JP2019181376A - Automatic drawing device - Google Patents

Abstract

To provide an automatic drawing device capable of achieving sufficiently labor saving or improvement of productivity, and drawing surely onto a drawing object surface with a minimum coating.SOLUTION: An automatic drawing device for drawing on a drawing object surface, while moving along the drawing object surface, includes a two-fluid nozzle 17 for supplying therefrom at least two fluids of a water-based paint and compressed air, and has a constitution in which the water-based paint is jetted out by being induced by compressed air supplied from the tip of the two-fluid nozzle 17 toward the drawing object surface.SELECTED DRAWING: Figure 7

Description

  The present invention relates to an automatic drawing apparatus for drawing a line on a drawing target surface while moving on the drawing target surface.

  2. Description of the Related Art Conventionally, drawing work for marking a reference line on a floor or the like in construction work has been performed. Since this drawing work is a work of measuring with a scale or the like based on the construction drawing and applying black ink, the work load is large and a lot of work time is required.

  Therefore, in order to save labor and improve productivity, automation of the marking process has been proposed. As an apparatus aiming at automating the inking operation, for example, an inking apparatus that moves a moving body based on instructed coordinate information and applies ink to the floor surface by inking means has been proposed. (See Patent Document 1).

JP-A-6-11347

  However, since the ink marking device of Patent Document 1 described above draws only a reference straight line on the floor surface, the installation work of the building equipment and the like is performed from the construction drawing brought to the site, the installation position, dimensions, and model number. It is necessary to read while reading and measuring it at the site. Therefore, since the work load is still large and a considerable work time is required, there is a problem that labor saving and productivity cannot be sufficiently improved.

  In addition, in the ink marking work on the floor after placing concrete, a small amount of paint is applied so that the paint dries as soon as possible in order to prevent smearing and spreading of paint after painting, fading due to trampling, etc. It is required to draw with. Furthermore, it is required to draw a plurality of work types (architecture, air conditioning, hygiene, electricity, etc.) with different colors. However, the above-described inking device of Patent Document 1 has a problem that it cannot sufficiently meet such a demand.

  The present invention has been made to solve the above-described problems, can sufficiently save labor and improve productivity, and can reliably draw on the drawing target surface with a minimum amount of paint. An object of the present invention is to provide an automatic drawing apparatus.

  The present invention is an automatic drawing apparatus for drawing on a drawing target surface while moving on the drawing target surface, comprising a two-fluid nozzle to which at least two fluids of a water-based paint and compressed air are supplied. A water-based paint is jetted by being attracted by compressed air supplied from the tip of the nozzle toward the drawing target surface.

  The automatic drawing apparatus according to the present invention preferably includes a moving mechanism for moving the two-fluid nozzle in at least two directions orthogonal to each other in a moving plane parallel to the drawing target surface.

  The automatic drawing apparatus according to the present invention is preferably configured to be able to supply cleaning water to the two-fluid nozzle.

  An automatic drawing apparatus according to the present invention includes a fluid storage unit that can store a fluid ejected from a tip of the two-fluid nozzle, and at least one of the two-fluid nozzle and the fluid storage unit is the two-fluid nozzle It is possible to move between a drawing position at which the fluid ejected from the tip of the nozzle can reach the drawing target surface and a non-drawing position at which the fluid ejected from the tip of the two-fluid nozzle is received by the fluid container. Preferably it is provided.

  In the automatic drawing apparatus according to the present invention, it is preferable that the fluid containing portion is provided so as to be movable in a direction in which the fluid containing portion comes into contact with the tip of the two-fluid nozzle at the non-drawing position.

  The automatic drawing apparatus according to the present invention preferably includes a plurality of the two-fluid nozzles to which water-based paints of different colors are supplied.

  An automatic drawing apparatus according to the present invention includes a single two-fluid nozzle, a plurality of water-based paint tanks storing water-based paints of different colors, and a plurality of water-based paint tanks and the one two-fluid nozzle. A selection switching mechanism provided to switch between one water-based paint tank selected from the plurality of water-based paint tanks and the one two-fluid nozzle, and the one two-fluid nozzle by the selection switching mechanism. And a pump for delivering the aqueous paint stored in the one aqueous paint tank connected to the one two-fluid nozzle.

