JPH0423590B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The disclosed technology belongs to the structural technology field of an apparatus for painting the side surface of a high-rise steel structure such as an oil storage tank.

<Summary of the gist> The invention of this application relates to a high-rise structure, such as an oil storage tank, which is a steel structure with a circular cross section and a predetermined number of horizontal ring-shaped wind girders attached to the upper part. This invention relates to a device for periodically or irregularly painting the outer surface of a
The upper end of the vertical guide post is connected to and suspended from a lateral moving trolley equipped with a drive device such as an air motor mounted on the top wind girder, and the lower end of the guide post is connected to a support roller for the side of the high-rise structure. A cage-type gondola is mounted on the guide post, using the guide post as a rail, and can be raised and lowered freely by a wire, winch, etc., connected to an air motor drive device installed at the lower end of the guide post. An invention relating to a coating device for a high-rise structure, which is provided with a coating robot having a coating gun, and is capable of coating not only the side surfaces of the high-rise structure but also the upper and lower surfaces of wind girders and ribs as desired. It is.

<Prior Art> As is well known, some structures include high-rise structures such as oil storage tanks, silos, and steel towers that are constructed from materials such as steel due to their design, cost, function, etc. There are high-rise structures that have a predetermined number of wind girders and ribs integrally installed externally in a ring shape for earthquake resistance and wind pressure functions.

Naturally, in order to maintain the durability of these high-rise structures, not only during construction, but also during operation, periodic and irregular intervals, especially on the outer surfaces of the structures, are required. It is designed to be painted.

Since most of the painting for these types of high-rise structures is done at high places, it is important to improve work safety and efficiency.
In view of finishing accuracy, it has been common practice to erect scaffolding or use crane trucks.

However, due to recent increases in demand for energy and the chemical industry, service tanks and stockpiling tanks are becoming larger, with side panels reaching around 30 m in height and diameters of around 100 m. The following problems have arisen because many large-sized wind girders have been installed.

That is, as mentioned above, when painting work on high-rise structures, if scaffolding is erected, the preliminary work period is long, and the safety of the preliminary work itself is not always sufficient, which is a disadvantage, and the working environment is not sufficient. As a result, finishing accuracy was not necessarily satisfactory.

Furthermore, when work is carried out with a gondola suspended by a crane or the like, there is also the disadvantage that management control over the gondola becomes unstable, resulting in an increase in costs.

<Problems to be Solved by the Invention> To address this problem, as shown in FIGS. From the bottom of 3 to the middle part is a smooth surface with no ribs or wind girders, and from the middle part to the top are medium-sized wind girders 4, 4, 4, and
At the top there is a large wind guard 4', 4',
4' is fixedly installed.

Reference numeral 5 denotes a conventional coating device, which is folded up and stored appropriately when the tank 1 is not to be painted, and is assembled using a crane or the like (not shown) when painting the tank 1. A horizontally movable trolley 7 having an air motor 6 is set on the upper surface of the uppermost wind girder 4'' on the side, and a Yagura type guide post 8 is connected at its upper end to the trolley 7 and placed in a hanging state. Support rollers 9, 9 for the side surface 3 of the tank 1 are attached to the lower end thereof, and the coating device 5 is movable in the circumferential direction relative to the tank 1.

The guide post 8 is equipped with a cage-shaped gondola 10 for painting the smooth side surface 3 of the tank 1.
is set, and wind guard 4, 4...,
Cage-type gondolas 10' are similarly set on the sides of the portions 4', 4', . . . , and winches 12,
It is provided so that it can be raised and lowered via a wire 13.

In this embodiment, the smooth portion of the lower half of the side surface 3 of the tank 1 is painted by the gondola 10, and wind girders 4, 4..., 4', 4'... are provided. The upper gondola 10' is used to paint the complex-shaped side parts, and the lower gondola 10 is provided with a coating device main body 14 equipped with a fixed-position coating gun. The upper gondola 10' is provided with a coating device main body 14' having a coating gun that can move toward and away from the horizontal direction, that is, the side surface.

