JPS62171776A - Method for coating wall surface - Google Patents

Abstract

PURPOSE:To improve the quality of a coated surface and to reduce the consumption of paint by stopping the spraying of paint from a coater during the longitudinal movement in the accelerating and decelerating section and the lateral movement in the automatic coating of the hull, etc., by the coater provided at the tip of a boom. CONSTITUTION:The turning of a turntable 2 by a turning motor 3, the vertical hoisting of a telescopic boom 4 by a hoisting cylinder 5, the horizontal oscillation of a working bench 7 by an oscillating cylinder 8, etc., are controlled by a controller. When the moving pattern and velocity of the working bench 7 and the interval with a wall surface are set in the controller, the working bench 7 is moved while alternately repeating the longitudinal and lateral motions and keeping a fixed interval with the wall surface in accordance with the working pattern. When a longitudinal lane is followed, the spraying of paint from the coater is stopped in the decelerating and accelerating sections from a work starting position S to D, from F to G, and from H to I and the laterally moving section B. Consequently, since paint is sprayed when the coater is moved in the fixed direction and at a fixed velocity, the surface is uniformly coated, and the consumption of paint is reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION (1) Field of Industrial Application The present invention relates to an improvement in a wall painting method that automates the painting of PL on a ship's hull or the like.

(2) Conventional technology The coating machine installed at the tip of the boom allows the coating machine and tl
= Performing painting work by moving the tip of the boom at a set speed according to a set movement pattern while maintaining the distance from the surface at a set value is described in, for example, Japanese Patent Laid-Open No. 60-212.
It is conventionally known as described in Japanese Patent No. 561.

(3) Problems to be Solved by the Invention However, in the conventional wall painting method, when the boom tip moved according to a set movement pattern, the paint sprayer was constantly operating and sprayed paint, which resulted in acceleration of the boom tip. Also, there are problems in that color unevenness occurs and paint is wasted when decelerating or changing painting lanes.

(4) Child actor for solving the problems In order to solve the above problems, the present invention provides a P1i! equipped at the tip of the boom! With A4aI, "Wall surface to be painted by moving the tip of the boom at a set speed according to a set movement pattern that repeats vertical and horizontal movements while maintaining the distance between the Rllc machine and the wall at the set value. In the painting method, the acceleration and deceleration sections during vertical (lateral) movement of the boom tip.

In addition, the spraying of paint from the Coating JA machine is stopped when the tip of the boom moves horizontally (vertically).

(5) Example An embodiment of the present invention will be described below with reference to one drawing.

As shown in Fig. 2, an aerial work vehicle that performs wall painting work has a turntable (2) rotatably installed on a removable cart (1) via a revolving ring (25). The table (2) is swiveled left and right by a built-in swivel motor (3).

The base of a telescoping boom (4) is pivotally supported on the turntable (2), and the telescoping boom (4) can be raised and lowered by an undulation cylinder (5) provided between the turntable (2) and the telescoping boom (4). At the same time, the built-in telescopic cylinder (6) telescopically operates. A workbench (7) is held in balance at the tip of the telescopic boom (4) so as to be able to freely swing from side to side, and the workbench (7) is oscillated from side to side within a horizontal plane by a swinging cylinder (8). The turntable (2) is equipped with a rotation position detector (9) for detecting the rotation position t of the turntable (2) and a luffing angle detector (10) for detecting the luffing angle of the telescopic boom (4). The telescopic boom (4) is equipped with a telescopic length detector (11) that detects the telescopic length of the telescopic boom (4), and the work platform (7) is equipped with a telescopic length detector (11) that detects the swing angle of the work platform (7). A 11-wave melon detector (12) is provided to detect the wall surface (14) that is the object of work at the tip of the workbench (7).
Distance detector (
13) is equipped with a coating machine (
The paint sprayer (26) is provided to be slidable in the front-rear direction and swingable in the left-right direction, and the paint sprayer (26) has a pair of nozzles spaced apart on the left and right that reciprocate in the horizontal direction.

Figure 3 shows the configuration of the control device, in which the movement pattern setting device (1) sets the movement pattern and operating range of the workbench (7).
6), a speed setting device (to set the movement speed of the workbench (7)
17) and an input device (15) equipped with a distance setting device (18) for setting the distance between the workbench (7) and the wall surface (14) are connected to the arithmetic operation 'JA (19), and the above-mentioned rotation position detector (9), undulation angle detector ('1.0), telescopic length detector (11), swing angle detector (12) and distance detection W (
13) is also connected to the computing unit (19), and the computing unit (1
9), the input device (15) sets the
The actuator to be driven is determined in order to move the workbench (7) according to the given command, and the direction and speed to be driven are determined based on the signals from each detector (9 to 13).
Calculate and move the workbench (7)! ! +The speed and direction of movement are calculated, and it is determined whether or not the paint sprayer (26) should spray paint.

