KR102561437B1 - High place painting robot capable of driving - Google Patents

Abstract

A traveling type aerial painting robot according to the present invention is a robot for painting an inner wall surface of a specific facility, and includes a traveling unit capable of moving toward a first wall surface of the specific facility requiring painting; a paint spraying unit for spraying paint; a movement support unit supporting movement of the paint spray unit in the left and right directions; After the driving part is moved to a position for painting the first wall surface, when the 1-1 area of the first wall surface is painted by the movement of the paint spraying part in the left and right direction on the moving support part, an elevating unit mounted on the driving unit to elevate the moving support unit so that the 1-2 area corresponding to the upper or lower direction of the 1-1 area is painted; And mediating the connection between the moving support part and the lifting part, and in a state in which the traveling part is fixed at the position where the first wall surface is to be painted, the first wall surface and the first wall surface and It may be characterized by including; a painting range expansion unit enabling painting of a neighboring second wall surface.

Description

High place painting robot capable of driving

The present invention relates to a traveling-type aerial painting robot, and more particularly, to a traveling-type aerial painting robot capable of automatically painting the inner wall surface of a wastewater treatment facility or the like.

Wastewater generated during plant operation is stored in a wastewater treatment tank providing a predetermined space and then treated. The wastewater treatment tank must be waterproofed to prevent the wastewater from leaking out.

To waterproof the wastewater treatment tank, the inner surface of the tank is subjected to various treatments. For example, a grinding process to expand the application area of the waterproof paint and a painting process of applying the waterproof paint to the inner surface after the grinding process are representative.

Here, in the conventional painting process, scaffolding is installed on the inner wall surface, and workers are painting using the scaffolding as a stepping stone.

In addition, since the scaffolding required for painting cannot be moved once installed, scaffolding must be installed according to the width of the wall in order to paint a large area. There is also a problem that requires a lot of material cost to do it.

In addition, since most of the conventional painting work is performed in an enclosed space, workers have difficulty breathing when working for a long time, so a 30-minute break is required after 30 minutes of work, making it difficult to work for more than 4 hours a day. As a result, the construction period is long and the construction cost is very high.

In addition, the conventional painting work has a large difference in work productivity depending on the skill level of the operator, and it is difficult to secure skilled workers due to the risk factors of the work.

For the above reasons, there is an urgent need to develop a device capable of automating the painting process.

An object of the present invention is to provide a driving type high-altitude painting robot that automatically paints the inner wall surface of a wastewater treatment facility, etc., at the same time guarantees the painting quality of the entire area, prevents safety accidents, and significantly reduces construction time and construction costs. is to do

A traveling type aerial painting robot according to the present invention is a robot for painting an inner wall surface of a specific facility, and includes a traveling unit capable of moving toward a first wall surface of the specific facility requiring painting; a paint spraying unit for spraying paint; a movement support unit supporting movement of the paint spray unit in the left and right directions; After the driving part is moved to a position for painting the first wall surface, when the 1-1 area of the first wall surface is painted by the movement of the paint spraying part in the left and right direction on the moving support part, an elevating unit mounted on the driving unit to elevate the moving support unit so that the 1-2 area corresponding to the upper or lower direction of the 1-1 area is painted; And mediating the connection between the moving support part and the lifting part, and in a state in which the driving part is fixed at the position where the first wall surface is to be painted, the first wall surface and the first wall surface and It may be characterized by including; a painting range expansion unit enabling painting of a neighboring second wall surface.

The second wall surface is a wall surface connected at a predetermined angle with respect to the first wall surface, and the coating range expansion unit of the traveling type aerial painting robot according to the present invention rotatably supports the movable support unit on the elevation unit. that can be characterized.

The coating range expansion unit of the travel-type aerial painting robot according to the present invention extends the range of painting by the paint spraying unit from the first wall surface to the second wall surface in a state in which the driving unit and the elevation unit are fixed in position. It can be characterized by doing.

