KR100350849B1 - A Robot Device for Painting Advertisement on Wall - Google Patents

Abstract

The present invention provides a robot mechanism for sequentially spraying paint of a specific color according to a set image file, comprising: a crane (10) supporting a rope (14) for lifting and lowering; A frame 20 fixed to a lower end of the rope 14 of the crane 10 to move up and down; A suction fan 30 fixed to the frame 20 and generating a vacuum pressure; An adsorption block (36) fixed to both ends of the frame together with a vacuum pad (38) and having a venturi tube (36a) for forming a vacuum pressure on the vacuum pad (38); A spray head 40 movably mounted to the frame 20 to spray paint through the injector 46; An elevating mechanism (50) installed at an end of the crane (10) to elevate the rope (14) of the crane (10); A pneumatic compressor (60) for sending air to the injection head (40); And a controller 70 for controlling the painting work in a predetermined order by operating the suction fan 30, the injection head 40, the lifting mechanism 50, and the pneumatic pressure regulator 60. .

Accordingly, it is effective in minimizing the input of manpower by automating the process of coloring a pattern such as advertisement on the outer wall of a large building.

Description

A Robot Device for Painting Advertisement on Wall}

The present invention relates to a robotic mechanism, and more particularly, to a robotic mechanism for the painting of the wall advertising that can minimize the input of manpower by automating the process of painting the pattern of the advertisement, etc. on the outer wall of a large building.

In general, advertisements or building names are often painted on the outer walls of large buildings such as malls and apartments, and are usually completed by drawing a large number of workers hanging on the outer walls.

However, when a worker draws a picture of an advertisement in this manner, the worker hangs directly on the building, which raises the issue of safety and makes it difficult to express a precise picture such as an actual picture.

In addition, a large advertising picture such as a department store or a theater may be applied by drawing a picture using a real-time output device, mounting it on a frame, and then attaching it to a wall in addition to the method of drawing by a worker.

However, in the case of a large-scale photorealistic printer, since the picture of the picture to be drawn is scanned by a computer and drawn directly, the picture is excellent in reality but there is a limit in the picture size. Therefore, in the case of a very large picture, several pieces are drawn and assembled to express the entire object.In addition to the cost of drawing, devices for attaching to a building are added, which is not economical. There is an evil that hurts.

Therefore, an object of the present invention is to solve the above-mentioned discontinuity, and to provide a robot mechanism for the painting of the wall advertisement that can minimize the input of manpower by automating the process of coloring the pattern of the advertisement on the outer wall of a large building.

1 is a perspective view showing the mechanism according to the present invention in an installed state,

2 is an enlarged side view of the main portion of the apparatus according to the present invention;

3 is a configuration diagram showing an assembled state of the frame according to the present invention;

4 is an enlarged configuration diagram showing an injection head according to the present invention;

5 is an exemplary view showing a part of the injector applied to FIG. 4, FIG.

6 is a plan view showing a lifting mechanism according to the present invention;

7 is a flowchart illustrating an example of operation in accordance with the present invention.

Explanation of symbols on the main parts of the drawings

10 crane 14 rope

20: frame 30: adsorption fan

32, 42: roller 35: junction box

36: adsorption block 38: vacuum pad

40: injection head 46: injector

50: lifting mechanism 60: pneumatic

62: flexible tube 70: controller

In order to achieve the above object, the present invention provides a robot mechanism for sequentially spraying paint of a specific color according to a set image file: a crane (10) for supporting the rope (14) to be liftable; A frame 20 fixed to a lower end of the rope 14 of the crane 10 to move up and down; A suction fan 30 fixed to the frame 20 and generating a vacuum pressure; An adsorption block (36) fixed to both ends of the frame together with a vacuum pad (38) and having a venturi tube (36a) for forming a vacuum pressure on the vacuum pad (38); A spray head 40 movably mounted to the frame 20 to spray paint through the injector 46; An elevating mechanism (50) installed at an end of the crane (10) to elevate the rope (14) of the crane (10); A pneumatic compressor (60) for sending air to the injection head (40); And a controller 70 for controlling the painting work in a predetermined order by operating the suction fan 30, the injection head 40, the lifting mechanism 50, and the pneumatic pressure regulator 60. .

As another feature of the present invention, the frame 20 has a rack 22 and a guide rod 24 arranged in parallel in the longitudinal direction.

As another feature of the present invention, the suction fan 30 further includes a support roller 32 for maintaining the rear surface of the shroud 30a at a predetermined distance from the wall surface.

As another feature of the present invention, the injection head 40 is connected to the rack 22 via the bracket 41 and the pinion 44 engaged with the guide rod 24 via the guide roller 42. A motor 43 mounted on the bracket 41 in an engaged state and a reservoir 45 mounted on the bracket 41 in communication with the injector 46 are provided.