  An automatic drawing apparatus according to the present invention includes a cleaning water tank for storing cleaning water and a waste liquid tank for storing a waste liquid of aqueous paint, and the selection switching mechanism includes the plurality of aqueous paint tanks and the cleaning water tank. When any one of the waste liquid tanks and the one two-fluid nozzle are switched, and the pump is connected to the two-fluid nozzle and the water-based paint tank or the washing water tank A bi-directional pump that rotates in the forward direction and reversely rotates when the two-fluid nozzle and the waste liquid tank are connected to each other may be used.

  According to the present invention, it is possible to sufficiently achieve labor saving and productivity improvement, and to obtain various excellent effects such as being able to reliably draw on the drawing target surface with a minimum amount of paint. it can.

It is a front view which shows the automatic drawing apparatus which concerns on embodiment of this invention. It is a side view which shows the automatic drawing apparatus which concerns on embodiment of this invention. It is a rear view which shows the automatic drawing apparatus which concerns on embodiment of this invention. It is a bottom view which shows the automatic drawing apparatus which concerns on embodiment of this invention. It is a block diagram which shows the automatic drawing apparatus which concerns on embodiment of this invention. It is a top view which shows the method of recognizing the self position of the automatic drawing apparatus which concerns on embodiment of this invention. It is a schematic diagram which shows the structure for implement | achieving a drawing function in the automatic drawing apparatus which concerns on embodiment of this invention. It is a schematic diagram which shows the two-fluid nozzle of the automatic drawing apparatus which concerns on embodiment of this invention. It is a schematic diagram which shows the structure for implement | achieving a drawing function in the automatic drawing apparatus which concerns on embodiment of this invention. It is a schematic diagram which shows the modification of the structure for implement | achieving a drawing function in the automatic drawing apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation | work process in the automatic drawing apparatus which concerns on embodiment of this invention. It is a flowchart which shows the inking process in the automatic drawing apparatus which concerns on embodiment of this invention. It is a flowchart which shows the drawing preparation process in the automatic drawing apparatus which concerns on embodiment of this invention. It is a flowchart which shows the drawing process in the automatic drawing apparatus which concerns on embodiment of this invention. It is a flowchart which shows the washing | cleaning process in the automatic drawing apparatus which concerns on embodiment of this invention. It is a schematic diagram which shows another modification of the structure for implement | achieving a drawing function in the automatic drawing apparatus which concerns on embodiment of this invention. It is a flowchart in the case of switching a coating material in the modification of FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. First, an automatic drawing apparatus 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 is a front view showing the automatic drawing apparatus 1, FIG. 2 is a side view showing the automatic drawing apparatus 1, FIG. 3 is a rear view showing the automatic drawing apparatus 1, FIG. 4 is a bottom view showing the automatic drawing apparatus 1, and FIG. Is a block diagram showing an automatic drawing apparatus, FIG. 6 is a plan view showing a method for recognizing the self-position of the automatic drawing apparatus 1, FIG. 7 is a schematic diagram showing a configuration for realizing a drawing function in the automatic drawing apparatus 1, and FIG. 8 is a schematic diagram showing a two-fluid nozzle of the automatic drawing apparatus 1, FIG. 9 is a schematic diagram showing a configuration for realizing the drawing function in the automatic drawing apparatus 1, and FIG. 10 is for realizing the drawing function in the automatic drawing apparatus 1. It is a schematic diagram which shows the modification of a structure of.

  The automatic drawing apparatus 1 includes a mobile robot 4 that can run on a flat floor, which is a drawing target surface, by two drive wheels 2 and one driven wheel 3, and has an autonomous running function, a user interface function, and a drawing function. Have.

  The drive wheels 2 are rotatably provided on the left and right sides of the mobile robot 4, respectively. The drive wheels 2 are connected to a traveling servomotor 6 via a timing belt 5 and can be individually controlled. The driven wheel 3 is disposed behind the driving wheel 2 on the bottom surface of the mobile robot 4 and is provided to be rotatable in the front-rear and left-right directions. Accordingly, the mobile robot 4 can move forward, backward, and right and left, and the movement history of the mobile robot 4 is calculated by the computer 10 based on the history of the rotation angle of the drive wheels 2. .

  As a configuration for realizing the autonomous running function, a laser distance meter 7 is mounted on the top of the mobile robot 4, and a rotation angle is measured by a laser motor 8 for rotating the laser distance meter, an encoder (not shown), and a computer 10. And control is possible.