The elevation part of the travel-type aerial painting robot according to the present invention, after the movement support part is rotated by the painting range expansion part, moves the paint spraying part on the movement support part in the left and right direction, so that the second When the 2-1 area of the wall surface is painted, the movable support unit may be moved up and down so that the 2-2 area corresponding to the upper or lower direction of the 2-1 area is painted.

The coating range expansion unit of the travel-type aerial painting robot according to the present invention rotatably supports the moving support unit in the X-axis, Y-axis, and Z-axis directions on the elevation unit to increase the range of painting by the paint spraying unit. It can be characterized as expanding.

The paint spraying unit of the travel-type aerial painting robot according to the present invention may be rotatable in the X-axis, Y-axis, and Z-axis directions on the moving support unit, thereby extending the range of painting.

The paint spraying unit of the travel-type aerial painting robot according to the present invention may move forward and backward on the moving support unit so that a distance from the first wall surface is adjusted to improve painting quality.

The driving part of the traveling type aerial coating robot according to the present invention includes a main wheel part for movement, and a balance maintaining part mounted to protrude radially from the traveling part to maintain the equilibrium of the traveling part; can be characterized.

The balance maintaining unit of the travel-type aerial painting robot according to the present invention may be characterized in that it has an auxiliary wheel for assisting the movement of the travel unit at an end.

According to the traveling type high-altitude painting robot according to the present invention, it is possible to automatically paint the inner wall surface of a wastewater treatment facility, etc., and at the same time guarantee the painting quality of the entire area.

In addition, safety accidents of workers can be prevented, and construction time and construction costs can be significantly reduced.

1 to 3 are views for explaining a process of painting a first wall surface by a traveling type aerial painting robot according to the present invention.
4 and 6 are views for explaining a process of painting a second wall surface by a traveling type aerial painting robot according to the present invention.

Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings. However, the spirit of the present invention is not limited to the presented embodiments, and those skilled in the art who understand the spirit of the present invention may add, change, delete, etc. other elements within the scope of the same spirit, through other degenerative inventions or the present invention. Other embodiments included within the scope of the inventive idea can be easily proposed, but it will also be said to be included within the scope of the inventive concept.

In addition, components having the same function within the scope of the same idea appearing in the drawings of each embodiment are described using the same reference numerals.

1 to 3 are diagrams for explaining a process of painting a first wall surface by a traveling type aerial painting robot according to the present invention.

4 and 6 are diagrams for explaining a process of painting the second wall surface by the traveling type aerial painting robot according to the present invention.

1 to 6, the driving type aerial painting robot 100 according to the present invention may be a robot for automatically waterproofing the inner wall surface of a specific facility, for example, a wastewater treatment facility. .

Here, the wastewater treatment facility may be a wastewater treatment tank for storing wastewater generated during operation of plant facilities.

However, the driving type painting robot 100 can be used for painting of the wastewater treatment facility as well as all facilities or buildings requiring painting of walls.

The paint sprayed by the traveling type aerial painting robot 100 may be a waterproof paint for waterproof treatment, but is not necessarily limited thereto, and may be ink of various colors.

Also, the traveling type aerial painting robot 100 may refer to a kind of automatic cleaning device capable of automatically cleaning a specific wall surface by spraying a liquid such as water or a cleaning agent on the specific wall surface.

Hereinafter, components included in the traveling type aerial coating robot 100 according to the present invention will be described in detail.

The travel-type aerial painting robot 100 may include a traveling part 110, a paint spraying part 120, a moving support part 130, an elevating part 140, and a painting range expansion part 150.

The driving unit 110 is a type of driving means for moving the traveling type aerial painting robot 100 according to the present invention toward the first wall surface W1 of a specific facility requiring painting, and the main wheel unit for movement ( 112) may be included.

The traveling type aerial painting robot 100 automatically moves the traveling unit 110 by a control unit (not shown) when an operator inputs a painting-related command including a painting order for a plurality of walls of the specific facility. do.

Here, assuming that among the plurality of walls of the specific facility, the walls requiring painting are the first wall surface W1 and the second wall surface W2, and the order of painting proceeds sequentially, the control unit controls the driving unit 110 may be moved to a position where the first wall surface (W1) is applied.

The driving unit 110 may include a sensing unit 114 such as at least one sensor, and the sensing unit 114 may be a sensor for position detection, distance detection, or height detection.

The sensing unit 114 may be located at four vertices of the driving unit 110, and the control unit precisely controls the position of the driving unit 110 based on the detection result of the sensing unit 114. do.

Of course, the mounting position and number of the sensing units 114 may be variously changed in consideration of the painting situation.

The paint spraying unit 120 is a component for spraying paint at high pressure, and may include at least one nozzle.

The paint spraying unit 120 may inject the paint onto the first wall surface W1 at a high pressure by supplying the paint from a paint storage unit (not shown) in which the paint is stored.

Meanwhile, the traveling type aerial painting robot 100 according to the present invention may have a constant temperature and/or constant humidity function added to improve painting performance by the paint sprayed from the at least one nozzle.

The constant temperature function may be implemented by a temperature sensor located around the nozzle and detecting the temperature around the nozzle.

In addition, the anti-humidity function may be implemented by a humidity sensor located around the nozzle and detecting humidity around the nozzle.

When the temperature sensor detects that the temperature around the nozzle is in an abnormal state, the cooling means or the heating means may be operated so that the temperature around the nozzle returns to a normal state. The means may be a known means, for example, a thermoelectric element such as a Peltier element, a heat dissipation element, a fan, and the like.

Further, when it is detected by the humidity sensor that the humidity around the nozzle is in an abnormal state, a dehumidifying unit or a humidifying unit may be operated so that the humidity around the nozzle returns to a normal state, and the dehumidifying unit or As the humidifying means, known means may be applied.

Meanwhile, a series of processes for implementing the constant temperature function and/or the constant humidity function may be automatically implemented in real time by the controller.

The movement support part 130 is a component for supporting the positional movement of the paint spraying part 120 in the left and right direction D1, and may include a rail for positioning the paint spraying part 120. .

The method of moving the position of the paint spraying part 120 on the moving support part 130 in the left and right direction D1 is not limited to the method using the rail, and any known means may be applied.

On the other hand, the control unit can control the positional movement range of the paint spraying unit 120 in the left and right direction D1 in a state where the movement support unit 130 is located at a specific position, thereby driving according to the present invention. The molded aerial painting robot 100 guarantees the painting work with optimum quality according to the size, area or boundary of the area requiring painting.

The travel-type aerial painting robot 100 has a balance maintaining unit 116 mounted so as to protrude radially from the traveling unit 110 so that the traveling unit 110 can be stably moved and the traveling unit 110 can be balanced. can include

The balance maintaining part 116 may have an auxiliary wheel part 118 for assisting the movement of the driving part 110 at the end, and the traveling type aerial painting robot 100 maintains the balance arranged radially. Due to the part 116, stable driving and balance maintenance are possible despite the inclination of the floor surface, so that the quality of painting can be guaranteed.

As shown in FIG. 1 , when the driving part 110 is positioned at a position where the first wall surface W1 is to be painted by the control unit, the paint spraying part 120 moves in the left and right directions on the moving support part 130 by the control unit. While moving to (D1), the paint is sprayed on the first wall surface (W1).

Here, the paint spraying unit 120 may be rotatable in the X-axis, Y-axis, and Z-axis directions on the moving support unit 130, and thereby the boundary between the first wall surface W1 and the second wall surface W2. It is possible to expand the range of painting within the first wall surface (W1), such as enabling painting up to.

In addition, rotation of the paint spraying unit 120 may enable painting of ceiling walls in a specific facility.

The paint spraying unit 120 may move forward and backward on the moving support unit 130 so as to adjust the distance from the first wall surface W1 to improve the quality of painting.

Here, a known method such as a rail may be applied to forward and backward movement of the paint spraying unit 120 on the moving support unit 130 .

