JPS62201675A - Painting method for wall surface - Google Patents

Abstract

PURPOSE:To make an easy painting operation on a wall surface of a building having window parts by using the same device as for a smooth wall surface by freely attachably and detachably mounting a cap body which can be mounted on the same plane as the plane of the wall surface to the recess such as window provided to the wall surface. CONSTITUTION:The painting operation is carried out by moving the top end of an extension and contraction boom 4 at the speed set in accordance with a set moving pattern by a painting machine 26 provided to the top end of the boom while the space between the painting machine 26 and the wall surface 14 is maintained at a set value. The painting operation is carried out in the state of freely attachably and detachably mounting the cap body 141 which can be mounted on the same plane as the plane of the wall surface 14 to the recess 140 such as window provided to the wall surface 14. Namely, the painting operation can be easily made on the wall surface of the building having the window parts by using the same device as the device for the flat wall surface and therefore, this method is highly effective in expanding the applications of an automatic painting device and automating the painting operation of buildings.

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 work of buildings, etc.

(2) Conventional technology Painting is carried out by moving the boom tip at a set speed according to a set movement pattern while maintaining the distance between the sprayer and the wall at a set value using a sprayer installed at the tip of the boom. For example, performing the work is described in Japanese Patent Application Laid-Open No. 60-21256.
It is conventionally known as described in Publication No. 1.

(3) Problems to be solved by the invention However, since the conventional wall painting method was designed for smooth walls such as ship hulls, it is necessary to use the painting machine at the tip of the boom for uneven walls such as buildings. However, it could not be applied to wall painting equipment because of the contact with convex parts.

(4) Means for Solving the Problems In order to solve the above problems, the present invention uses a sprayer installed at the tip of a boom to maintain the distance between the sprayer and the wall at a set value. In a wall painting method in which painting is performed by moving the tip of the boom at a set speed according to a set movement pattern, a lid body that is attached to the same surface as the wall surface can be attached and detached to a recessed part such as a window provided on the wall surface. Painting work is carried out with the machine attached to the machine.

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

As shown in Figure 1, an aerial work vehicle (
V) has a turning ring (25) on the movable Imaichi (1)
A turntable (2) is rotatably provided via the
The turntable (2) is rotated left and right by a built-in rotation 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 swing from side to side.The workbench (7) is supported by a swinging cylinder (
8) causes the head to oscillate left and right in the horizontal plane. The turntable (2) has a rotation position detector (9) for detecting the rotation position of the turntable (2) and a telescopic boom (4).
The telescoping boom (4) is equipped with an elevating angle detector (io) that detects the elevating angle of the telescoping boom (4), and the telescoping boom (4) is equipped with an elongating w! A length detector (11) is provided, and the workbench (7) is equipped with a swing angle detector (12) for detecting the swing angle of the workbench (7). is equipped with a distance detector (13) that measures the distance to the wall surface (14) to be worked on using ultrasonic waves, etc.A painting machine (26) is mounted on the workbench (7) in the front and back direction. The painting machine (26) has a pair of nozzles spaced apart on the left and right that spray paint while reciprocating in the horizontal direction. Each window (140) of the wall (14) has a
) is attached to a removable lid (141) that covers the recess of the window.

The rjSz diagram shows the configuration of the control device, which includes a movement pattern setter (16) that sets the movement pattern and operating range of the workbench (7), a speed setter (17) that sets the movement speed of the workbench (7), and Input device (15) equipped with a distance setting device (18) for setting the distance between the workbench (7) and the wall surface (14)
is connected to the arithmetic unit (19), and the above-mentioned turning position detector (9) detects the undulation angle 1 disorder! (10), telescopic length detector (
11) Head swing angle detector (12) and distance detector (13)
The calculator (19) determines the actuator to be driven in order to move the workbench (7) according to the command set by the input device 21 (15), and The direction to drive and the speed to drive are calculated based on the signals from each detector (9 to 13).

That is, the vertical movement of the work platform (7) is performed by driving the undulating cylinder (5) and the telescopic cylinder (6), and the downward movement distance and speed of the work platform are determined by the telescopic boom (4). Movement of one workbench (7) in the left-right direction, which is calculated from changes in the undulation angle and extension/contraction length, is performed by driving the swing motor (3), the extension/contraction cylinder (6), and the undulation cylinder (5). When the first workbench (7) moves in the left-right direction, the eleventh cylinder (8) expands and contracts to keep the front surface of the workbench (7) parallel to the wall surface at all times.

The computing unit (19) is a controller (20) that controls the electromagnetic proportional valve.
J + Goki (2o) is connected to 7 Kuchiyueta (
3, 5, 6, 8) and the electromagnetic proportional control valve (21, 22, 23, 24) and painting m (26)
It is connected to a solenoid valve (27) that opens and closes the spraying of paint.

With the above configuration, wall surface painting work is performed as follows.

Before the work, a lid (141) is attached to the recess of the window (140) of the building to be worked on to cover the window and smooth the wall (14) of the building.

First, the movement pattern, movement speed, and distance between the workbench (painting machine) and the wall surface of the workbench are set using the input device at (15).The zero operation pattern is as shown in FIG.
This is to set the length (A, B, C) of the pattern that moves on the wall surface while repeating vertical and horizontal movement alternately and its size.

Next, manually operate the electromagnetic proportional valves (21, 22, 23° 24) to move the workbench (painting machine) to the work starting position 71.
(S) Position the workbench at point. At this time, the distance between the workbench 1 and the wall is detected by the distance detector (13) and compared with the set value, so the distance between the workbench and the wall is set as ff4.
When this is reached, a buzzer etc. can be activated to notify the worker.

Painting work is started by starting operation with the workbench (7) located at the work start position, and the position of the workbench (7), the movement speed of the workbench, 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.

The electromagnetic proportional control valves (21, 22, 23, 24) of 8) are controlled, and the coating machine (26) moves on the lid (141) in the same way as the wall (14), allowing smooth painting work. It will be done.

When the work platform reaches the end point (E) of the set movement pattern, all electromagnetic proportional control valves (21 to 24) return to the neutral position and all 5 and 7 actuators (3, 5, 6, 8) The operation stops and the first workbench (7) stops. Finally, the painting work is completed by adding and removing the four bodies (141) from the window part (140).

(6) Effects of the Invention As described above, according to the present invention, walls of buildings having windows can be easily painted using the same equipment used for painting smooth walls. It has a great effect on expanding the uses of painting equipment and automating building painting work.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention; Fig. 1 is a side view showing a painting work state using an aerial work vehicle, Fig. 2 is a block diagram showing the configuration of the control VLT position, and Fig. 3 is an operation pattern. FIG. 4... Telescopic boom, 14... Wall surface, 26... Painting machine, 140... Window section, 141... Lid body.

Claims (1)

[Claims] A wall painting method in which a painting machine installed at the tip of a boom performs painting work by moving the boom tip at a set speed according to a set movement pattern while maintaining the distance between the paint machine and the wall at a set value. A wall surface painting method characterized in that the painting work is carried out with a lid detachably attached to a concave part of a window or the like provided on the wall surface on the same surface as the wall surface.