That is, the vertical movement of the work platform (7) is performed by driving the undulation cylinder (5) and the telescopic cylinder (6), and the vertical movement distance and movement speed of the work platform are determined by the vertical movement of the telescopic boom (4). Movement of the workbench (7) in the left-right direction calculated from changes in the angle and the telescopic length is performed by driving the swing motor (3), the telescopic cylinder (6), and the undulating cylinder (5).

The moving distance and moving speed of the seven machines in the left-right direction are calculated from the rotational position of the turntable (2), the raising angle of the telescopic boom (4), and changes in the telescopic length. And the workbench (7)
When the machine moves in the left-right direction, the oscillating cylinder (8) expands and contracts to keep the front surface of the workbench (7) and the wall in line at all times. In addition, during acceleration and deceleration sections where the moving speed of the workbench (7) is not equal to the set speed, and during movement to change the painting lane, the spraying of paint by the paint sprayer (26) is stopped, and the workbench (7) is set. Blows out paint when moving at high speed in the painting lane.

The computing unit (19) is a controller (20) that controls the am proportional valve.
), and the controller (20) connects each of the seven cutout units (3
,, 5, 6, 8) and the electromagnetic proportional control valve (21, 2, 2, 23, 24) and the paint sprayer (26
) is connected to the city valve (27) which opens and closes the paint outlet.

Using the configuration described in L, wall painting work is performed as follows.

First, the movement pattern of the workbench, the movement speed, and the distance between the workbench (painting machine) and the wall surface are set using the human power device (15). As shown in Figure 1, the operation pattern is to set the pattern of moving the wall surface while repeating alternating vertical and horizontal movements and the lengths (A, B, C) of the pattern. .

Next, manually operate the electromagnetic proportional valves (21, 22, 23° 24) to move the workbench (painting machine) to the work start position (S
) Position the workbench at point. At this time, the distance between the workbench and the wall is detected by the distance detector (13) and compared with the set value, so when the distance between the workbench and the wall reaches the set value, a buzzer etc. is activated. Workers can be informed.

Painting work is started by starting operation with the workbench (7) located at the work start position, and the movement speed of the workbench (7) at position 1 and the distance between the workbench and the wall surface are set at a constant sampling rate. Each detector (9, to,
11, 12, and 13), so that the workbench maintains the set movement pattern, movement speed, and distance from the wall.

8) electromagnetic proportional control valves (21, 22, 23, 24) are controlled. When the workbench reaches point (D) from point (S) and the moving speed of the workbench reaches the set value of 1 t, the solenoid valve (27) changes to 91, and the coating machine (26) starts blowing out coating 1. Start. This is because when the paint sprayer reaches point (F) while spraying paint, the workbench starts decelerating and the moving speed drops below the set value.

The solenoid valve (27) stops the sprayer from spraying paint. Then, the vertical operation of one workbench is completed, and from point (G) to (H
) When moving horizontally to change the coating lane up to point (I), the sprayer's paint spray is held in a stopped state, and it starts moving vertically again until it reaches point (I) and the speed of movement of the workbench (7) increases. When the set value is reached.

The first coating machine (26) starts spraying paint.

By repeating the above operations, when one workbench reaches the end point (E) of the set movement pattern, all the electromagnetic proportional control valves (21 to 24) return to the neutral position, and all the seven actuators (3, 24) return to the neutral position. 5, 6, 8) stops, and the workbench (7) stops.

That is, the paint sprayer (26) sprays paint only in the solid line area in FIG. 1, and does not spray paint in the broken line area.

In addition, in the movement pattern in which the horizontal direction is the painting lane, it is possible to implement the present invention by reversing the vertical and horizontal directions.

(6) Effects of the Invention As described in 2, according to the present invention, when painting a wall by moving a painting machine installed at the tip of a boom along a set movement pattern, the painting machine can be moved at a constant speed. Since the coating machine blows out paint only when moving in a certain direction, the thickness of the paint on the painted surface becomes uniform and there is no wastage of paint.This invention improves the quality of the painted surface by automatic painting. It also has a great effect on saving paint.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention; FIG. 1 is an operation pattern diagram showing a wall surface painting method, FIG. 2 is a side view showing the working state of the high-place work system 1, and FIG. 3 shows the configuration of the control device. It is a block diagram showing 4...Telescopic boom, 14...Wall surface, 26...Painting machine, 27...1 magnetic valve.Patent applicant Aichi-1'' Co., Ltd. Figure 1 3 diagram

Claims (1)

[Claims] The sprayer installed at the tip of the boom moves the boom tip at a set speed according to a set movement pattern that alternately repeats vertical and horizontal movements while maintaining the distance between the sprayer and the wall at the set value. In the wall painting method where painting is performed while the boom tip is moving horizontally, the sprayer stops spraying paint during the acceleration and deceleration sections when the boom tip moves vertically (when moving horizontally), and when the boom tip moves horizontally (when moving vertically). A wall painting method characterized by: