JPS62201675A - Painting method for wall surface - Google Patents
Painting method for wall surfaceInfo
- Publication number
- JPS62201675A JPS62201675A JP4218086A JP4218086A JPS62201675A JP S62201675 A JPS62201675 A JP S62201675A JP 4218086 A JP4218086 A JP 4218086A JP 4218086 A JP4218086 A JP 4218086A JP S62201675 A JPS62201675 A JP S62201675A
- Authority
- JP
- Japan
- Prior art keywords
- wall surface
- painting
- workbench
- boom
- wall
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010422 painting Methods 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 7
- 239000003973 paint Substances 0.000 claims description 3
- 230000008602 contraction Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Landscapes
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
Description
【発明の詳細な説明】
(1) 産業上の利用分野
本発明は建物等の塗装作業を自動化した壁面塗装方法の
改良に関するものである。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) 従来の技術
ブームの先端に備えられた塗装機により、塗装機と壁面
との間隔を設定値に保持しながら、ブーム先端を設定さ
れた移動パターンに従って設定された速度で移動させて
塗装作業を行うことは、例えば特開昭60−21256
1号公報に記載されているように従来より公知である。(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) 発明が解決しようとする問題点しかし、従来の
壁面塗装方法は、船体等の平滑な壁面を想定したもので
あったため、建物等のように凹凸のある壁面においては
ブーム先端の塗装機が凸部と接触すること等により壁面
塗装装置も含めて適用することができなかった。(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) 問題点を解決するための手段
本発明は、上記の問題点を解決するために、ブームの先
端に備えられた塗装機により、塗装機と壁面との間隔を
設定値に保持しながら、ブーム先端を設定された移動パ
ターンに従って設定された速度で移動させて塗装作業を
行う壁面塗装方法において、壁面に設けられた窓等の凹
部に壁面と同一面上に取付けられる蓋体を着脱自在に取
付けた状態で塗装作業を行うものである。(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) 実施例 以下1図面により本発明の実施例について説明する。(5) Example An embodiment of the present invention will be described below with reference to one drawing.
第1図に示すように、壁面塗装作業を行う高所作業車(
V)は、走行可能な今市(1)上に旋回リング(25)
を介してターンテーブル(2)が旋回自在に設けられ、
ターンテーブル(2)は内蔵された旋回モータ(3)に
より左右に旋回作動する。ターンテーブル(2)には伸
縮ブーム(4)の基部が枢支され、伸縮ブーム(4)は
ターンテーブル(2)と伸縮ブーム(4)間に設けられ
た起伏シリンダ(5)により上下に起伏作動するととも
に、内蔵された伸縮シリンダ(6)により伸縮作動する
。伸縮ブーム(4)の先端には作業台(7)が左右に首
振自在に平衡保持され、作業台(7)は首振シリンダ(
8)により水平面内で左右に首振作動する。そして、タ
ーンテーブル(2)にはターンテーブル(2)の旋回位
置を検出する旋回位置検出器(9)と伸縮ブーム(4)
の起伏角度を検出する起伏角度検出器(io)が備えら
れ、伸縮ブーム(4)には伸縮ブーム(4)の伸縮長さ
を検出する伸w!長さ検出器(11)が備えられ1作業
台(7)には作業台(7)の首振角度を検出する首振角
度検出器(12)が備えられ、作業台(7)の先端には
作業対象である壁面(14)との距離を超音波等を利用
して計測する距離検出器(13)が備えられている0作
業台(7)上には塗装機(26)が前後方向に摺動可能
かつ左右方向に揺動自在に設けられ、塗装機(26)は
水平方向に往復作動しながら塗料を噴霧する左右に離間
した一対のノズルを有するものである0作業対象である
建物の壁面(14)の各窓部(140)には壁面(14
)と同一面上に位置して窓部の窪みを覆う着脱自在な蓋
体(141)が取付けられている。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.
rjSz図は制御装置の構成を示し、作業台(7)の移
動パターン及び作動範囲を設定する移動パターン設定器
(16)、作業台(7)の移動速度を設定する速度設定
器(17)及び作業台(7)と壁面(14)との間隔を
設定する間隔設定器(18)を備えた入力装置(15)
が演算器(19)に連結され、前記した旋回位置検出器
(9)、起伏角1症検出!(10)、伸縮長さ検出器(
11)首振角度検出器(12)及び距離検出器(13)
も演算器(19)に連結されており、演算器(19)に
おいて、入力装21(15)により設定された指令に従
って作業台(7)を移動させるために駆動すべきアクチ
ュエータを判別し、その駆動すべき方向と駆動すべき速
度を各検出器(9〜13)からの信号に基いて算出する
。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).