In the above-mentioned conventional mode, when painting the side surface 3 of the tank 1 on a regular or irregular basis, the painting device 5, which has been folded and stored in a predetermined position, is assembled using a crane or the like (not shown), and the side surface 3 is Set the mobile cart 7 on the top wind girder 4'', connect the upper end of the guide post 8,
The support roller 9 at the lower end is brought into contact with the side surface 3 and is movable in the circumferential direction relative to the side surface.

At this stage, as mentioned above, the coating device bodies 14, 14' are assembled to each gondola 10, 10' in a predetermined manner during the assembly process, and the gondolas 10, 10' are moved up and down using the guide post 8 as a rail via the winch 12 and the wire 13. It is set so that it can be stopped freely.

Then, the gondola 10 is moved up and down by a control device on the ground via a cable (not shown), and the coating gun of the coating device main body 14 performs painting work on the side surface in a fixed position.Meanwhile, the gondola 10' is controlled by the control device to Automatically painting the complicated uneven portions of the wind girders 4, 4' on the side surface 3 by stopping the main body 14' from moving up and down and approaching and leaving the side surface 3;
Furthermore, since the guide post 8 is moved laterally by the air motor 6 of the lateral moving cart 7, and the coating devices 14, 14' are moved vertically and laterally as shown by the arrows in FIG. 2, the entire coating area is covered. The painting work will then be carried out.

After the painting operation, the painting device 5 is removed, assembled and disassembled and stored in a reverse process to the above-mentioned setting process.

Therefore, if the amount of overhang of the wind girders 4, 4' is large, that is, if it is difficult to paint the horizontal surface, it is necessary to also paint the horizontal surface, but in the above embodiment, as shown in FIG. Then, the coating device main body 14' of the upper gondola 10' is only allowed to move forward and backward with respect to the side surface 3 via the horizontal beam 15, so that the coating device main body 14' is tilted at a predetermined angle, for example, 90 degrees, in the horizontal plane. The rotatable coating device is installed in place of the coating device main body 14' shown in Figs. 1 and 2, and it is possible to coat even the wind girders 4, 4' having a wide projecting area. There is.

However, the above-mentioned conventional coating apparatus has disadvantages in that a unique coating apparatus is required to match the shape of the structure, which increases costs and reduces turning accuracy.

Robotic technology has been introduced to paint work on such large high-rise structures, and there has been a strong desire to develop technology that allows painting work to be carried out safely and with high precision in a good working environment.

<Purpose of the Invention> The purpose of the invention of this application is to solve the technical problem of painting work for high-rise structures, which has been increasing in size in recent years based on the above-mentioned prior art, and to Setting and resetting are performed smoothly and quickly, and painting is performed automatically with a minimum number of workers or unmanned. Moreover, the accuracy is as high as designed, and it can be completed in an extremely short period of time. It is an object of the present invention to provide an excellent coating apparatus for high-rise structures that is useful for the field of maintenance technology application in the construction industry by enabling safe and reliable coating at low cost.

<Means/effects for solving the problem> In order to solve the above-mentioned problem, the structure of the invention of this application, which is summarized in the above-mentioned claims, is to solve the above-mentioned problem. When performing periodic or irregular painting work on the sides of a wind girder during construction or during operation, a lateral moving trolley equipped with a drive device such as an air motor is set in place for the wind girder formed on top of the wind girder. , the upper end of the guide post is connected to the lateral moving trolley, and the guide post is mounted hanging down, and the support roller provided at the lower end of the guide post is brought into contact with the side surface of the high-rise structure,
A cage-type gondola, which is slidably provided with the guide post as a rail, is raised and lowered as desired by a drive device such as an air motor installed at a predetermined position at the bottom of the guide post using a wire, winch, etc. A coating area is secured for all sides of the high-rise structure through circumferential movement, and the automatic painting robot paint gun installed in the cage-type gondola ensures that the entire side surface is coated with high precision according to the program. However, when multiple wind girders or ribs are installed, a robot's painting gun can be moved from the gondola to the side of the high-rise structure through a beam that can be extended and contracted and can be rotated at a predetermined angle in the horizontal direction. To ensure that the area to be painted is exposed to the desired area and that the entire area is reliably coated,
This is a technical measure that allows the robot to be electrically connected to another gondola using a control device, etc., so that it can perform precise painting over the entire area according to a teaching program.

