JPS62106863A - Painting robot - Google Patents

Abstract

PURPOSE:To perform rapid and uniform painting imparting no adverse effect of dust or a malodor due to a solvent, by automating brush roller painting work by a movable truck and the multi-articulated arm mounted thereon. CONSTITUTION:A main arm rod 8 and a leading end arm rod 10 constituting a multi-articulated arm A respectively revolve around revolving joints 7, 9 being revolving centers and the revolving ends of both rods are moved up and down in parallel to a wall surface 2 to be painted. The paint rollers 16, 15 of the painting part B provided to the leading end of the leading end arm rod 10 are swingable on the pivot shaft 14a of equalizer frames 14 being a fulcrum and slide in parallel to the wall surface 2 corresponding to the moving locus of the leading end arm rod 10. Therefore, the paint coating roller 15 is used while the multi-articulated arm A is revolved and the truck 5 is allowed to run to make it possible to apply painting to the wall surface 2 of a building room in an up-and-down direction and a left-and-right direction.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a painting robot for painting the interior of a building.

(Prior Art) Painting work inside a building usually creates an extremely poor working environment compared to painting work on the exterior walls of a building because the odor of paint solvents and the like is trapped. Also, if you do the painting work with spray jj, it will be even worse.
In addition to trapping dust and odors indoors, curing work must be performed extensively on surfaces other than those to be painted.

(Problem to be solved by the invention) Therefore, this type of indoor painting work was usually done manually using rollers, brushes, etc., but in the case of tall and wide surfaces to be painted, By automatically applying roller brush coating instead of manual work, this type of work can be done quickly and uniformly without having to worry about dust or solvent odors and the associated negative effects. can.

The present invention was made in view of the past, and its purpose is to provide a painting robot 1- which can perform indoor painting work by roller brush painting.

(Means for Solving the Problems) In order to achieve the above object, the present invention includes a cart that moves in parallel on the floor along the surface to be painted, and a cart that is provided on the cart and rotates via a plurality of joints. a multi-joint arm whose rotating end moves parallel to the surface to be painted; a paint coating roller rotatably attached to the tip of the multi-joint arm and rolling in contact with the surface to be painted; The present invention is characterized in that it includes a paint supply roller that supplies paint while being in rotational contact with the back surface of the paint application roller.

(Example) Hereinafter, an example of the present invention will be described in detail using the drawings.

Fig. 1 is a perspective view of a painting robot according to the present invention, Fig. 2 is a perspective view showing the detailed structure of the pivoting end of a multi-jointed arm in the painting robot, and Fig. 3 is a perspective view showing the contact state with a wall surface at the pivoting end. The cross-sectional view shown in FIG. 4 is an explanatory diagram showing the vertical rotation locus of the multi-jointed arm.

In the figure, reference numeral 1 indicates a floor surface inside the building, and on the negative side thereof, a wall surface 2 is integrally erected via a book block 2a, and a ceiling 3 is located above the wall surface 2.

Rails made of a pair of magnetic tapes 4 for detection are glued on the floor surface 1 in parallel to the wall surface 2, and a cart 5 of a painting robot R runs on each magnetic tape 4.

The painting robot R is roughly composed of a truck 5, a multi-joint arm 8 provided on the truck 5, and a coating section B provided at the tip of the multi-joint arm A.

The multi-joint arm A is constructed as follows.

That is, a main arm support base 6 is rotatably attached to the top surface of the truck 5, and a first arm support base 6 is rotatably attached to the top surface of the truck 5.
A main arm 8 is attached to the main arm 8 so as to be pivotable up and down via a rotation joint 7, and a tip arm 10 is attached to the tip of the main arm 8 so as to be pivotable up and down via a second pivot joint 9. It is being Therefore, a rotary flange 11 is attached to the intermediate position of the tip arm 10, so that the tip arm 10
The tip part of the can be rotated in the twisting direction.

The coating section B is constructed as follows. In other words,
As shown in detail in FIGS. 2 and 3, the base of a T-shaped support frame 13 is attached to the tip of the tip arm 10 via a third rotation joint 12 so as to be able to swing horizontally or vertically. A pair of equalizer frames 14 are arranged on both sides of the equalizer frames 14, which are swingably mounted on pivot shafts 14a.

Each end of the equalizer frame 14 has a rotating shaft 1.
A pair of paint application rollers 15 are provided with both ends rotatably attached via 5a, and a paint supply roller 16 is provided on the rear side of each paint application roller 15, with both ends connected via a pipe 17 that also serves as a rotating shaft. Equalizer frame 14
It is rotatably supported on the shaft.