  As shown in FIG. 6, the mobile robot 4 uses a laser distance meter 7 to measure the distance and angle to two or more reference poles 49 installed at a reference point in the field, thereby determining its own position (field The position on the coordinate system) and the direction can be recognized. Electric power to the laser motor 8 for rotating the laser distance meter is supplied from a battery (not shown) mounted on the mobile robot 4. As the reference pole 49, for example, a known technique such as a guide mark disclosed in Japanese Patent No. 5498841 is used.

  In addition, as a configuration for realizing the autonomous running function, a range sensor 9 that continuously measures the distance by scanning a laser in the horizontal direction is mounted at a position near the floor surface in front of the mobile robot 4. The obstacles on the floor can be automatically detected. Furthermore, a laser distance sensor 11 is mounted vertically downward on the bottom of the front surface of the mobile robot 4 so that a step or an opening can be automatically detected.

  As a configuration for realizing the user interface function, an operation screen 12 is provided on the upper inclined surface of the front surface of the mobile robot 4, and the operation start of the mobile robot 4 can be instructed from the operation screen 12. ing. The mobile robot 4 is equipped with a wireless LAN communication modem 13 and a mobile data communication modem 14.

  As shown well in FIG. 4, as a configuration for realizing the drawing function, a biaxial moving mechanism 16 is provided on the bottom surface 15 of the mobile robot 4, and the biaxial moving mechanism 16 provides a two-fluid nozzle. 17 position control is performed.

  The biaxial moving mechanism 16 is a moving mechanism that moves the two-fluid nozzle 17 in at least two directions orthogonal to each other in a moving plane parallel to the floor surface that is a drawing target surface, and has a rectangular shape between the two drive wheels 2. The frame 18 is formed. The frame 18 includes a pair of left and right guide rails 19L and 19R extending in the front-rear direction so as to be parallel to each other, and a pair of front and rear connecting members 20F that respectively connect the front end portion and the rear end portion of the guide rails 19L and 19R. 20B. A support member 21 is stretched over the pair of left and right guide rails 19L and 19R in a direction perpendicular to the guide rails 19L and 19R. The support member 21 is moved in the front-rear direction along the guide rails 19L and 19R by a servo motor 43. It is slidably provided. A two-fluid nozzle 17 is supported on the support member 21, and the two-fluid nozzle 17 is provided so as to be slidable in the left-right direction along the support member 21 by a biaxial movement servo motor 43. A disposal / cleaning box 22 that is a fluid storage portion is supported by the front connecting member 20F. The disposal / cleaning box 22 is installed within the movable range of the two-fluid nozzle 17.

  As shown in FIGS. 7 to 9, the two-fluid nozzle 17 includes a barrel portion 23 that is formed in a vertically elongated cylindrical shape, and a substantially conical shape that is tapered downward from the lower end of the barrel portion 23. The discharge part 24 is provided. Inside the body portion 22 and the discharge portion 24 of the two-fluid nozzle 17, an elongated needle 25 is inserted in the vertical direction. The upper end of the needle 25 is connected to a needle lifting / lowering servomotor 27 via a ball screw and a crank mechanism 26, and is provided so as to be lifted / lowered when the servomotor 27 is driven. The amount of paint supplied from the tip (lower end) of the discharge unit 24 can be controlled by the amount by which the needle 25 is pulled up. For example, a line having a width of 5 mm or less can be drawn. A paint cup 28 is connected to the lower part of the peripheral wall of the body 23 of the two-fluid nozzle 17, and a paint supply port 29 is provided at the upper end of the paint cup 28. In addition, a compressed air supply port 30 is provided in the body portion 23 of the two-fluid nozzle 17 at the lower portion of the peripheral wall opposite to the paint supply port 29 with the body portion 23 interposed therebetween.

  An aqueous paint tank 31 for storing the aqueous paint and a wash water tank 32 for storing the wash water are connected to the paint supply port 29 of the two-fluid nozzle 17 via a tube 33. The tube 33 is provided with control valves 34 and 35 at positions close to the tanks 31 and 32, respectively. By opening one of the control valves 34 and 35, the two-fluid nozzle 17 is supplied with water-based paint or washing water. Supply is possible. FIG. 7 shows a state in which the control valve 34 for the water-based paint tank 31 is opened and the control valve 35 for the wash water tank 32 is closed.

  An air compressor 36 is connected to the compressed air supply port 30 of the two-fluid nozzle 17 via a tube 37. Accordingly, as well shown in FIG. 8, at least two fluids of a water-based paint and compressed air are supplied into the two-fluid nozzle 17 and supplied from the tip of the two-fluid nozzle 17 toward the floor surface. Water-based paint is sprayed by being attracted by compressed air.

  As shown in FIGS. 7 and 9, the disposal / washing box 22 is formed in a flat box shape having an opening 40 in a part of the upper surface, and is disposed at a position corresponding to the opening 40 inside the box. A block-shaped blocking base 41 is fixed. The disposal / cleaning box 22 is provided so as to be moved up and down by a lifting servo motor 42.

  In the above description of the embodiment, the case where one color of water-based paint is supplied to one two-fluid nozzle 17 has been described. However, a plurality of two-fluid nozzles 17 are supplied with different colors of water-based paint. It may be configured.

  FIG. 10 shows a modification of the automatic drawing apparatus in which two two-color water-based paints are supplied to two two-fluid nozzles 17 and 17. In this modification, two water-based paints, a first water-based paint tank 51 that stores the first water-based paint and a second water-based paint tank 52 that stores a second water-based paint having a different color from the first water-based paint. A tank is provided. Further, each of the washing water tank 53 and the air compressor 54 is provided and shared, and the washing water and the compressed air can be supplied to one of the two fluid nozzles 17 by switching the control valves 55 and 56. It has become. FIG. 10 shows a state in which the control valve 34 for the first water paint tank and the left control valve 56 for the air compressor 54 are opened, and the first water paint is injected from the left two-fluid nozzle 17. Yes. Note that two sets of each of the wash water tank 53 and the air compressor 54 can be provided. In this case, it is not necessary to switch between the control valves 55 and 56.

  Next, referring to FIG. 11, an outline of work steps from reading inking data to the end of inking work in the automatic drawing apparatus 1 according to the embodiment of the present invention will be described. FIG. 11 is a flowchart showing a work process in the automatic drawing apparatus 1.

  First, construction drawings such as pipes and ducts created by CAD are converted into a two-dimensional single line display and output as a general-purpose data format (for example, DXF). At that time, the name of each layer is named according to a rule set in advance, and is set so that the necessity and accuracy of inking can be determined by the layer name. For example, a layer with “1_” at the beginning of the name is defined as one that requires high accuracy (± 5 mm or less) such as the position of the anchor or air vent of the device. What is written is defined as a pipe or duct route that does not require high accuracy, and what is written as “3_” is not intended to be inked such as streets and building materials. Defined. In addition, characters and symbols included in the data are automatically converted to a size suitable for drawing on the floor surface and automatically arranged at an appropriate position.

  As shown in FIG. 11, the automatically converted data is taken into the tablet PC used by the operator as inking data (see S1). The tablet PC is preinstalled with software for converting the ink marking data into robot control commands, and the ink marking data is displayed on the display of the tablet PC.

  Depending on the situation of the area where ink is drawn by the operator (the presence or absence of obstacles such as materials and equipment, concrete placement conditions, steps and opening positions, etc.), there are areas where ink is not drawn (inking exclusion area) It is specified (see S2). Further, the position of the reference pole 49 installed at the site is input (see S3).

  Data in areas other than the designated area is rearranged by the software in the order of marking and converted into robot control command data (straight, rotating, drawing, etc.) (see S4). After the conversion, each element is displayed (simulated) in accordance with the order of marking (see S5). When the operator determines that there is no problem, the control command data is transferred to the computer 10 by wireless LAN communication (see S6).

  On the other hand, on the mobile robot 4 side, as a preparatory work for starting the system, first, a battery mounting work on the mobile robot 4 (see S11), the water-based paints in the water-based paint tanks 31, 51, 52 and the washing water tanks 32, 53 and When the cleaning water storage state confirmation work and replenishment work (see S12) and other preparatory work for realizing the drawing function (see S13) are performed, the system of the mobile robot 4 is started by the operator (see S14). ).

  Thus, when the preparation work for starting the system is completed and the input of the control command data transferred from the tablet PC to the computer 10 in step S6 is confirmed by the operator (see S15), the operation screen 12 of the mobile robot 4 is used. The operator gives an instruction to start inking (see S16), and the inking operation process is automatically executed (see S17). At this time, the mobile robot 4 recognizes its own position by measuring the distance and angle to the reference pole 49 with the laser distance meter 7, and draws the inking data included in the designated inking area while moving. I do. In addition, during the marking process, the range sensor 9 monitors whether there is an obstacle or a step on the floor to be drawn, and the floor surface measurement laser distance meter 11 monitors the presence of an opening. (See S18).

