JP6958370B2 - Self-propelled sprayer and spraying method - Google Patents

Description

The present invention relates to a self-propelled sprayer and a spraying method.

When repainting walls, ceilings, etc. in a large structure such as a factory building, a pre-base treatment process and a coating film generation process are carried out. In the base treatment, for example, high-pressure water is sprayed to remove stains and rust on the painted surface. In the coating film formation, a coating film is formed on the painted surface by, for example, spraying a paint. Normally, these steps are performed by the workers on the scaffold, but especially when the painted surface is at a high place, the amount of work for assembling and disassembling the scaffold becomes enormous, and the work of painting itself It often exceeded the amount.

In this regard, Patent Document 1 and Patent Document 2 describe that painting can be performed using a flying machine having rotary wings. Painting with a flying machine eliminates the need for scaffolding for workers to ride, reducing the enormous amount of work required to assemble and disassemble the scaffolding. However, these documents do not mention specific steps of coating such as the above-mentioned base treatment and coating film formation, and therefore, the description of these documents makes it unnecessary to use a scaffolding machine. It is not realistic to realize the painting process.

Japanese Unexamined Patent Publication No. 2017-171032 Japanese Unexamined Patent Publication No. 2017-39334

Specifically, when trying to realize the painting process with a flying machine, it is necessary to deal with the reaction force when the fluid is sprayed on the painted surface. For example, in order to sufficiently remove dirt and rust on the painted surface in the base treatment, it is necessary to increase the pressure of the high-pressure water to be sprayed, but the higher the pressure, the larger the reaction force. Since the reaction force acts in the direction of separating the flying machine from the painted surface, the sprayed fluid will not reach the painted surface unless the position of the flying machine is maintained in some way. Although Patent Document 1 and Patent Document 2 describe that the wheels are attached so that the flying machine does not collide with the working surface, there is no description about the problem caused by the flying machine being too far from the working surface.

On the other hand, it is conceivable that an air thrust device such as a propeller of the flying machine generates thrust in a direction close to the painted surface, but the attitude of the flying machine is changed while the nozzle for spraying the fluid is directed toward the painted surface. Therefore, it is not always easy to generate the above-mentioned thrust, and in general, the air thrust device is designed to generate a sufficient amount of thrust to fly a relatively lightweight flying aircraft. , The thrust itself generated may not be large enough for the reaction force.

Therefore, the present invention is new and improved so that the injection device can be easily moved to an arbitrary working position by using the air thrust device and the reaction force due to the blowing of the fluid can be stably dealt with. It is an object of the present invention to provide a self-propelled sprayer and a spraying method.

According to a certain aspect of the present invention, a self-propelled sprayer having an air thrust device sprays a fluid in a direction opposite to that of a first injection device capable of spraying a fluid on a work surface and a first injection device. It is provided with a second injection device capable of spraying.
According to the above configuration, the reaction force due to the injection of the fluid from the second injection device acts on the self-propelled sprayer in the opposite direction to the reaction force due to the injection of the fluid from the first injection device. By canceling these reaction forces against each other, it becomes easy to maintain the position of the self-propelled sprayer.

In the self-propelled sprayer described above, the second injection device may be capable of spraying the fluid at a flow rate equivalent to that of the first injection device.
If each injection device sprays fluid at the same flow rate, the generated reaction force will be about the same magnitude, and the self-propelled sprayer will generate a thrust that opposes the reaction force using an air thrust device. It may be possible to maintain the position of.

In the self-propelled sprayer, the abrasive is applied to the supply pipe connected to the fluid supply means for supplying the fluid to the first injection device and the second injection device, and the fluid supplied to the first injection device. An abrasive mixing means for mixing may be further provided.
For example, the weight of the self-propelled sprayer can be reduced by fixing the fluid supply means on the ground and connecting it to each injection device via a supply pipe. Further, by mounting the abrasive mixing means on the self-propelled sprayer, the fluid supply means and the supply pipe can be shared between the respective injection devices, and the configuration including the peripheral devices of the self-propelled sprayer is simplified. NS.

The spraying method using the self-propelled sprayer described above includes a step of moving the self-propelled sprayer to the vicinity of the work surface by the thrust generated by the air thrust device, and the first injection device and the second injection device. It includes a step of supplying the fluid and a step of moving the self-propelled sprayer along the work surface by the thrust generated by the air thrust device.
Since the self-propelled sprayer can fly by the thrust generated by the air thrust device and move to the vicinity of the work surface, no scaffolding is required even when the work surface is at a high place. Since the self-propelled sprayer can fly and move along the work surface, it becomes easy to deal with obstacles and irregularities on the work surface.