The amount of paint sprayed from the paint spraying unit 120 and the spraying pressure may vary depending on circumstances, and in this case, the distance from the first wall surface W1 should be adjusted to secure the quality of painting.

The control unit may adjust forward or backward movement of the paint spraying unit 120 based on the amount and spraying pressure of the paint sprayed from the paint spraying unit 120, and based on the state of the first wall surface W1. The forward or backward movement of the injection unit 120 may be controlled.

The state of the first wall surface W1 may be acquired through pre-stored data or acquired in real time through various sensors.

As shown in FIG. 3 , when the painting of the specific area of the first wall surface W1 is completed by the paint spraying unit 120, the moving support unit 130 can be moved up and down by the lifting unit 140. Due to this, painting of an upper or lower region of the specific region may proceed.

After the moving part 110 is moved to the position where the first wall surface W1 is to be painted, the elevation part 140 moves the paint spraying part 120 on the moving support part 130 in the left-right direction. When the 1-1 area of the first wall surface is painted by moving the position to the , the driving part 110 is painted so that the 1-2 area corresponding to the upper or lower direction of the 1-1 area is painted. ) It may be a component for lifting the moving support part 130.

Here, the 1-1 area may be the area shown in FIG. 1 , and the 1-2 area may include the area shown in FIG. 3 .

As shown in FIG. 3, the elevating unit 140 may include a step-type elevating device capable of sequentially ascending and descending by a chain, a belt, a motor, hydraulic pressure or pneumatic pressure, but is not necessarily limited thereto. It may also include a lift device.

The elevation part 140 can paint all areas of the first wall surface W1 requiring painting by ascending or descending sequentially. It may be changed.

When the painting of the first wall surface W1 is completed by the traveling type aerial painting robot 100 according to the present invention, the painting of the second wall surface W2 adjacent to the first wall surface W1 may proceed. there is.

Referring to FIG. 4 , the movement support unit 130 may change its position relative to the elevation unit 140, which may be implemented by the painting range extension unit 150.

The painting range expansion unit 150 may mediate the connection between the moving support unit 130 and the elevation unit 140, and the traveling unit 110 is the first wall surface shown in FIGS. 1 to 3 ( In a state where W1) is fixed at a position for painting, the second wall surface W2 adjacent to the first wall surface W1 is caused by a change in position of the moving support part 130 based on the elevation part 140. ) may be a component that enables the painting of

The painting range extension part 150 may be a kind of hinge means for rotatably supporting the moving support part 130 on the elevation part 140, and the rotation angle of the moving support part 130 is adjusted by the control unit do.

As shown in FIGS. 3 and 4 , when the second wall surface W2 forms an angle of 90 degrees with respect to the first wall surface W1 , the control unit moves the movable support unit 130 in the state of FIG. 3 . It can be changed to the state of FIG. 4 by rotating it 90 degrees.

In addition, even when the angle of the wall surface is other than 90 degrees, the control unit may rotate the moving support unit 130 based on the elevation unit 140 in correspondence therewith.

The painting range extension unit 150 extends the range of painting by the paint spraying unit 120 from the first wall surface W1 in a state in which the driving unit 110 and the elevation unit 140 are fixed in position. It can be extended to the second wall surface (W2).

However, after the elevation part 140 descends from the state shown in FIG. 3 to the state shown in FIG. 1 , the moving support part 130 may be rotated. Painting of the second wall surface W2 may be performed.

Eventually, after the movement supporter 130 is rotated by the painting range expansion unit 150, the elevation unit 140 moves the paint spraying unit 120 on the movement support unit 130 in the left and right direction D1. ), when the 2-1 area of the second wall surface W2 is painted, the 2-2 area corresponding to the upper or lower direction of the 2-1 area is painted, It is possible to elevate the moving support unit 130 .

On the other hand, the paint range expansion unit 150 rotatably supports the movement support unit 130 in the X-axis, Y-axis, and Z-axis directions on the elevation unit 140, so that the paint spraying unit 120 The scope of painting can be expanded.