  As a result, when all marking is completed without detecting the presence of an obstacle, a step or an opening (see S19), a work end message is sent to the operator's tablet PC by e-mail (see S20). On the other hand, in step S18, if the presence of an obstacle, a step or an opening is detected during the marking operation, the marking operation is automatically interrupted and stopped (see S21), and an error message is displayed on the tablet PC of the operator. It is transmitted by e-mail (see S22).

  Next, the inking process in step S17 will be described more specifically with reference to FIGS. 12 to 15 in addition to FIGS. FIG. 12 is a flowchart showing the ink drawing work process by the automatic drawing apparatus 1, FIG. 13 is a flowchart showing the drawing preparation process by the automatic drawing apparatus 1, FIG. 14 is a flowchart showing the drawing process by the automatic drawing apparatus 1, and FIG. It is a flowchart which shows the washing | cleaning process by an apparatus.

  As shown in FIG. 12, the ink marking work process by the automatic drawing apparatus 1 includes a drawing preparation process 171, a drawing process 172, and a cleaning process 174 when roughly classified in the order of work. Further, for example, when the automatic drawing apparatus 1 is configured to supply different colors of water-based paint to the plurality of two-fluid nozzles 17 as shown in FIG. Also included during the cleaning step 174 is a color switching determination step 173 in which the computer 10 determines whether to perform color switching based on control command data previously transferred from the tablet PC to the computer 10.

  As shown in FIG. 13, in the drawing preparation step 171, first, the two-fluid nozzle 17 is moved biaxially so that the lower end of the two-fluid nozzle 17 is positioned above the closing table 41 of the disposal / cleaning box 22 (position shown in FIG. 7). The support member 21 and the two-fluid nozzle 17 are moved by driving the servo motor 43 (see S1711). Thereafter, the control valve 34 of the water-based paint tank 31 is opened under the control of the computer 10 (see S1712), and the needle 25 is lifted via the ball screw and the crank mechanism 26 by driving the needle raising / lowering servo motor 27 (S1713 and (See FIG. 7). As a result, the water-based paint is supplied to the discharge unit 24 of the two-fluid nozzle 17.

  In this state, when the air compressor 36 is activated for a certain period of time under the control of the computer 10, the water-based paint is attracted by the compressed air as shown in FIG. 8 and discarded from the tip (lower end) of the two-fluid nozzle 17. A test shot is made toward the cleaning box 22 (see S1714 in FIGS. 7 and 13).

  Thereafter, the distance and angle to the two reference poles 49 that can be seen by the laser distance meter 7 are measured (see S1715), and the position of the mobile robot 4 is calculated by the computer 10 (see S1716). Then, the two-fluid nozzle 17 is moved to the drawing start position by driving the two-axis moving servo motor 43 (see S1717), and the drawing preparation step 171 ends.

  As shown in FIG. 14, in the drawing step 172, the mobile robot 4 travels under the control of the computer 10 based on the control command data transferred from the tablet PC to the computer 10, and the two-fluid nozzle 17 is driven by the biaxial moving mechanism 16. As the air compressor 36 is turned on and off by the computer 10 while moving, the water-based paint is attracted by the compressed air as shown in FIG. 8, and the floor surface from the tip (lower end) of the two-fluid nozzle 17 is drawn. And is drawn (see S1721). Thereafter, it is determined by the computer 10 whether or not the drawing of the predetermined area has ended (see S1722), and when it is determined that the drawing has ended, the drawing step 172 ends.

  On the other hand, if it is determined in step S1722 that the drawing has not ended, it is determined by the computer 10 whether or not the position of the mobile robot 4 needs to be confirmed (S1723). The above operation is continued until the drawing of the predetermined area is completed.

  On the other hand, when it is determined in step S1723 that the position of the mobile robot 4 needs to be confirmed, the mobile robot 4 is stopped by the computer 10 and the drawing operation is interrupted (see S1724). Thereafter, the distance and angle to the two reference poles 49 that can be seen by the laser distance meter 7 are measured (see S1725), and the position of the mobile robot 4 is calculated by the computer 10 (see S1726). Then, after the position of the two-fluid nozzle 17 is corrected under the control of the computer 10 (see S1727), the process returns to step S1721, and thereafter, the above drawing operation is repeated until the drawing step 172 is completed.

  As shown in FIG. 15, in the cleaning step 174, first, the tip (lower end) of the two-fluid nozzle 17 to be cleaned is positioned above the closing table 41 of the disposal / cleaning box 22 (position shown in FIG. 7). The support member 21 and the two-fluid nozzle 17 are moved by driving the servo motor 43 for biaxial movement (see S1741). After the control valve 34 of the water-based paint tank 31 is closed by the control of the computer 10 (see S 1742), the air compressor 36 is activated, and all the water-based paint remaining in the two-fluid nozzle 17 is disposed in the disposal / cleaning box. 22 (see S1743).

  Next, after the control valve 35 of the cleaning water tank 32 is opened by the control of the computer 10 (see S1744), the air compressor 36 is activated, and the cleaning water in the two-fluid nozzle 17 enters the disposal / cleaning box 22 The fluid is discharged and the inside of the two-fluid nozzle 17 is cleaned (see S1745).

  Thereafter, the air compressor 36 is stopped under the control of the computer 10 (see S 1746), and the disposal / washing box 22 is raised by driving the servo motor 42, and the blocking base 41 is placed at the tip (lower end) of the two-fluid nozzle 17. Is pressed (see S1747 and FIG. 9). In this state, the air compressor 36 is started under the control of the computer 10, whereby the inside of the two-fluid nozzle 17 is subjected to bubbling cleaning (see S1748).

  Next, under the control of the computer 10, the air compressor 36 is stopped (see S1749), and the control valve 35 of the wash water tank 32 is closed (see S1750). Further, the disposal / cleaning box 22 is lowered by driving the servo motor 42 (see S1751 and FIG. 7). In this state, the air compressor 36 is started under the control of the computer 10, so that the cleaning water remaining in the two-fluid nozzle 17 is discharged to the disposal / cleaning box 22 (see S1752), and then the needle 25 is lowered via the ball screw and the crank mechanism 26 by the drive of the servo motor 27 for raising and lowering the needle (see S1753).

  When a plurality of two-fluid nozzles 17 are provided, the computer 10 determines whether or not all the two-fluid nozzles 17 have been cleaned (see S1754), and all the two-fluid nozzles 17 have been cleaned. The above-described cleaning operation is repeated until it is determined that

  Next, another modification of the configuration for realizing the drawing function in the automatic drawing apparatus will be described with reference to FIGS. 16 and 17. FIG. 16 is a schematic diagram showing another modified example of the configuration for realizing the drawing function in the automatic drawing apparatus, and FIG. 17 is a flowchart in the case of switching the paint. In the following description, for the sake of convenience, in FIG. 16, the same components as those shown in FIG. In addition, the ink marking work process is the same as that of the automatic drawing apparatus 1 according to the above-described embodiment, and thus description thereof is omitted here.

  As shown in FIG. 16, in this modification, one two-fluid nozzle 17, three aqueous paint tanks 61, 62, and 63 that store aqueous paints of different colors, and a cleaning that stores cleaning water, respectively. A water tank 64, a waste liquid tank 65 for storing a waste liquid of water-based paint, a route selector 66 as a selection switching mechanism provided between each tank 61, 62, 63, 64, 65 and the two-fluid nozzle 17, a route And a pump 67 provided between the selector 66 and the two-fluid nozzle 17.

  The tanks 61, 62, 63, 64, 65 and the route selector 66, the route selector 66 and the pump 67, and the pump 67 and the paint supply port 29 of the two-fluid nozzle 17 are connected by a tube 68. The paint cup 28 of the two-fluid nozzle 17 is provided with an upper limit level meter 69 and a lower limit level meter 70 at the upper and lower positions of the liquid level, respectively. The selected paint is supplied to the fluid nozzle 17 and the pump 67 is controlled to stop when the upper limit level meter 69 detects the upper limit.

  The route selector 66 is a mechanism for switching the route internally by the motor, and switches so that one water-based paint tank selected from the three water-based paint tanks 61, 62, and 63 and the two-fluid nozzle 17 are connected. It is supposed to be. The pump 67 is a bidirectional pump that can rotate forward and backward, and rotates forward when the two-fluid nozzle 17 and the water-based paint tanks 61, 62, 63 or the washing water tank 63 are connected by the route selector 66. When the fluid nozzle 17 and the waste liquid tank 65 are connected, they can rotate in the reverse direction.

  Thus, the flow in the case of switching the paint in the modification shown in FIG. 16 is executed by a computer as shown in FIG. First, the two-fluid nozzle 17 is moved so that the tip (lower end) of the two-fluid nozzle 17 to be cleaned is positioned above the closing table 41 of the disposal / cleaning box 22 (see S101). When the route selector 66 is controlled and the two-fluid nozzle 17 and the waste liquid tank 65 are connected (see S102), the bidirectional pump 67 is rotated in reverse, and the paint in the two-fluid nozzle 17 is sucked up into the waste liquid tank 65. Discarded (see S103).

