the opening end 41 of the cover 4 does not directly contact the painting surface W, so that the opening end 41 damages the painting surface W, Conversely, the opening end 41 is prevented from being deformed by contact with the coating surface W.

  When all the spacers 6 are in contact with the painting surface W, the painting process by the spray device 3 disposed in the cover 4 is executed. Specifically, the high-pressure water injection device 31 sprays high-pressure water on the painted surface W, and the paint spraying device 32 sprays paint on the painted surface W. As described above, since the cover 4 that covers the spray device 3 is opposed to the coating surface W, scattering of the fluid sprayed from the spray device 3 to the outside is prevented. In the meantime, the propellers 21A to 21D continue to generate thrust in a direction (y direction in the drawing) in which the flying injection device 1 approaches the paint surface W. This thrust force counteracts the reaction force generated by spraying the fluid onto the paint surface W by the spray device 3, thereby maintaining the position of the flying spray device 1 and preventing the cover 4 from moving away from the paint surface W. Can do.

  In addition, propeller 21A-21D may change the magnitude | size of the thrust to generate | occur | produce between the time of spraying of high pressure water and the spraying of a coating material. Specifically, the propellers 21A to 21D generate a larger thrust when spraying high-pressure water that generates a larger reaction force, and generate a smaller thrust when spraying paint or do not generate a thrust. Good. Moreover, the high pressure water spraying step and the paint spraying step may not be performed continuously. For example, the flight type injection device 1 moves to the second region of the painting surface W after performing the high pressure water spraying process in the first region of the painting surface W, and then returns to the first region and returns to the paint region. You may perform a spraying process.

  When the painting process by the spray device 3 is completed, the flying spray device 1 leaves the paint surface W and returns or moves to another region of the paint surface W. When moving to the other area | region of the coating surface W, the flight type injection apparatus 1 may move to the next area | region by flight after once leaving | separating from the coating surface W with the thrust which propeller 21A-21D generates. When the wheel 61 is provided at the tip of the spacer 6, the flying spray device 1 moves to the next region by the thrust in the direction along the painting surface W generated by the propellers 21 </ b> A to 21 </ b> D without leaving the painting surface W. May be. Or when the wheel 61 which has a rotational drive apparatus is provided in the front-end | tip of the spacer 6, the flight type injection apparatus 1 maintained the state given neutral buoyancy, without changing the thrust which propeller 21A-21D generate | occur | produces. As it is, the wheel 61 may be driven to move to the next area along the painting surface W.

FIG. 3 is a view showing a state in which the flying spray device shown in FIG. 1 is painting the ceiling surface. In the illustrated example, the painted surface W is a ceiling surface that coincides with a horizontal plane (xy plane in the drawing). In this case as well, as in the example of FIG. 2 described above, the flying injector 1 flies by the thrust generated by the propellers 21A to 21D and moves to the vicinity of the painting surface W, and then the cover 4 is moved to the painting surface W. The propellers 21 </ b> A to 21 </ b> D approach the coating surface W by the thrust generated by the propellers 21 </ b> A to 21 </ b> D. At this time, while the propellers 21A to 21D are positioned along the horizontal plane (the xy plane in the drawing), the injection device 3 and the cover 4 need to be directed in the vertical direction (the z direction in the drawing). In the present embodiment, by injector 3 and the cover 4 by the configuration of the frame 5 as described above is rotatable about an axis of rotation _{A 1} with respect to the propeller 21A to 21D, a propeller as described above 21A to 21D And the positional relationship between the injection device 3 and the cover 4 can be realized. As already mentioned, the rotation axis A ₁ is passed through the thrust center CoT flight jetting apparatus 1, even by changing the positional relationship of the propeller 21A~21D the injector 3 and the cover 4, as described above Stable flight of the flight injector 1 is maintained.

  FIG. 4 is a diagram illustrating a state in which the flight type injection device illustrated in FIG. 1 is painting an inclined surface such as a roof surface. 2 and 3, the example in which the flight type injector 1 paints the wall surface that matches the vertical plane or the ceiling surface that matches the horizontal plane has been described. However, the flight type injector 1 does not necessarily have to be painted as shown in FIG. It is possible to perform coating on an arbitrary painted surface W that does not coincide with a vertical plane or a horizontal plane.