The paint supply roller 16 is provided with a roller main body 16b made of a penetrating foam body through which air bubbles penetrate in the radial direction on the outer periphery of a hollow sleeve 16a with holes. The inside is connected.

Each vibrator 17 has a paint supply hose 18a, respectively.
and one end of the paint bypass hose 18b. Paint supply hose 18a and paint bypass hose 1
The other end of 8b is connected to a paint tank 19A provided inside the truck 5 and a paint pressure pump 19B with a motor.

Then, the paint in the paint tank 19A is discharged by the operation of the pump 19B. The paint is pumped into the hollow interior of the paint supply roller 16 through the iF4 supply hose 18a.

The paint supply roller 16 rotates at idle as the paint application roller 15 rolls against the wall surface 3 to be painted, and while contacting the paint supply roller 16, paint is applied to the paint application roller 15 from the tip of the brush-shaped portion 16b.
Supplied to the outer circumference of the Then, the excess paint is again circulated inside the paint tank 19A through the bypass hose 18b.

A magnetic sensor 20 for detecting each of the magnetic tapes 4 is disposed at the front of the truck 5 in the direction of travel, and the detection output of the magnetic sensor 20 controls the steering of the wheels 21 disposed at the bottom of the truck 5. The steering control is performed so that the magnetic tape 4 follows the trajectory. Further, a first limit switch L1 for detecting the ceiling surface is attached to the upper position of one equalizer frame 14, and a second limit switch L2 for detecting the floor surface is attached to the lower end of the other equalizer frame 14. is provided. And trolley 5
A balance weight 22 for balancing the total of the eight multi-jointed arms and the painted part B is disposed on the opposite side of the wall surface 3.

In the above configuration, the main arm 8 and the end arm 10 constituting the multi-jointed arm A pivot around the pivot joints 7 and 9, respectively, as shown in FIG. It is possible to move up and down in parallel.

Then, the painted part B [,
The equalizer frame 14 is pivotable about the pivot @ 14a of the equalizer frame 14 as a fulcrum, and is arranged to be parallel to the wall surface 2 to be painted according to the locus of movement of the tip arm 10.

In addition, in this painting robot R, the paint application roller 15 can be rolled in a horizontal direction rather than in the vertical direction as shown in the figure via the rotation 7 lunge 11, and the paint application roller 15 can perform painting while moving the cart 5. You can also do it.

FIG. 5 shows the system configuration of the painting robot R configured as described above.

In this configuration, the CPU 30 is the main body of processing, and this C
The limit switch L1.IA mentioned above is connected to the PU30 via the input/output interface 31. L2, the magnetic sensor 20, a motor M1 for driving the trolley 5, a control motor for the tender, and motors M2 to 1yln for rotating the respective rotation joints are connected to the motor M1 for driving the trolley 5. = Keyboard 32° Connected to display section 33.

The CPU 30 uses the memory stored in the storage section 40 to process each sensor 20. Based on the value input by the limit switch 1, L2 or the keyboard 32, an output state corresponding to the input state is executed.

FIG. 6 shows, as an example, an operation flowchart when painting is performed while rotating the multi-joint arm 8 up and down. First, after initial processing is completed in step ST1, when the robot R is driven, the multi-joint arm A The paint application roller 15 is moved up from the floor surface 1 to the ceiling surface 3 while being pressed against the wall surface 2 to be painted, and the width of the paint application roller 15 is applied (step ST2). When the limit switch L1 contacts the ceiling surface 3, the multi-joint arm stops rising in response to this detection output, and then a series of operations lasting m is performed (step ST3).
~5T5).

Next, the trolley 5 moves forward and stops in a state where it slightly overlaps the coating surface corresponding to the roller width that was previously coated (step S
T6-5T8).

Next, at this position, the multi-joint arm A moves forward slightly, and the roller comes into contact with the upper part of the wall surface 2 to be painted, and in this state, the multi-joint arm A descends, contrary to step ST2. Then, at the lowest position, the second limit switch L2
When the multi-joint arm A receives this detection signal, it stops rotating, moves away from the wall surface 2 to be painted, the trolley 5 moves by a coating width corresponding to the width of the paint coating roller 15, and then stops. The paint application roller 15 comes into pressure contact with the wall surface 2 to be painted again (steps ST9 to ST17).

Then, the process returns to step 2 again and the same operation as described above is repeated from one wall end to another.

Note that while the truck 5 is moving, the magnetic sensor 20 constantly detects the position of the magnetic tape 4, and if the truck 5 shifts, the CPU 30 performs calculations according to the displacement and shifts the steering control motor. The work is repeated to return to the original position depending on the width. In addition, in the initial processing, the wall surface 2 of the trolley 5 is
This is used to perform initial settings such as setting the distance from the computer, turning on the power, etc.