As described above, according to the present invention, by using the air thrust device, the injection device can be easily moved to an arbitrary working position, and the reaction force due to the blowing of the fluid can be stably dealt with. ..

It is a perspective view which shows the self-propelled sprayer which concerns on one Embodiment of this invention. It is a figure which showed typically the structure including the peripheral device of the self-propelled sprayer shown in FIG.

Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the present specification and the drawings, components having substantially the same functional configuration are designated by the same reference numerals, so that duplicate description will be omitted.

FIG. 1 is a perspective view showing a self-propelled sprayer according to an embodiment of the present invention. As shown in FIG. 1, the self-propelled sprayer 1 includes propellers 2A to 2D (air thrust device), a front nozzle 3 (first injection device) directed to the work surface W, and a front nozzle. Includes a rear nozzle 4 (second injection device) in the opposite direction to 3. In the illustrated example, the self-propelled sprayer 1 further includes a container 6 in which a control device 5 and an abrasive mixing means described later are housed, and a frame 7 for connecting each part of the self-propelled sprayer 1 to each other. , A supply pipe 8 connected to a fluid supply means described later. Hereinafter, each part will be further described.

The propellers 2A to 2D constitute a multi-rotor driven under the control of the control device 5 to generate thrust for ascending, machining, advancing, reversing, and turning the self-propelled sprayer 1. The control device 5 includes sensors such as a gyro sensor and an acceleration sensor, and a computer connected to the sensor, and the posture and movement of the self-propelled sprayer 1 determined based on the detection result of the sensor and the instruction from the operator. The drive of the propellers 2A to 2D is controlled so that the direction and the moving speed are realized. The instruction from the operator is received, for example, by wired communication via a communication line provided in the supply pipe 8, or by wireless communication using an antenna connected to the control device 5.

The front side nozzle 3 can spray the _{fluid F 1 on the work surface W.} The fluid F ₁ is water supplied through, for example, a supply pipe 8, and an abrasive such as silica sand is mixed by the abrasive mixing means as needed. In the present embodiment, the fluid F ₁ is sprayed to remove dirt, rust, etc. on the work surface W in the step of base treatment for painting. Therefore, the fluid F ₁ is sprayed at a pressure high enough to sufficiently remove dirt and rust on the work surface W. This pressure is controlled, for example, by the rotation speed of the pumps constituting the fluid supply means connected to the supply pipe 8. By mixing the abrasive, it is possible to enhance the effect of fluid F ₁ removes dirt and rust of work surface W.

The back side nozzle 4 can spray the _{fluid F 2} in the direction opposite to that of the front side nozzle 3. The fluid F ₂ is water supplied through the supply pipe 8 in the same manner as the _{fluid F 1} sprayed by the front nozzle 3, for example _{, but since the fluid F 2} is not sprayed on the work surface W, an abrasive is mixed. It does not have to be. In the illustrated example, the front side nozzle 3 and the back side nozzle 4 are both mounted at positions higher than the propellers 2A to 2D in the flight attitude of the self-propelled sprayer 1. As a result, it is possible to prevent the airflow generated by the propellers 2A to 2D during the flight of the self-propelled sprayer 1 from interfering with the _{fluids F 1} and F _{2 sprayed from the front nozzle 3 and the rear nozzle 4, respectively.}

As described above, the fluid F ₁ which is a front-side nozzle 3 sprays, since sprayed at a pressure enough to sufficiently remove dirt and rust of work surface W, the self-propelled sprayer 1 fluid F ₁ A large reaction force R ₁ that accompanies the spraying acts. If Fukitsukere fluid F ₂ in the direction opposite to the rear-side nozzle 4 is the front-side nozzle 3, the self-propelled sprayer in a direction opposite to the reaction force R ₂ due to the spraying of the fluid F ₂ is a reactive force R ₁ above It acts on ₁ and the reaction force R 1 and the reaction force R ₂ cancel each other out. Specifically, for example, if the back surface nozzle 4 sprays the _{fluid F 2} at a flow rate Q _{2 equivalent to the flow rate Q 1} of the fluid F ₁ , the reaction force R 1 and the reaction force R ₂ have almost the same magnitude. to become, propeller 2A~2D may become possible to even without generating a thrust to counteract the reaction force R ₁ to maintain the position of the self-propelled sprayer 1. Alternatively, for example, even when the flow rate Q ₂ is smaller than the flow rate Q ₁ , the reaction force R ₁ is diminished so that the propellers 2A to 2D generate a self-propelled _{force facing the reaction force R 1 with a relatively small thrust.} It may be possible to maintain the position of the sprayer 1.