すなわち、作業台(7)の上下方向への移動は起伏シリ
ンダ(5)と伸縮シリンダ(6)の駆動によって行われ
、作業台のE下方向の移動距離及び移動速度は伸縮ブー
ム(4)の起伏角度と伸縮長さの変化から算出され1作
業台(7)の左右方向への移動は旋回モータ(3)と伸
縮シリンダ(6)と起伏シリンダ(5)の駆動によって
行われる。そして1作業台(7)が左右方向へ移動する
ときは、11振シリンダ(8)が伸縮して、常に作業台
(7)の前面と壁面とを平行に保持する。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.
演算器(19)は電磁比例弁を制御する制御器(20)
に連結され、 J+御器(2o)は各7クチユエータ(
3、5、6、8)を制御する操作バルブである電磁比例
制御弁(21,22,23,24)及び塗装m(26)
の塗料の吹出しを開閉する電磁弁(27)に連結されて
いる。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.
上記の構成により1次のように壁面塗装作業を行う。With the above configuration, wall surface painting work is performed as follows.
作業前に、作業対象である建物の窓部(140)の窪み
に蓋体(141)を取付けて、蓋体により窓部を覆うと
ともに建物の壁面(14)を平滑にしておく。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.
そして、最初に、入力装at(15)により作業台の移
動パターン、移動速度及び作業台(塗装機)と壁面との
間隔を設定する0作動パターンは第3図に示すように、
縦移動と横移動を交互に繰返しながら壁面上を移動する
パターンとその大きさである(A 、 B 、 C)の
長さを設定するものである。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.
次に、手動で電磁比例弁(21,22,23゜24)を
操作して作業台(塗装機)を移動し、作業開始位71
(S)点に作業台を位置させる。この際1作業台と壁面
との間隔は距離検出器(13)により検出され、設定値
と比較されるので、作業台と壁面との間隔が設定ff4
に達したときにブザー等を作動させて作業者に知らせる
ことができる。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.
作業台(7)が作業開始位置に位置した状態で始動操作
することにより塗装作業が開始され、作業台(7)の位
置、作業台の移動速度及び作業台と壁面との間隔は一定
のサンプリング周期で検出される各検出器(9,to、
11,12.13)からの信号により算出され、作業台
が、設定された移動パターン、移動速度及び壁面との間
隔を保持するように、各7クチユエータ(3、5、6。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.
8)の電磁比例制御弁(21,22,23,24)が制
御され、蓋体(141)部も壁面(14)部と同様に塗
装機(26)が移動して1円滑に塗装作業が行われる。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.
作業台が、設定された移動パターンの終点(E)に達す
ると、全ての電磁比例制御弁(21〜24)が中立位置
に戻って5全ての7クチユエータ(3、5、6、8)の
作動が停止ヒして1作業台(7)は停止トする。最後に
、窓部(140)から4体(141)を増外すことによ
り塗装作業は完了する。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) 発明の効果
以上のように1本発明によれば、窓部を有する建物の壁
面も、平滑な壁面と同じ装置を用いて容易に塗装作業を
行うことができるため、本発明は自動塗装装置の用途拡
大並びに建物の塗装作業の自動化に多大な効果を有する
。(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.
図面は本発明の実施例を示し、第1図は高所作業車を用
いた塗装作業状態を示す側面図、第2図は制御vlt置
の構成を示すブロック線図、第3図は作動パターンの説
明図である。
4・・・伸縮ブーム、14・・・壁面、26・・・塗装
機、140・・・窓部、141・・・蓋体。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)
との間隔を設定値に保持しながら、ブーム先端を設定さ
れた移動パターンに従って設定された速度で移動させて
塗装作業を行う壁面塗装方法において、壁面に設けられ
た窓等の凹部に壁面と同一面上に取付けられる蓋体を着
脱自在に取付けた状態で塗装作業を行うことを特徴とす
る壁面塗装方法。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.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP4218086A JPS62201675A (en) | 1986-02-27 | 1986-02-27 | Painting method for wall surface |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP4218086A JPS62201675A (en) | 1986-02-27 | 1986-02-27 | Painting method for wall surface |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS62201675A true JPS62201675A (en) | 1987-09-05 |
Family
ID=12628789
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP4218086A Pending JPS62201675A (en) | 1986-02-27 | 1986-02-27 | Painting method for wall surface |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS62201675A (en) |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60212561A (en) * | 1984-04-06 | 1985-10-24 | 愛知車輌株式会社 | Wall surface working apparatus in high place working vehicle |
-
1986
- 1986-02-27 JP JP4218086A patent/JPS62201675A/en active Pending
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60212561A (en) * | 1984-04-06 | 1985-10-24 | 愛知車輌株式会社 | Wall surface working apparatus in high place working vehicle |
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