  Next, when the two-fluid nozzle 17 and the cleaning water tank 64 are connected by the route selector 66 (see S104), the bidirectional pump 67 is rotated forward, and the cleaning water in the cleaning water tank 64 is supplied to the two-fluid nozzle 17. (See 105). After that, when the two-fluid nozzle 17 and the waste liquid tank 65 are connected again by the route selector 66 (see S106), the bidirectional pump 67 is reversely rotated, and the paint and washing water remaining in the two-fluid nozzle 17 are removed. Sucked up and discarded in the waste liquid tank 65 (see S107).

  Next, the air compressor 36 is activated, and the aqueous paint remaining in the two-fluid nozzle 17 is injected into the disposal / washing box 22 and discharged (see S108). Thereafter, when the two-fluid nozzle 17 and the washing water tank 64 are connected again by the route selector 66, the bidirectional pump 67 is rotated forward, and the washing water in the washing water tank 64 is supplied to the two-fluid nozzle 17. Then, it is stored up to the upper limit level of the paint cup 28 (see S109).

  Next, after the air compressor 36 is activated and a small amount of water is jetted from the two-fluid nozzle 17 to the disposal / washing box 22 (see S110), the disposal / washing box 22 is raised and the tip of the two-fluid nozzle 17 is moved. The closing table 41 is pressed against the (lower end) (see S111). In this state, the air compressor 36 is activated, so that the inside of the two-fluid nozzle 17 is bubble-washed (see S112).

  After that, when the air compressor 36 is stopped and the two-fluid nozzle 17 and the waste liquid tank 65 are connected by the route selector 66 (see S113), the bidirectional pump 67 is rotated reversely, and the paint in the two-fluid nozzle 17 is sucked up. And discarded in the waste liquid tank 65 (see S114).

  Next, the disposal / cleaning box 22 is lowered by driving the servo motor 42 (see S115). Then, in this state, the air compressor 36 is activated, and the cleaning water remaining in the two-fluid nozzle 17 is discharged to the disposal / cleaning box 22 (see S116).

  Thereafter, the two-fluid nozzle 17 is connected to the water-based paint tank 61 or 62 or 63 for storing the water-colored paint of a desired color to be switched by the route selector 66, and the bidirectional pump 67 is rotated in the forward direction. The paint is supplied (see S117), and the paint switching is finished.

  As described above, according to the automatic drawing apparatus 1 according to the embodiment of the present invention, the two-fluid nozzle 17 moves onto the disposal / cleaning box 22 before the start of inking, and the two-fluid nozzle 17 performs water-based treatment. Since the paint can be sprayed (trial shot), the paint can be reliably sprayed onto the floor surface.

  Further, after the completion of inking, the two-fluid nozzle 17 is moved by moving the two-fluid nozzle 17 onto the disposal / washing box 22 and spraying the paint, thereby discharging the aqueous paint remaining in the nozzle and the tube. Inside cleaning can be performed. Further, the inside of the two-fluid nozzle 17 can be cleaned by bubbling by raising the disposal / cleaning box 22 and starting the air compressor 36 in a state where the tip of the two-fluid nozzle 17 is pressed against the blocking base 41. By automatically performing such a cleaning process after the ink marking operation, solidification of the water-based paint in the two-fluid nozzle 17 can be prevented, and maintenance after the operation becomes unnecessary.

  In addition, since the automatic drawing device 1 according to the embodiment of the present invention is a device that draws with the two-fluid nozzle 17 using compressed air and water-based paint, a small amount of paint is required, and it dries quickly after drawing on the floor surface. .

  In addition, when a configuration in which a plurality of different colors of paint can be supplied to the two-fluid nozzle 17 is employed, drawing can be performed using a plurality of colors on the floor surface. For example, a different color is used for each type, or a changed part of the drawing is drawn with a different color, so that it can be displayed in an easy-to-understand manner for the operator.

  In addition, water-based paint and compressed air are supplied to the two-fluid nozzle 17, and arbitrary lines, characters, symbols, and the like can be drawn on the floor surface by the traveling of the mobile robot 4 and the action of the biaxial moving mechanism 16.