The spraying method using the self-propelled sprayer 1 as described above is carried out, for example, in the step of surface treatment of the coating, and the self-propelled sprayer 1 is moved to the vicinity of the work surface W by the thrust generated by the propellers 2A to 2D. _{Specifically, a step of moving the fluid F 1} and F ₂ to a position separated from the work surface W by a predetermined distance, a step of supplying fluids F 1 and F 2 to the front side nozzle 3 and the back side nozzle 4 at that position, and a front side nozzle 3 The self-propelled sprayer 1 is moved along the work surface W by the thrust generated by the propellers 2A to 2D while removing dirt and rust on the work surface W by the fluid F1 sprayed from the work surface W. The area also includes a step of removing dirt, rust, and the like.

FIG. 2 is a diagram schematically showing a configuration including a peripheral device of the self-propelled sprayer shown in FIG. In the example shown in FIG. 2, the peripheral device of the self-propelled sprayer 1 includes a water tank 11 and a pump 12 constituting a fluid supply means, and a controller 13. Further, FIG. 2 also shows a silica sand tank 9 constituting the abrasive mixing means mounted on the self-propelled sprayer 1.

In the illustrated example, the fluid F1 sprayed by the front nozzle 3 and the fluid F ₂ sprayed by the back nozzle 4 are both water and are supplied by a common fluid supply means. Specifically, the water supplied from the water tank 11 is pressurized to a predetermined pressure by the pump 12 and then supplied to the self-propelled sprayer 1 via the supply pipe 8. Both the front side nozzle 3 and the back side nozzle 4 are connected to the supply pipe 8, and the silica sand tank 9 is further connected to the front side nozzle 3. The silica sand tank 9 includes, for example, a delivery mechanism for automatically delivering silica sand according to the flow velocity of the _{fluid F 1} supplied to the front nozzle 3, and mixes silica sand as an abrasive _{with the fluid F 1.} The controller 13 is connected to the pump 12. The pump 12 is driven and stopped under the control of the controller 13. The controller 13 may be capable of adjusting the rotation speed of the pump 12. Further, the controller 13 may be integrated with a controller for giving an instruction from the operator to the self-propelled sprayer 1.

In the above example, the fluid supply means including the water tank 11 and the pump 12 is fixedly installed on the ground and connected to the front side nozzle 3 and the back side nozzle 4 of the self-propelled sprayer 1 via the supply pipe 8. , The weight of the self-propelled sprayer 1 can be reduced. Further, since the fluid supply means and the supply pipe 8 can be shared between the front side nozzle 3 and the back side nozzle 4, the configuration including the peripheral device of the self-propelled sprayer 1 is simplified. In addition, in the above example, since the fluid F _{1 sprayed by the front nozzle 3 and the fluid F 2} sprayed by the rear nozzle 4 are pressurized by the same pump 12, the flow rate Q ₁ and the fluid F _{2 of the fluid F 1 are pressurized.} it is easy to the a flow Q ₂ equal. Specifically, for example, if the distance from the connection portion with the supply pipe 8 to the tips of the front side nozzle 3 and the back side nozzle 4 is the same, and the pipe diameter of the flow path in these sections is the same. , The head loss generated in each of the fluid F ₁ and the fluid F ₂ becomes equal, and as a result, the flow rate Q ₂ becomes equal to the flow rate Q _1.