The rotation of the movement support part 130 on the elevation part 140 moves along with the rotation of the paint spraying part 120 on the movement support part 130, and the first wall surface W1 or the second wall surface W2 It is possible to expand the range of painting within the facility, and at the same time, it is possible to paint the ceiling and walls within a specific facility.

As described above, in the traveling type aerial painting robot 100 according to the present invention, the driving unit 110 is moved by the control unit to a position where painting is required to paint a specific wall, and then the position of the traveling unit 110 is fixed. In this state, the time required for painting can be shortened as much as possible by painting the walls adjacent to the specific wall surface.

In addition, by automatically painting by the paint spraying unit 120, it is possible to prevent safety accidents of workers by minimizing manual work while guaranteeing the quality of painting.

Although the painting of the first wall surface W1 and the second wall surface W2 has been described above, the same may be applied to other walls adjacent to the first wall surface W1.

In the above, the configuration and characteristics of the present invention have been described based on the embodiments according to the present invention, but the present invention is not limited thereto, and various changes or modifications can be made within the spirit and scope of the present invention. It is apparent to those skilled in the art, and therefore such changes or modifications are intended to fall within the scope of the appended claims.

100: driving type aerial painting robot
110: driving unit
120: paint spraying unit
130: moving support
140: lifting part

Claims (9)

In a traveling type aerial painting robot for painting the inner wall surface of a specific facility,
a traveling unit movable toward a first wall surface of the specific facility requiring painting;
a paint spraying unit for spraying paint;
a movement support unit supporting movement of the paint spray unit in the left and right directions;
After the driving part is moved to a position for painting the first wall surface, when the 1-1 area of the first wall surface is painted by the movement of the paint spraying part on the moving support part in the left and right direction, an elevating unit mounted on the driving unit to elevate the moving support unit so that the 1-2 area corresponding to the upper or lower direction of the 1-1 area is painted; and
It mediates the connection between the movable support part and the elevation part, and in a state where the driving part is fixed at the position where the first wall surface is to be painted, the position change of the movable support part relative to the elevation part causes the first wall surface to be adjacent to the first wall surface. Including; a paint range expansion unit that enables painting of the second wall surface to be painted;
The coating range expansion unit,
A hinge means for rotatably supporting the movable support unit in the X-axis, Y-axis, and Z-axis directions on the elevation unit, and expanding the range of painting by the paint spraying unit by adjusting the rotation angle of the movable support unit. A driving type aerial coating robot that uses
According to claim 1,
The second wall,
A wall surface connected at a predetermined angle with respect to the first wall surface;
The coating range expansion unit,
A travel-type aerial painting robot, characterized in that for rotatably supporting the moving support part on the elevation part.
According to claim 2,
The coating range expansion unit,
The traveling type aerial painting robot, characterized in that, in a state in which the driving part and the elevation part are fixed, the range of painting by the paint spraying part is extended from the first wall surface to the second wall surface.
According to claim 3,
The lift part,
After the movement support unit is rotated by the coating range expansion unit, when the 2-1 area of the second wall surface is painted by the positional movement of the paint spraying unit on the movement support unit in the left and right direction, the second area is painted. A travel-type aerial painting robot characterized in that it moves the moving support part up and down so that the 2-2 area corresponding to the upper or lower direction of the -1 area is coated.
delete According to claim 1,
The paint spraying part,
A traveling type aerial painting robot, characterized in that it is rotatable in the X-axis, Y-axis and Z-axis directions on the moving support part, thereby expanding the range of painting.
According to claim 1,
The paint spraying part,
A traveling type aerial painting robot, characterized in that it can move forward and backward on the moving support unit so that the distance from the first wall surface is adjusted to improve the quality of painting.
According to claim 1,
the driving part,
Includes a main wheel for movement,
The travel-type aerial painting robot further comprising a balance maintaining unit mounted to protrude radially from the traveling portion to maintain equilibrium of the traveling portion.
According to claim 8,
The equilibrium maintenance unit,
A travel-type aerial painting robot characterized in that it has an auxiliary wheel for assisting the movement of the travel unit at the end.