As another feature of the present invention, the elevating mechanism 50 includes a drum 51 winding the rope 14 and the flexible pipe 62, a reducer 52 engaged with the drum 51, and the reducer. A motor 53 for driving 52 is provided.

As another feature of the present invention, the controller 70 receives a fan driving setting, receives an image file, drives and stops the suction fan 30, and moves and sprays the injection head 40. And lowering and raising the frame 20.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention.

1 is a perspective view showing the instrument according to the present invention in an installed state, and FIG. 2 is an enlarged side view showing the main portion of the instrument according to the present invention.

Related to the robot mechanism for sequentially spraying the paint of a specific color according to the set image file, the crane 10 to support the rope 14 to be lifted, the frame 20 is fixed to the bottom of the rope 14 And up and down movement, the injection head 40 is mounted on the frame 20 to perform the painting work. In addition, the frame 20 is fixed to the suction fan 30 for generating a vacuum pressure. The crane 10 is installed in the required number in consideration of the weight of the rope 14 and the frame 20 acting on the load, the suction fan 30, the injection head 40, and the like, and the rope 14 at the tip thereof. A roller 12 for supporting is provided.

In FIG. 2, the frame 20 has a rack 22 and a guide rod 24 arranged in parallel in the longitudinal direction. The rack 22 may be attached to one side (front side) of the frame 20, but the guide rod 24 may be advantageously attached to both sides (front side and back side) to induce a stable movement.

The adsorption fan 30 of the present invention further includes a support roller 32 for maintaining the rear surface of the shroud 30a at regular intervals. When the suction fan 30 is operated, air is sucked through the shroud 30a and the suction fan 30 is thrust to the wall by the vacuum pressure generated at this time. If the shroud 30a is completely in contact with the wall surface, the negative pressure of the suction fan 30 may increase, so that the operation may be stopped.

In addition, according to the present invention, the adsorption block 36 is fixed to the both ends of the frame together with the vacuum pad 38, and the adsorption block 36 is a venturi tube 36a for forming a vacuum pressure on the vacuum pad 38. ). If the adsorption fan 30 is intended to primarily access the frame 20 to the wall surface, the vacuum pad 38 is used to prevent the frame 20 from being attached to the wall surface to prevent shaking.

3 is a block diagram showing an assembled state of the frame according to the present invention.

According to the necessity of lengthening of the fixture in parallel with the size of the advertisement picture, the main body frame 20 should be of an extensible structure. Frame 20 has a suitable structure that can be assembled in 3m units and can be extended to the required length by using the joint (26). The rack 22 and the guide rod 24 fixed to the frame 20 also extend the same length as the frame 20. However, as shown in the figure, the rack 22 and the guide rod 24 are attached so that they may protrude from one side of the frame 20 and enter from the other side. This serves as a guide for the extending frame 20 to prevent sagging. Joint 26 is secured using two orthogonal surfaces of frame 20.

Of course, when extending the frame 20, the crane 10, the rope 14, the suction fan 30, the lifting mechanism 50 should also increase. On the other hand, it is not necessary to increase the number of injection heads 40 for painting.

Large commercial pictures such as the conventional photo-realistic printing can be drawn at a time up to a certain width, but in order to output more pictures, a part of the picture must be drawn and assembled. Accordingly, it required a double-triple operation such as drawing a partial picture and then fixing it to the building again, but using the same method as the present invention, since only the frame 20 needs to be extended, the work can be performed at once. There is this.

4 is an enlarged view illustrating a spray head according to the present invention, and FIG. 5 is an exemplary view showing a part of the injector applied to FIG. 4.

According to the invention a spray head 40 for spraying paint through the injector 46 is movably mounted to the frame 20. Conventional injection nozzles are controlled by manual or control mechanisms depending on their use. It is common to inject a liquid (paint-coating, coating-coating agent, cooling-water, etc.) suitable for the application to the input of the nozzle, and to spray it by molecularizing it with gas (air). However, the injector 46 is most suitable for the injector 46 of the present invention, because the injection head 40 of the present invention is transported from side to side, and the injector 46 requires a very fast nozzle response speed. It also has the advantages of durability and low cost.

As shown in Figure 5 is assembled by assembling the nozzle mechanism made of brass in the vehicle injector. Spraying is performed at the nozzle by applying paint to the input of the injector 46 and injecting high pressure air over the nozzle. When the solenoid is opened by applying a voltage to the injector 46 as a kind of air brush type, the paint inside is sprayed into the atmosphere outside the nozzle by the pressure difference. The nozzle opening / closing speed (response speed) is the same as the on time and the off time of the injector 46, and has a very quick response in which one injection is made in approximately 3 ms. As a result, the paint dots are accurately formed by the spray head 40 which is transferred at an average speed of 50 cm / s.