In one embodiment of the present invention as described above, by the rotatable around a rotational axis A ₁ relative to the injector 3 and the cover 4 propellers 21A to 21D, the flight injector propeller 21A to 21D The injection device 3 and the cover 4 can be made to face the coating surface W while being directed in an appropriate direction to control the position and posture of the device 1. In the above example, the injection device 3 and the cover 4 are in a plane perpendicular to the direction of thrust generated by the propellers 21A to 21D with respect to the propellers 21A to 21D and the flight type injection device 1 Although there was rotatable around one of the rotary shaft a ₁ passing through the thrust center CoT, may be rotatable also around another similar rotating shaft. Specifically, in FIG. 1, the injection device 3 and the cover 4 is, relative to the propeller 21A to 21D, but were only rotatable about the rotational axis A ₁ extending in the x-direction in the drawing, the thrust center CoT It may also be rotatable around another rotation axis that passes through and extends in the y direction in the figure. In this case, the frame 5 has a structure like a two-axis gimbal mechanism, and enables rotation around two rotation axes. The injection device 3 and the cover 4 are rotatable around two rotation axes with respect to the propellers 21A to 21D, so that, for example, when the flying injection device 1 is moved along the painting surface W, the propellers 21A to 21D It is easy to generate a larger thrust by tilting the position, or to stabilize the position and posture of the flight type injection device 1 against the airflow (crosswind) directed along the paint surface W.

  Further, in the embodiment of the present invention as described above, by providing the spacer 6, the cover 4 is stably opposed to the coating surface W at a predetermined interval without bringing the cover 4 into contact with the coating surface W. Can be made. Moreover, when the coating process by the injection device 3 is executed, the propellers 21 </ b> A to 21 </ b> D generate thrust in a direction in which the injection device 3 and the cover 4 are pressed toward the coating surface W, thereby generating the coating surface W by the injection device 3. The position of the flight type injection device 1 can be maintained against the reaction force generated by spraying the fluid onto the head. Furthermore, when providing the wheel 61 which has a rotational drive apparatus in the front-end | tip of the spacer 6, if the propeller 21A-21D opposes said reaction force and has generated the thrust which gives neutral buoyancy to the flight type injection device 1 The alignment in the direction along the painting surface W is executed by driving the wheel 61. In this case, the control of the propellers 21A to 21D is simplified, and the alignment accuracy is improved.

  The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field to which the present invention pertains can come up with various changes or modifications within the scope of the technical idea described in the claims. Of course, it is understood that these also belong to the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 1 ... Flight-type injection apparatus, 2 ... Flight apparatus, 21A-21D ... Propeller, 22 ... Control part, 23 ... Power supply part, 3 ... Injection apparatus, 31 ... High pressure water injection apparatus, 32 ... Paint injection apparatus, 4 ... Cover, 41 ... opening end, 5 ... frame, 51 ... inner frame, 52 ... rotary joint, 53 ... outer frame, 54 ... reinforcing frame, 6 ... spacer, 61 ... wheel, 7 ... cable, A 1 _... rotary shaft, CoT ... thrust Center, P ₁ ... first position, P ₂ ... second position, P ₃ ... third position, W ... painted surface.

Claims (7)

A flying injector,
An air thrust device;
An injection device capable of spraying fluid on the painted surface;
A cover that covers the spray device and has an open end of a shape corresponding to the painted surface;
A frame coupled to the air thrust device such that the spray device and the cover are rotatable about at least one axis;
A spacer capable of making the cover face the painted surface at a predetermined interval;
The at least one shaft is in a plane perpendicular to a direction of thrust generated by the air thruster and passes through a thrust center of the flight injector. The air thrust device is coupled to a first position of the frame;
An attachment device for the air thrust device or the injection device is coupled to a second position of the frame;
The spray device and the cover are coupled to a third position of the frame;
The second position and the third position are the first position so that the rotation axis passes through the center of gravity of the flying injector when the injector and the cover rotate around the at least one axis. The flight type injection device according to claim 1, wherein the flight type injection device is located opposite to each other.   The flight type injection device according to claim 1, further comprising a connection pipe that connects a space in the cover to an air suction device.   The flight type injection device according to any one of claims 1 to 3, wherein a wheel is provided at a tip of the spacer.   The flight type injection device according to claim 4, wherein the wheel is provided with a rotation driving device. A coating method using the flight type injection device according to claim 1,
Moving the flying spray device to the vicinity of the paint surface;
Bringing the spacer into contact with the paint surface by generating a thrust in a direction in which the air thrust device causes the flight type spray device to approach the paint surface with the cover facing the paint surface; ,
After the spacer abuts the paint surface, the air thrust device sprays a fluid onto the paint surface while the air thrust device generates a thrust force in a direction that causes the flight type spray device to approach the paint surface; Including painting methods. A wheel is provided at the tip of the spacer, and a rotational drive device is provided on the wheel.
The flight injector is moved along the paint surface by driving the wheels using the rotary drive device while imparting neutral buoyancy to the flight injector by the thrust generated by the air thrust device. The coating method according to claim 6, further comprising a step.

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