<Example> Next, an example of the invention of this application will be described below based on FIGS. 4 and 5.

Note that the same parts as in FIGS. 1 to 3 will be described using the same reference numerals.

As shown in FIGS. 4 and 5, a single gondola 10' is set on the guide post 8 so that it can be raised and stopped freely in the same manner as the conventional configuration shown in FIGS. The main body 4 is set and electrically connected to the control device 17 of the cage-type gondola 10'' provided below via a cable (not shown), and the articulated robot is controlled according to the program taught to the control device 17. By freely operating the coating device main body 14 three-dimensionally, it can be applied not only to the smooth side surface 3 but also to the side, top, and back surfaces of the wind girders 4, 4', which have complicated projecting shapes.
Both sides of the rib 16 can also be thoroughly coated using pre-teaching and off-line teaching in a robotic device.

In this way, by moving the guide post 8 in the lateral direction and stopping the gondola 10' from moving up and down relative to the guide post 8, the desired coating can be performed automatically, safely, automatically, and smoothly. I can do it.

It goes without saying that the embodiments of the invention of this application are not limited to the above-mentioned embodiments. For example, it is possible to make a gondola semi-automatic so that it can carry a worker, or to use two or more gondolas. Various aspects can be adopted, such as.

Moreover, it goes without saying that the high-rise structures to which the present invention can be applied include not only oil storage tanks but also steel towers, silos, and the like.

<Effects of the Invention> As described above, according to the invention of this application, basically the regular and irregular aspects of modern high-rise structures such as large-capacity petroleum storage tanks during their construction or operation can be improved. When performing painting, the work can be done unmanned and fully automatically in a short period of time, so it is safe and efficient, and the painting equipment can be assembled, dismantled, and stored smoothly. Because it is carried out on a regular basis, the entire work process, including preliminary work, can be completed in a short period of time, which has the advantage of being able to carry out work promptly according to the design plan without being affected by the weather, and reducing costs. is played.

Therefore, the painting equipment has its guide post connected at its upper end to a horizontally movable trolley mounted on the upper wind girder, and its lower end is provided with supporting rollers for the sides, so that it can be used regardless of the size of the high-rise structure. First, the gondola, which is equipped with a robot painting device main body, can be moved laterally to the side and can be raised and stopped freely relative to the guide post, making it possible to cover all sides of the high-rise structure within the painting area. Therefore, an excellent effect can be achieved in that the coating work can be precisely performed on the entire surface of the side surface.

In addition, since a cage-type gondola can be equipped with a robotic coating device, pre-teaching and offline teaching can be performed using the coating device, thereby allowing
To automatically perform painting work by a robot according to the shape of an overhanging structure such as a wind girder or rib, even if the overhang structure is complex or even if there is an overhang structure on the wind girder or rib. The excellent effect of being able to perform the painting work in a flexible manner is achieved.

By applying robotization technology to the painting of large structures, it is possible to eliminate manual labor from poor working environments, and it has the excellent effect of introducing safety benefits.

[Brief explanation of drawings]

Fig. 1 is a cross-sectional side view of the main part of the conventional mode, Fig. 2 is a side view of the same part, and Fig. 3 is a partial cross-sectional side view of the connection of the gondola to the guide post of another conventional mode.
4 and 5 are a partial sectional view and a side view of one embodiment of the invention of this application. 4... Wind girder, 1... High-rise structure,
5... Painting device, 7... Moving trolley, 8... Guide post, 9... Support roller, 10... Gondola,
11... Drive device, 14... Painting device main body.

Claims (1)

[Scope of Claims] 1. In a coating apparatus for a high-rise structure having a horizontal ring-shaped wind girder, a guide post is connected and suspended from a horizontally movable cart mounted on the wind girder, and a side support roller is provided at the bottom of the guide post. A coating device for a high-rise structure, characterized in that a cage-type gondola is provided on the guide post so as to be movable up and down, and is linked to a drive device and equipped with a coating robot. 2. A coating device for a high-rise structure according to claim 1, wherein the robot is electrically connected to a control device installed on another cage-type gondola provided on a guide post. .