In the above embodiment, the multi-joint arm A was rotated in the vertical direction while painting was carried out, but it is of course possible to leave the multi-joint arm A fixed and to move the trolley 5 while painting. It is.

In this case, the rotary flange 11 may be rotated 90', the paint application roller 15 may be rolled in the lateral direction with respect to the wall surface 2 to be painted, and a corresponding program may be executed.

This method can be used especially when the wall surface has a curved shape.

Next, FIG. 7 shows a case in which a pair of distance sensors 50 for distance measurement are used as sensors for maintaining a constant distance between the cart 5 and the wall surface 3.

In this embodiment, the output of each distance sensor 50 is compared with a preset distance between the wall surface 2 to be painted and the trolley 5, and the parallelism of the trolley 5 to the wall surface 2 to be painted and the deviation from the set distance are calculated. Steering control is performed accordingly.

According to this, compared to the first embodiment, no magnetic tape is required, and there is no need to peel off the magnetic tape after painting, which is more convenient.

Further, when the wall surface 2 is a curved surface, traveling control to the optimum position can be performed while comparing the curved surface with a set curvature.

(Effects of the Invention) As described in detail in each of the embodiments above, in the painting robot according to the present invention, the paint application roller is used to apply the paint to the wall surface by rotating the multi-joint arm or running the trolley in the vertical and horizontal directions. Compared to painting using a paint gun, this method eliminates the problem of powder scattering caused by paint scattering and deterioration of the working environment.Furthermore, since the dust does not scatter, the curing area is connected to the wall surface. Painting preparation operations can also be reduced because only a small area between the surface and the floor or ceiling is required.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing a painting robot according to the present invention and the relationship between the painting robot and a floor surface and a wall surface, and FIG. 2 is an enlarged perspective view showing a paint application roller and a paint supply roller at the turning end of the tip arm. Figure 3 is a partial sectional view showing the relationship between the paint application roller, wall surface, and paint supply roller, Figure 4 is an explanatory diagram showing the vertical rotation locus of the multi-jointed arm, and Figure 5 is the same painting robot. 6 is a flowchart showing the operation during customization, and FIG. 7 is a perspective view showing another example of the sensor of the painting robot. 1... Floor 2... Wall surface to be painted (surface to be painted) 4... Magnetic tape 5... Vehicle R...
Painting robot A...Multi-joint arm B...Painting part 6...Main arm support base 7...First rotation joint 8...Main arm 9...Second rotation joint
10...Tip arm tree 12...Third rotation joint part 1
5...Paint supply roller 16...Paint supply row 5 1
7... Each pipe 18a... Paint supply hose 18b... Paint bypass hose 19△... Paint tank 19B... Paint t'l pressure feeding bomb 20... Magnetic sensor 21... Wheel 1
1.12...Limit 1-Switch 50...Distance sensor patent applicant Obayashi Co., Ltd.
Person Patent Attorney - Kensuke IroFigure 4

Claims (5)

[Claims] (1) A trolley that moves parallel to the surface to be painted on the floor,
a multi-joint arm that is provided on a trolley and pivots via a plurality of joints, the pivot end of which moves parallel to the surface to be painted;
A paint application roller rotatably attached to the tip of the multi-joint arm and rolling in contact with the surface to be painted, and a paint supply roller that supplies paint while rotating in contact with the back surface of the paint application roller. A painting robot that is characterized by the ability to (2) A switch is provided at the turning end of the multi-joint arm to detect the coating limit position of the surface to be painted, and based on the detection output of the switch, the turning direction of the multi-joint arm or the running direction of the cart is reversed, and 2. The painting robot according to claim 1, further comprising a control means for intermittently moving the cart, the multi-joint arm, or the cart by a distance corresponding to the coating width of the roller for each reversal operation. (3) The cart is provided with a sensor for a detection tape stuck on the floor surface, and a steering control means for controlling the traveling direction of the cart parallel to the detection tape in accordance with the detection output of the sensor. A painting robot according to claim 1 or 2, characterized in that the painting robot is equipped with: (4) A distance sensor disposed on the cart and measuring the distance between the cart and the surface to be painted, and a steering control means for controlling the traveling direction of the cart parallel to the wall surface based on the detection output of the distance sensor. A painting robot according to claim 1 or 2, characterized in that: (5) A paint supply hose and a bypass hose that communicate with the paint tank and paint pressure pump provided on the cart side are connected to the paint supply roller, and the paint in the paint tank is transferred to the paint pressure pump and the paint supply hose. According to any one of claims 1 to 4, the excess paint is forced into the paint supply roller through the bypass hose and circulated into the paint tank through the bypass hose. Painting robot.