In another example, the fluid F _{1 sprayed by the front nozzle 3 and the fluid F 2} sprayed by the back nozzle 4 may be supplied by fluid supply means independent of each other. In this case, the supply pipe 8 includes two flow paths for connecting each fluid supply means to the front side nozzle 3 or the back side nozzle 4. In this case, the abrasive mixing means incorporated in the fluid supply means of the supply side fluid F ₁ on the front-side nozzle 3, the self-propelled sprayer 1 is mounted an abrasive mixing means such as silica sand tank 9 It does not have to be. Alternatively, when it is possible to remove dirt, rust, etc. on the work surface W without mixing the abrasive with the fluid F _{1, the abrasive mixing means itself becomes unnecessary.}

Subsequently, examples of the present invention will be described. As described above, an embodiment of the present invention, while removing dirt and rust of work surface W of the working surface W from the front-side nozzle 3 of a self-propelled sprayer 1 by blowing a fluid F _1, the rear _{By spraying the fluid F 2} from the side nozzle 4, the reaction force is canceled and the position of the self-propelled sprayer 1 can be maintained. In the embodiment described below, a self-propelled sprayer 1 in which a washing machine, a hose, and a nozzle as shown in Table 1 are incorporated as a fluid supply means, a supply pipe 8, and a front side nozzle 3 and a back side nozzle 4, respectively, is used. The work surface W was grounded using the work surface W.

The self-propelled sprayer 1 as described above is moved to a position 1000 mm from the work surface W, which is a wall surface formed of steel plate by the thrust generated by the propellers 2A to 2D, and then the front side nozzle 3 and the back side. Water was supplied to the nozzle 4 at the maximum pressure of the washing machine, and silica sand was mixed from the silica sand tank 9 with the water sprayed from the front side nozzle 3. As a result, the reaction forces of the front nozzle 3 and the rear nozzle 4 cancel each other out, so that the propellers 2A to 2D self-propell even if they do not generate thrust in the direction toward the work surface W. The distance from the type sprayer 1 to the work surface W could be maintained at 1000 mm. Further, by spraying water mixed with silica sand, the work surface W can be subjected to a base treatment equivalent to a treatment of removing the old coating film and rust by using a power tool and a hand tool together to expose the surface of the steel material. did it.

In the above embodiment, the self-propelled sprayer 1 was used for the base treatment of the work surface W formed of the steel plate, but the self-propelled sprayer 1 is used on the work surface W of various materials such as a concrete surface. It is possible. The work surface W does not necessarily have to be a wall surface, and may be a ceiling surface, a roof surface, or the like. Even when the front side nozzle 3 and the back side nozzle 4 are directed in the vertical direction, the weight of the self-propelled sprayer 1 is supported by the thrust generated by the propellers 2A to 2D, as in the above example. The position of the self-propelled sprayer 1 can be maintained by canceling the reaction force R ₂ and the reaction force R _{1 with each other.}

Further, in the above embodiment, the self-propelled sprayer 1 was used in the base treatment step of spraying high-pressure water on the work surface W, but by spraying paint instead of high-pressure water, the self-propelled sprayer 1 was used in the process of forming the coating film. It is also possible to use the propulsion sprayer 1. Further, the self-propelled sprayer 1 can be used not only in the painting process but also in various processes of spraying a fluid on the work surface W.

Although the preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention is not limited to such examples. It is clear that a person having ordinary knowledge in the field of technology to which the present invention belongs can come up with various modifications or modifications within the scope of the technical ideas described in the claims. , These are also naturally understood to belong to the technical scope of the present invention.

1 ... Self-propelled sprayer, 2A-2D ... Propeller, 3 ... Front side nozzle, 4 ... Rear side nozzle, 5 ... Control device, 6 ... Container, 7 ... Frame, 8 ... Supply pipe, 9 ... Silica sand tank, 11 ... water tank, 12 ... pump, 13 ... controller.

Claims (3)

It is a self-propelled sprayer equipped with an air thrust device, which is used in the pre-base treatment process when repainting walls and ceilings in large structures.
A first injection device capable of spraying fluid on the work surface,
A second injection device capable of spraying the fluid in the direction opposite to that of the first injection device ,
The first injection device and the second injection device are provided with a supply pipe connected to a fluid supply means for supplying the fluid .
By making the length of the section from the connection portion with the supply pipe to the tip of each of the first injection device and the second injection device the same, and making the pipe diameter of the flow path in the section the same. a self-propelled sprayer which the second injection device Ru spraying the fluid in the first injector equivalent flow rate. Further comprising an abrasive mixing means to mix the polishing agent to the fluid supplied to the front Symbol first injector, self-propelled sprayer according to claim 1. The spraying method using the self-propelled sprayer according to claim 1 or 2.
A step of moving the self-propelled sprayer to the vicinity of the work surface by a thrust generated by the air thrust device, and
A step of supplying the fluid to the first injection device and the second injection device, and
A spraying method including a step of moving the self-propelled sprayer along the work surface by a thrust generated by the air thrust device.

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