At this time, the injection head 40 of the present invention is bracketed in the state engaged with the rack 22 through the bracket 41 and the pinion 44 to be engaged with the guide rod 24 through the guide roller 42. (41) A motor (43) to be mounted and a reservoir (45) mounted to the bracket (41) in communication with the injector (46) are provided. The motor 43 and the reservoir 45 mounted at the front and the rear of the bracket 41 minimize the unbalance of weight to achieve stable support of the frame 20. The guide roller 42 is installed in the required number in consideration of the weight acting on the bracket 41. The motor 43 uses a DC servomotor that exhibits high torque characteristics at low speed, and a pinion 44 engaged with the rack 22 is mounted on the rotation shaft thereof. The storage cylinder 45 has four basic colors (C). , Y, M, K) and white paint to form the basis of the wall coloring exhibition are separately accommodated.

6 is a plan view showing the lifting mechanism according to the present invention.

According to the present invention, the lifting mechanism 50 is installed at the end of the crane 10 to raise and lower the rope 14 of the crane 10. The lifting mechanism 50 includes a drum 51 winding the rope 14 and the flexible pipe 62, a speed reducer 52 engaged with the drum 51, and a motor 53 driving the speed reducer 52. ).

The reducer 52 is connected to the motor 53 at one end and to the drum 51 via a gear at the other side. A rope 14 is wound around the drum 51 so that the rope 14 is wound or unwound in accordance with the forward and reverse rotation of the motor 53. For the reliability of driving and control, the motor 53 uses a DC servomotor with an encoder, and the position signal of the encoder is used as information for controlling the frame 20 to the correct position. The lifting mechanism 50 is installed for each crane 10 to drive each rope 14.

In addition, according to the present invention is provided with a pneumatic compressor (60) for sending air to the injection head (40). The pneumatic compressor 60 is selected in consideration of the capacity of the injector 46 of the injection head 40 and is irrelevant to increasing the number of frames 20. An air pipe for piping of the pneumatic pressure 60 is connected to reach the frame 20 in parallel with the rope 14 of the crane 10 in the center of the plurality of lifting mechanisms (50).

At this time, the flexible tube of the sign 62 receives the air pipe guided to the injection head 40 and the suction fan 30 and the wire guided to the injection head 40, the junction box 35 is mounted on one side of the frame 20 Branch through as many times as necessary. When the frame 20 is extended in plural and the crane 10 is used in plural, the junction box 35 is located at the center of the crane 10 and branches again from the left and right sides. The junction box 35 is provided with a branch valve for air pipes and a branch terminal for electric wires. In particular, the air pipe and the electric wire branching from the junction box 35 to the injection head 40 are arranged in a length that allows the left and right movement of the injection head 40. The flexible tube 62 is capable of stretching in the longitudinal direction so that the tensile force does not work during the vertical movement of the frame 20. In other words, all loads are applied only to the rope 14.

In installation, the crane 10 is first fastened together with the lifting mechanism 50 by an anchor bolt on the roof of the building. As another method of outdoor installation, it is also possible to install a fixed pulley directly on the outer wall instead of the crane 10 and to drive by changing the direction of the rope 14. At this time, the lifting mechanism 50 is also fixed to the bottom of the roof with anchor bolts. Next, the frame 20 is connected to the rope 14, the adsorption fan 30 is fixed to the frame 20 at appropriate intervals, and the injection head 40 is mounted on the frame 20, and then the storage container 45 is provided. The paint is filled in, and the wirings and pipes of the elevating mechanism 50, the pneumatic compressor 60, and the controller 70 are guided to the junction box 35, and the wiring and the place where necessary are returned to the junction box 35 again. Branch connection is completed by connecting the pipe.

At this time, the air pipe guided from the air compressor 60 to the junction box 35 is also connected to the venturi pipe 36a of the adsorption block 36. As the high pressure air is supplied to the venturi tube 36a by the control of the controller 70, the vacuum pressure is formed at the vacuum pad 38 located at the neck portion of the venturi.

On the other hand, the purpose of the painting robot according to the present invention is for outdoor advertising, or depending on the application, it is possible to work indoors. Although not shown, in the indoor installation, the vertical beam is used instead of the crane 10 and the rope 14, and the frame 20 is mounted on the vertical beam so as to be movable up and down.

7 is a flow chart illustrating an example of operation in accordance with the present invention.

According to the present invention, a controller 70 for controlling the painting operation in a predetermined order by operating the suction fan 30, the injection head 40, the lifting mechanism 50, and the pneumatic compressor 60 is used. The controller 70 may use a PC capable of controlling the microcomputer, and its main algorithm receives the driving setting of the suction fan 30, receives an image file, and drives and stops the suction fan 30. To perform the movement and injection of the injection head 40, and to lower and raise the frame 20.

If shaking (vibration) occurs while the injection head 40 is being driven, the quality of the picture will be greatly influenced. Therefore, how to block it at the source is quite important. As a method for solving this problem, the thrust is obtained from the suction fan 30 and the frame 20 is completely attached to the wall using a vacuum pad at the moment when the frame 20 is in close contact with the wall, thereby suppressing vibration. The driving timing of the adsorption fan 30 can be set and stored by the user in advance on the controller 70, so that the operation of the adsorption fan 30 is stopped during the vertical movement of the frame 20.

Next, the image of the desired picture is scanned to convert position information and color information into digital data, and then input and stored in the controller 70. Of course, in order for the information of the image file to be enlarged according to the size of the wall, a process of inputting the size to be drawn in the controller 70 is required. In the drawing path, the initial position of the injection head 40 becomes the upper left of the building, and the transport path continues from top to bottom while proceeding from the left end to the right again from the right end to the left. The controller 70 opens the injector 46 connected to the reservoir 45 using digital data, and sprays the corresponding color when the air of the air compressor 60 is added thereto. The method of expressing a new color by mixing the basic colors applies a conventional technique.

On the other hand, the driving of the suction fan 30 and the suction block 36 is preferably to be treated as a priority interrupt in addition to the set algorithm. That is, if a gust blows in the middle of drawing, the adsorption fan 30 is immediately driven to prevent shaking of the frame 20, and at this time, the frame 20 and the injection head 40 are paused.

According to the above configuration and operation, the present invention has an effect of minimizing the input of manpower by automating the process of coloring the design of the advertisement, etc. on the outer wall of the large building.

In addition, the problem of safety accidents can be solved by omitting the process of hanging on the person.

In addition, regardless of the size of the picture, that is, the size of the advertisement can be produced at the same time while saving the installation cost in installing such pictures.

In addition, since the appliance is attached directly to the building to draw a picture, such an operation alone is expected to have a significant advertising effect.

It is apparent to those skilled in the art that the present invention is not limited to the described embodiments, and that various modifications and variations can be made without departing from the spirit and scope of the present invention. Therefore, such modifications or variations will have to belong to the claims of the present invention.

Claims (7)

In a robot mechanism that sprays paint of a specific color sequentially according to a set image file: A crane 10 supporting the rope 14 in a liftable manner; A frame 20 fixed to a lower end of the rope 14 of the crane 10 to move up and down; A suction fan 30 fixed to the frame 20 and generating a vacuum pressure; An adsorption block (36) fixed to both ends of the frame together with a vacuum pad (38) and having a venturi tube (36a) for forming a vacuum pressure on the vacuum pad (38); A spray head 40 movably mounted to the frame 20 to spray paint through the injector 46; An elevating mechanism (50) installed at an end of the crane (10) to elevate the rope (14) of the crane (10); A pneumatic compressor (60) for sending air to the injection head (40); And Wall controller, characterized in that it comprises a controller 70 for controlling the painting work in a predetermined order by operating the suction fan 30, the injection head 40, the lifting mechanism 50, the pneumatic pressure 60 Robotic mechanism for the painting of advertisements. The method of claim 1, The frame 20 is a robot mechanism for painting the wall advertisement, characterized in that it comprises a rack 22 and the guide rod 24 disposed in parallel in the longitudinal direction. The method of claim 1, The adsorption fan (30) is a robot mechanism for the painting of the wall advertisement further comprises a support roller (32) for maintaining the rear surface of the shroud (30a) at regular intervals. The method of claim 1, The injection head 40 has a bracket 41 engaged with the guide rod 24 via the guide roller 42 and the rack 22 via the pinion 44, and is engaged with the rack 22. A robot mechanism for painting a wall advertisement, comprising a motor (43) to be mounted and a reservoir (45) mounted to the bracket (41) in communication with the injector (46). The method of claim 1, The elevating mechanism 50 includes a drum 51 winding the rope 14 and the flexible pipe 62, a reducer 52 engaged with the drum 51, and a motor driving the reducer 52 ( 53) a robotic mechanism for painting of wall advertisements. The method of claim 5, The flexible tube 62 accommodates an air tube guided to the injection head 40, an adsorption fan 30, and an electric wire guided to the injection head 40, and a junction box 35 mounted on one side of the frame 20. Robot mechanism for the painting of the wall advertising, characterized in that the branching through the required number. The method of claim 1, The controller 70 receives a fan driving setting, receives an image file, drives and stops the suction fan 30, moves and sprays the spray head 40, and Robot mechanism for the painting of the wall advertisement, characterized in that the falling and rising.