KR102638320B1 - Building painting robot with corner caster - Google Patents

Abstract

A building painting robot equipped with a corner caster according to the present invention is a device for painting a wall of a building while going up and down on it, and includes a frame part that provides a predetermined internal space and can be lifted up and down along the wall; Corner casters mounted on the frame unit to enable stable elevation and movement of the frame unit along the wall; and a painting unit mounted on the frame unit so as to be movable in the left and right directions within the interior space in order to paint the wall surface, wherein the corner caster includes the wall surface to be painted by the painting unit, and the wall surface. It may be characterized in that it maintains a state of contact with an adjacent wall extending at a predetermined angle to prevent shaking in the left and right directions on the wall of the frame unit.

Description

Building painting robot with corner caster}

The present invention relates to a building painting robot equipped with corner casters, and more specifically, to a building painting robot equipped with corner casters that can prevent deterioration of painting quality by preventing shaking caused by the external environment during the painting process. It's about.

When applying paint to the wall of a building, printing various images such as pictures, letters, symbols, logos, etc. on the wall with paint for the image of the building, or coating the wall of the building with a coating agent, conventionally, it was done on the roof of the building. A workbench is hung on a rope using a gondola, etc. so that it can move up and down, and a worker climbs on this workbench and directly performs coating, imaging, or coating work, or the worker climbs down on a rope fixed to the rooftop to do the above-mentioned work. Similar work has been performed.

However, the above-mentioned work method requires workers to work directly at a high position in the building, so they are always exposed to the risk of falling accidents, and have the disadvantage of increasing the risk of accidents on days when the wind blows rather strongly. .

In addition, since the worker performs the coating or imaging work at a high place, the worker's movement is not free, and this causes the coating or imaging work to be slowed down, resulting in a problem that the work period is prolonged.

In addition to the risk of industrial accidents, due to the nature of work performed manually by workers, labor costs have been unnecessarily increased, which has become a factor in increasing construction costs.

For the above reasons, there is a trend in the development of devices that automatically apply or print various images such as pictures, letters, symbols, and logos to paint the walls of buildings or to create images of buildings.

In the case of coating devices that have been developed in the past, it is possible to automatically apply paint to the walls of a building, but due to limitations in the size of the coating device, in order to apply the entire wall of a building, the process of moving the coating device in the width direction is necessary. This was absolutely necessary.

The process of moving the applicator in the width direction is not a simple process and must be accompanied by the process of moving the wire installation member installed on the rooftop, etc. in the width direction. This slows down the application work, lengthens the work period, and increases construction costs. There is.

In addition, the conventional spraying device often shook left and right due to the external environment, such as wind, during the process of spraying paint on the wall, which caused problems such as lowering paint quality and increasing the possibility of safety accidents. Have.

Therefore, there is an urgent need to develop a coating device that can shorten the construction period and reduce construction costs when applying to the walls of buildings, while also ensuring painting quality and preventing the possibility of safety accidents.

The purpose of the present invention is to ensure that the entire wall of a building is painted with a uniform film thickness just through the lifting process, regardless of the width of the wall of the building, and to prevent deterioration in the quality of the painting by preventing shaking due to the external environment during the painting process. To provide a building painting robot equipped with corner casters that allow

A building painting robot equipped with a corner caster according to the present invention is a device for painting a wall of a building while going up and down on it, and includes a frame part that provides a predetermined internal space and can be lifted up and down along the wall; Corner casters mounted on the frame unit to enable stable elevation and movement of the frame unit along the wall; and a painting unit mounted on the frame unit so as to be movable in the left and right directions within the interior space in order to paint the wall surface, wherein the corner caster includes the wall surface to be painted by the painting unit, and the wall surface. It may be characterized in that it maintains a state of contact with an adjacent wall extending at a predetermined angle to prevent shaking in the left and right directions on the wall of the frame unit.

The corner caster of the building painting robot equipped with a corner caster according to the present invention includes a first contact and rotation part that is in contact with the wall and rotates around an axis perpendicular to the wall as a rotation axis when the frame unit is raised and lowered, and the neighboring It may be characterized by including a second contact rotation part that is in contact with the wall surface and rotates around an axis perpendicular to the wall surface as a rotation axis.

The rotation axis of the first contact rotation part of the building painting robot equipped with a corner caster according to the present invention may be the same axis as the rotation axis of the second contact rotation part.

The first contact and rotation part of the building painting robot equipped with a corner caster according to the present invention may be characterized as having a diameter larger than the diameter of the second contact and rotation part.

The first contact rotation part of the building painting robot equipped with a corner caster according to the present invention is formed in contact with the wall when viewed from the top when the frame part is raised and lowered, and a contact line perpendicular to the rotation axis is formed. The second contact rotation unit may be formed to contact the adjacent wall when viewed from above when the frame unit is raised and lowered, and may be characterized in that a contact line parallel to the rotation axis is formed.

The frame portion of the building painting robot equipped with a corner caster according to the present invention includes a main frame on which the painting unit is movably mounted, and an auxiliary frame on which the corner caster is mounted, and the auxiliary frame includes the corner caster. It may be characterized in that the position can be moved based on the main frame so as to contact the wall surface and the neighboring wall surface.

According to the building painting robot equipped with a corner caster according to the present invention, the entire wall of the building can be painted with a uniform film thickness through a lifting process alone, regardless of the width of the wall surface of the building, thereby shortening the construction period and reducing construction costs.

In addition, it is possible to prevent deterioration in the quality of the paint by preventing shaking caused by the external environment during the painting process.

Figure 1 is a schematic plan view illustrating a situation in which the wall of a building is painted by a building painting robot equipped with a corner caster according to the present invention.
2 to 5 are schematic plan views illustrating a left position fixing frame, a right position fixing frame, a width extension frame, and a controller frame that can be provided to a building painting robot equipped with a corner caster according to the present invention, respectively.
Figures 6 and 7 are a schematic front view and a schematic side view, respectively, for explaining a building painting robot equipped with a corner caster according to the present invention.
Figures 8 and 9 are a schematic plan view and a schematic front view respectively for explaining changes in the state of the left position fixing frame provided in the building painting robot equipped with a corner caster 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, or delete other components within the scope of the same spirit, or create other degenerative inventions or this invention. Other embodiments that are included within the scope of the invention can be easily proposed, but this will also be said to be included within the scope of the invention of the present application.

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

Figure 1 is a schematic plan view to explain a situation in which the wall of a building is painted by a building painting robot equipped with a corner caster according to the present invention.

Referring to FIG. 1, the building painting robot 10 (hereinafter referred to as “building painting robot”) equipped with a corner caster according to the present invention may be a device for painting the wall W1 of a building ST with paint. , It is not necessarily limited to this, and may be used as a device for expressing a specific image including a picture, text, symbol, logo, etc. using ink or paint on the wall W1.

In addition, the building painting robot 10 can be used as a device for spraying a coating agent for coating the wall W1 of a building ST or a device for spraying a cleaning agent such as water to clean the wall W1. It may be possible.

Hereinafter, the case where the building painting robot 10 is used as a device for painting the wall surface W1 of the building ST with paint will be described as an example.

The building painting robot 10 may include a frame unit 1000, a painting unit 2000, and corner casters 3000A and 3000B.

The frame unit 1000 is a component that constitutes the main body of the building painting robot 10, provides a predetermined internal space, and can be raised and lowered along the wall of the building ST.

Here, the lifting and lowering of the frame unit 1000 can be implemented by an endless winder unit 4000 mounted on the frame unit 1000, and the endless winder unit 4000 is a wire installed on the rooftop of a building (ST). Elevation of the frame unit 1000 can be achieved through a process of adjusting the passing position of the wire (WR, see FIG. 7) coming down from the installation member.

The position of the frame unit 1000 in the vertical direction (D1, see FIG. 8) on the wall W1 can be adjusted by the operation of the endless winder unit 4000, etc., and is fixed at a predetermined position. Painting work can be performed by the painting department 2000.

The wire WR coming down from the wire installation member flows into the inlet of the endless winder part 4000 and is discharged from the outlet, and the wire discharged through the outlet is on the wall W1 of the frame part 1000. In order to secure a stable position, it is lowered to the ground and fixed.

The painting unit 2000 is a type of paint spray nozzle for painting the wall surface while the frame unit 1000 is fixed at a predetermined position on the wall surface W1, and is located within the internal space of the frame unit 1000. It may be possible to move in the left and right direction (D2).

The painting unit 2000 can be moved in the left and right direction (D2) along the moving rail (R) installed in the interior space, and at the same time as it moves, the paint is sprayed on the wall (W1) to paint the wall (W1). You can let this proceed.

Meanwhile, the painting unit 2000 is not limited to a nozzle method that sprays the paint directly on the wall W1, and a method of spraying the paint on a coating roller that rotates in contact with the wall surface W1 may be applied. It may be possible.

In other words, the building painting robot 10 according to the present invention may spray the paint directly on the wall W1 to paint the wall W1, and after spraying the paint on the application roller, the painting robot 10 may spray the paint on the wall W1. The wall surface W1 may be painted by rotation.

The frame unit 1000 includes a left position fixing frame 100 and a right position fixing frame to fix the position of the building painting robot 10 on the wall W1 and prevent shaking in the left and right directions D2 ( 200), a width extension frame 300 for extending the width of the building painting robot 10 in the left and right direction (D3), and a controller 5000 for controlling the operation of the building painting robot 10. It may include a provided controller frame 400.

The left position fixing frame 100, the right position fixing frame 200, the width extension frame 300, and the controller frame 400 may each be provided as a single module and may be connected to each other.

After the left position fixing frame 100, the right position fixing frame 200, the width extension frame 300, and the controller frame 400 are connected to each other, a truss structure may be applied to prevent sagging.

The building painting robot 10 according to the present invention includes the left position fixing frame 100 and the right position fixing frame 200 so that the width is greater than the width in the left and right direction (D2) of the wall surface (W1) requiring painting. , It can be implemented by selecting at least some of the width extension frame 300 and the controller frame 400 and then connecting them to each other.

For example, in order to paint the wall W1 of the building ST shown in FIG. 1, a left position fixing frame 100, a right position fixing frame 200, two width extension frames 300, and a controller frame ( 400) can be selected and connected to each other to produce a building painting robot 10 for painting the wall W1 of the building ST, which will be described in detail with reference to FIGS. 2 to 9.

The corner casters (3000A, 3000B) provided in the building painting robot (10) according to the present invention are mounted on the frame portion (1000) to enable stable lifting and lowering movement of the frame portion (1000) along the wall (W1). With wheels, it can be mounted on the left position fixing frame 100 and the right position fixing frame 200.

The left corner caster 3000A mounted on the left position fixing frame 100 and the right corner caster 3000B mounted on the right position fixing frame 200 are the wall surface W1 painted by the painting unit 2000. ), and maintains a state of contact with the wall surface (W1) and the neighboring wall surface (W2) extending at a predetermined angle in the left and right direction (D2) on the wall surface (W1) of the frame portion 1000. Shaking can be prevented, and this will be explained in detail with reference to FIGS. 2 to 9.

2 to 5 are schematic plan views illustrating a left position fixing frame, a right position fixing frame, a width extension frame, and a controller frame that can be provided to a building painting robot equipped with a corner caster according to the present invention, respectively.

Referring to FIG. 2, the left position fixing frame 100 is connected to another frame as shown in FIG. 1, and the building painting robot 10 according to the present invention is manufactured, and the wall surface W1 is painted using this. In this case, a left corner caster (3000A) is provided to prevent shaking of the building painting robot (10) in the left and right direction (D2) and to enable stable lifting and lowering movement of the frame portion (1000) along the wall (W1). Can be installed.

The left corner caster (3000A) is raised or lowered on the wall (W1) by the wire (WR) and the endless winder unit (4000) coming down from the wire installation member or fixed at a predetermined position by the building painting robot (10), It is possible to prevent shaking of the building painting robot 10 in the left and right directions D2.

The left corner caster (3000A) maintains a state in contact with the wall surface (W1) being painted by the painting unit (2000) and the adjacent wall surface (W2) extending at a predetermined angle from the wall surface (W1) to frame the frame. It is possible to prevent the unit 1000 from shaking in the left and right directions D2 on the wall W1.
Here, the neighboring wall surface W2 is a side other than the wall surface W1 that is painted by the painting unit 2000 when the wall surface W1 is painted by the lifting and lowering movement of the frame unit 1000.

For this purpose, the left corner caster (3000A) is a first contact rotary part that is in contact with the wall surface (W1) when the frame unit (1000) is raised and lowered and rotates with an axis perpendicular to the wall surface (W1) as the rotation axis (X). (3010), and a second contact/rotation unit (3020) that is in contact with the adjacent wall surface (W2) and rotates around an axis perpendicular to the wall surface (W1) as the rotation axis (X).

The first contact and rotation part 3010 and the second contact and rotation part 3020 may be formed integrally.

The first contact and rotation part 3010 may have a larger diameter than the diameter of the second contact and rotation part 3020.

When the frame unit 1000 is raised and lowered, the first contact rotation unit 3010 contacts the neighboring wall and forms a contact line L1 perpendicular to the rotation axis X when viewed from above. You can.

In addition, when the frame unit 1000 is raised and lowered, the second contact rotating part 3020 is in contact with the neighboring wall W2 and has a contact line L2 parallel to the rotating axis X. ) can be formed.

Meanwhile, the left position fixing frame 100 may include a main frame 110 on which the painting unit 2000 is movably mounted, and an auxiliary frame 120 on which the left corner caster 3000A is mounted.

Here, the main frame 220 may be provided with a moving rail (R) for moving the painting unit 2000 in the left and right direction (D2).

The auxiliary frame 120 may be able to move its position relative to the main frame 110 so that the left corner caster 3000A is in contact with the wall surface W1 and the neighboring wall surface W2, thereby The state shown in FIG. 2 can be changed to the state shown in FIG. 1.

This will be described in detail with reference to FIGS. 8 and 9.

Referring to FIG. 3, the building painting robot 10 according to the present invention is manufactured in the right position fixing frame 200 by being connected to another frame as shown in FIG. 1, and the wall surface W1 is painted using this. In this case, a right corner caster (3000B) is provided to prevent shaking of the building painting robot (10) in the left and right direction (D2) and to enable stable lifting and lowering movement of the frame portion (1000) along the wall (W1). Can be installed.

The right corner caster (3000B) is raised or lowered on the wall (W1) by the wire (WR) and the endless winder unit (4000) coming down from the wire installation member or fixed at a predetermined position by the building painting robot (10), It is possible to prevent shaking of the building painting robot 10 in the left and right directions D2.

The right corner caster (3000B) maintains a state in contact with the wall surface (W1) being painted by the painting unit (2000) and the neighboring wall surface (W2) extending at a predetermined angle from the wall surface (W1) to frame the frame. It is possible to prevent the unit 1000 from shaking in the left and right directions D2 on the wall W1.

Meanwhile, the structural features of the right position fixing frame 200 and the right corner caster 3000B are the same as those of the left position fixing frame 100 and the left corner caster 3000A, respectively, described with reference to FIG. 2. , detailed explanation will be omitted.

Referring to FIG. 4, the width extension frame 300 is a frame used to extend the width of the building painting robot 10 in the left and right directions (D2), and is a moving rail (for moving the position of the painting unit 2000). R) can be provided.

Referring to FIG. 5, the controller frame 400 is used to extend the width of the building painting robot 10 in the left and right directions (D2), and at the same time, the controller 5000 is used to control the operation of the building painting robot 10. ) may be provided.

The controller 5000 can control the overall operation of the building painting robot 10, including the operations of the endless winder unit 4000 and the painting unit 2000.

Meanwhile, the left position fixing frame 100 and the right position fixing frame 200 have been described as including the main frame 110 and the auxiliary frame 120, but the main frame 110 referred to here is the corner caster. (3000A, 3000B) serves as a reference for moving the auxiliary frame 120 for contact with the wall W1 and the neighboring wall W2, and at the same time moves the paint part 2000 in the left and right directions D2. It should be noted that in that it is provided with a rail (R), it can be defined as a concept including the width extension frame 300 and the controller frame 400.

Figures 6 and 7 are a schematic front view and a schematic side view, respectively, for explaining a building painting robot equipped with a corner caster according to the present invention, and Figures 8 and 9 are respectively a building painting robot equipped with a corner caster according to the present invention. This is a schematic plan view and a schematic front view to explain changes in the state of the left position fixing frame provided in .

Referring to FIGS. 6 and 7 , the building painting robot 10 sets the left position fixing frame 100 so that the width is greater than the width in the left and right direction (D2) of the wall surface (W1) of the building (ST) requiring painting. , At least some of the right position fixing frame 200, the width extension frame 300, and the controller frame 400 can be selected and then connected to each other to be manufactured.

Here, the left position fixing frame 100 and the right position fixing frame 200 can be selected regardless of the width in the left and right directions (D2) of the wall surface (W1) requiring painting, which means that the building painting robot (10) This is to prevent shaking in the left and right directions (D2) when being lifted or lowered on the wall (W1) or fixed in a predetermined position.

In addition, the controller frame 400, like the left position fixing frame 100 and the right position fixing frame 200, can be selected regardless of the width in the left and right directions (D2) of the wall surface (W1) requiring painting. , This is because it is related to the overall control of the operation of the building painting robot 10.

When selecting a frame so that the width is larger than the width in the left and right direction (D2) of the wall (W1) of the building (ST) requiring painting, for example, as shown in the drawing, the left position fixing frame 100, the right side A position fixing frame 200, a two-width extension frame 300, and a controller frame 400 may be selected.

The selected frames can be connected to each other, and the connection method can be implemented by various methods such as connection by bolts and nuts.

When the selected frames are connected to each other, the moving rails (R) provided in each frame can be connected to each other, so that the painting unit 2000 can be smoothly moved between each frame.

Meanwhile, when the selected frames are connected to each other, the endless winder unit 4000 may be mounted at a specific location, and the specific location may be a boundary portion connecting the frames.

In other words, the endless winder unit 4000 is operated after at least some of the left position fixing frame 100, the right position fixing frame 200, the width extension frame 300, and the controller frame 4000 are selected, It is located at the border where they are connected to each other, thereby increasing the fixing force for the connection between frames.

For example, as shown in the drawing, the endless winder unit 4000 is mounted between the left position fixing frame 100 and the width extension frame 300, and the width extension frame is different from the right position fixing frame 200. It can be mounted between (300).

Of course, the endless winder unit 4000 may be located at a boundary between frames other than the above location.

Referring to FIGS. 8 and 9, when the frame is selected based on the width of the wall surface W1 of the building (ST) requiring painting and is connected to each other to complete the production of the building painting robot 10, it is used to install the building (ST). ), a step is taken to ensure that the left corner caster (3000A) and the right corner caster (3000B) are in contact with the wall surface (W1) and the neighboring wall surface (W2) requiring painting.

The step of allowing the left corner caster (3000A) and the right corner caster (3000B) to contact the wall surface (W1) and the neighboring wall surface (W2) requiring painting is to attach the auxiliary frame 120 of the left position fixing frame 100 to the left side. It can be carried out through a process of moving the position on the main frame 110 of the position fixing frame 100, and a process of positioning the auxiliary frame of the right position fixing frame 200 on the main frame of the right position fixing frame 200. The position movement method may include separation and reconnection using bolts and nuts, etc., but is not necessarily limited to this.

That is, a method in which the auxiliary frame 120 is moved by sliding on the main frame 110 can be used.

Through the above process, the building painting robot 10 according to the present invention is prevented from shaking in the left and right directions D2 during the process of painting the wall surface W1 of the building ST, and the building painting robot 10 according to the present invention is prevented from shaking along the wall surface W1. Stable lifting and lowering movement of the building painting robot 10 becomes possible.