  In addition, it is clear that when oil-based paint is used to draw lines on the floor surface after placing concrete in construction work, the paint permeates the floor finishing material over time and rises to the finished surface. In the embodiment of the present invention, since a water-based paint (water-based ink composition containing a color pigment such as carbon black and organic pigment and a dispersant) is used, there is no such concern.

  Moreover, since the two-fluid nozzle 17 can draw on the floor surface in a non-contact manner, the wear can be prevented and the durability can be improved. Furthermore, since the ink can be drawn regardless of the condition of the floor surface, versatility can be enhanced.

  In addition, since the paint is attracted and injected by supplying compressed air to the two-fluid nozzle 17, the discharge amount from the tip of the two-fluid nozzle 17 can be easily controlled, and a small amount of injection is possible. Become.

  In addition, since all the information necessary for construction (pipe duct route, size, connection position equipment model number, etc.) drawn in CAD is converted into data and drawn on the floor surface, Measurement work becomes unnecessary and confirmation after construction becomes easy. Therefore, work efficiency can be improved.

  In the above-described embodiment, the two-fluid nozzle 17 can be moved in two orthogonal directions by the biaxial moving mechanism 16, but may be provided so as to be movable in other directions. In the above-described embodiment, the two-fluid nozzle 17 can move in the direction of the disposal / cleaning box 22, but the fluid ejected from the tip of the two-fluid nozzle 17 can reach the drawing target surface. Between the drawing position and the non-drawing position received by the disposal / cleaning box 22, at least one of the two-fluid nozzle 17 and the disposal / cleaning box 22 may be provided to be movable.

  In addition, since the above description of the embodiment of the present invention describes a preferred embodiment of the automatic drawing apparatus according to the present invention, various technically preferable limitations are imposed on the number, shape, material, and the like. However, the technical scope of the present invention is not limited to these embodiments unless specifically described to limit the present invention.

1 Automatic drawing device 17 Two-fluid nozzle 22 Disposal / cleaning box (fluid container)
61 Water-based paint tank 62 Water-based paint tank 63 Water-based paint tank 64 Washing water tank 65 Waste liquid tank 66 Route selector (selection switching mechanism)
67 Pump

Claims (8)

An automatic drawing device for drawing on a drawing target surface while moving on the drawing target surface,
A two-fluid nozzle to which at least two fluids of a water-based paint and compressed air are supplied, and the water-based paint is jetted by being attracted by the compressed air supplied from the tip of the two-fluid nozzle toward the drawing target surface An automatic drawing apparatus characterized by being configured as described above.   The automatic drawing apparatus according to claim 1, further comprising a moving mechanism that moves the two-fluid nozzle in at least two directions orthogonal to each other in a moving plane parallel to the drawing target surface.   The automatic drawing apparatus according to claim 1, wherein washing water can be supplied to the two-fluid nozzle.   A fluid storage unit capable of storing a fluid ejected from the tip of the two-fluid nozzle, and at least one of the two-fluid nozzle and the fluid container is configured so that the fluid ejected from the tip of the two-fluid nozzle 3. The apparatus is movably provided between a drawing position where the drawing target surface can be reached and a non-drawing position where the fluid ejected from the tip of the two-fluid nozzle is received by the fluid container. The automatic drawing device described in 1.   5. The automatic drawing apparatus according to claim 4, wherein the fluid storage portion is provided so as to be movable in a direction in contact with a tip of the two-fluid nozzle at the non-drawing position.   The automatic drawing apparatus according to any one of claims 1 to 5, comprising a plurality of the two-fluid nozzles to which water-based paints of different colors are supplied. One of the two fluid nozzles;
A plurality of water-based paint tanks for storing different colors of water-based paint,
Switching between the plurality of water-based paint tanks and the one two-fluid nozzle so that one water-based paint tank selected from the plurality of water-based paint tanks and the one two-fluid nozzle are connected. A selection switching mechanism,
A pump for sending the aqueous paint stored in the one aqueous paint tank connected to the one two-fluid nozzle by the selection switching mechanism to the one two-fluid nozzle;
The automatic drawing apparatus according to any one of claims 1 to 5, further comprising: A wash water tank for storing wash water;
A waste liquid tank for storing a water paint waste liquid;
With
The selection switching mechanism is switched so that any one of the plurality of water-based paint tanks, the washing water tank, and the waste liquid tank and the one two-fluid nozzle are connected, and the pump 8. A bidirectional pump that rotates forward when a nozzle and the water-based paint tank or the washing water tank are connected, and reversely rotates when the two-fluid nozzle and the waste liquid tank are connected. Automatic drawing device.

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