Meanwhile, in the above, it has been described that the positional movement of the auxiliary frame 120 on the main frame 110 is carried out after being placed on the wall W1 of the building ST, but it is not necessarily limited to this, and the wall surface ( This may be carried out before placing the building painting robot 10 on the wall W1 based on the width of W1).

As described above, the building painting robot 10 according to the present invention is based on the width of the wall W1 of the building that needs to be painted, at least part of the left position fixed frame, the right position fixed frame, the width extension frame, and the controller frame. By selecting and manufacturing them by connecting them, painting work can be carried out regardless of the width of the wall (W1) of the building (ST) that needs painting.

In addition, the building painting robot 10 according to the present invention allows the entire wall surface (W1) of the building (ST) requiring painting to be painted with a uniform film thickness only through the lifting and lowering process of the frame unit 1000, thereby shortening the construction period and reducing construction costs. You can save money.

In addition, the corner casters (3000A, 3000B) prevent shaking caused by the external environment during the painting process, thereby preventing the quality of the painting from deteriorating.

In the above, the configuration and features 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 may be made within the spirit and scope of the present invention. It is obvious to those skilled in the art, and therefore, it is stated that such changes or modifications fall within the scope of the appended patent claims.

For example, the width of each of the left position fixing frame 100, the right position fixing frame 200, the width extension frame 300, and the controller frame 400 is not limited to the extent shown in the drawings, and the present invention It may be subject to change based on the standards of those skilled in the art.

10: Building painting robot with adjustable width
100: Left position fixed frame
200: Right position fixed frame
300: Width extension frame
400: Controller frame
1000: frame part
2000: Painting Department
3000A: Left corner caster
3000B: Right corner caster
4000: Endless winder part
5000: Controller

Claims (6)

In the building painting robot equipped with corner casters for painting the wall while moving up and down the wall of the building,
A frame portion that provides a predetermined internal space and can be raised and lowered along the wall;
Corner casters mounted on the frame unit to enable stable elevation and movement of the frame unit along the wall; and
In order to paint the wall, it includes a painting unit mounted on the frame so as to be movable in the left and right directions within the interior space,
The corner caster is,
The wall surface painted by the painting unit, and an adjacent wall extending at a predetermined angle with the wall surface - the neighboring wall surface is painted by the painting unit when the wall surface is painted by the lifting and lowering movement of the frame unit. A building painting robot equipped with a corner caster, characterized in that it prevents shaking in the left and right directions on the wall surface of the frame unit by maintaining a state of contact with the wall surface at the same time.
According to paragraph 1,
The corner caster is,
When the frame part is raised and lowered,
A first contact and rotation part that is in contact with the wall surface and rotates about an axis perpendicular to the wall surface as a rotation axis, and a second contact and rotation part that is in contact with the neighboring wall surface and rotates about an axis perpendicular to the wall surface as a rotation axis. A building painting robot equipped with corner casters.
According to paragraph 2,
The rotation axis of the first contact rotating part is,
A building painting robot equipped with a corner caster, characterized in that the axis is the same as the rotation axis of the second contact rotation part.
According to paragraph 2,
The first contact rotating part,
A building painting robot equipped with a corner caster, characterized in that it has a diameter larger than the diameter of the second contact rotation part.
According to paragraph 2,
The first contact rotating part,
When the frame part is raised and lowered,
When viewed from above, a contact line is formed in contact with the wall surface and perpendicular to the rotation axis,
The second contact rotating part,
When the frame part is raised and lowered,
When viewed from above, a building painting robot with corner casters, characterized in that it is formed in contact with the neighboring wall surface and forms a contact line parallel to the rotation axis.
According to paragraph 1,
The frame part,
A main frame on which the painting unit is movably mounted, and
It includes an auxiliary frame on which the corner caster is mounted,
The auxiliary frame is,
A building painting robot equipped with a corner caster, characterized in that the corner caster can move its position relative to the main frame so that the corner caster contacts the wall surface and the neighboring wall surface.

Images