KR20100121711A - Structure surface treating robot - Google Patents

Abstract

PURPOSE: A robot for treating the surfaces of facilities, which moves a surface treating tool using a leg structure, a body structure and an arm structure, is provided to reduce dusts and foreign materials from the surface of a facility by using an intake part. CONSTITUTION: A robot for treating the surfaces of facilities comprises a bridge structure(2), a body structure(3), an arm structure(4) and a surface treating tool(5). The bridge structure, the body structure and the arm structure support a surface treating tool.

Description

Structure surface treating robot

The present invention relates to a facility surface treatment robot.

The surface of a facility is always subject to management from the time of its construction to its dismantling. Therefore, the surface of the facility needs periodic maintenance. Current facility maintenance is only cleaning and painting by manpower. Currently, robots are generally used in factories and industrial sites, and are not used to treat facility surfaces such as cleaning and painting of facility surfaces. Therefore, the design of the various treatment of the surface of the facility by the robot is very urgent situation.

In order to devise an automated facility surface treatment robot as described above, the present invention is to solve the design of the facility surface treatment robot consisting of a bridge structure, a body structure, an arm structure and a surface treatment apparatus.

In order to achieve the object as described above, in the present invention, the bridge structure, the body structure, the arm structure and the surface treatment apparatus, the leg structure, the body structure and the arm structure support the surface treatment apparatus, the surface treatment apparatus is sprayed Gun injector, injection hole injector, injection tube injector, vacuum gun inhaler, vacuum hole inhaler, vacuum tube inhaler, brush cleaner, sponge cleaner, fiber cleaner, roller painter, crusher, cutter, grinder, crack repair machine, grouting machine, dispersion prevention machine, A device for treating a surface treatment robot composed of any one or two or more of a tong carrier, a carriage, and a work bench is a solution.

Facility surface treatment robot according to the present invention is composed of a bridge structure, a body structure, an arm structure and a surface treatment apparatus. It is effective to provide an automated movement structure by moving the surface treatment apparatus by the robot movement mechanism instead of the attraction force by the leg structure, the body structure and the arm structure.

And surface treatment equipment is spray gun sprayer, spray hole sprayer, spray pipe sprayer, vacuum gun suction machine, vacuum hole suction machine, vacuum tube suction machine, brush cleaner, sponge cleaner, textile cleaner, roller painting machine, crusher, cutter, grinder, crack repair machine, It is composed of grouting machine, dispersion prevention machine, forceps carrier, carrier, and workbench to provide the effect of surface treatment of various facilities.

Here, by spraying a variety of spraying materials to the surface of the facility by a spray gun sprayer, a spray hole sprayer, a spray pipe sprayer, it is possible to spray a variety of surface treatment materials, such as washing water, paint. The vacuum gun inhaler, the vacuum hole inhaler, and the vacuum tube inhaler can remove and remove dust, foreign matter, and dust attached to the surface of the facility. And the surface of the facility can be cleaned by various forms and methods by a brush cleaner, a sponge cleaner, and a fiber cleaner. And it is possible to paint the surface of the facility by the automatic rotary roller by roller painting machine. In addition, shredders, cutters, and grinders are capable of crushing, cutting, and grinding the material derived from the surface of the facility and irregularities. In addition, it is possible to repair and repair cracks, cavities and grooves on the surface of the facility by crack repair and grouting. And it is possible to prevent the material used in the facility surface treatment operation to be dispersed to the outside by the dispersion preventer. And it is possible to provide material transport and work space necessary for surface treatment of facilities by tong carrier, carrier and work bench.

The present invention relates to a facility surface treatment robot comprising a leg structure, a body structure, an arm structure and a surface treatment apparatus, the leg structure, the body structure and the arm structure support the surface treatment apparatus, the surface treatment apparatus is a spray gun sprayer, Injection hole injector, injection tube injector, vacuum gun inhaler, vacuum hole inhaler, vacuum tube inhaler, brush cleaner, sponge cleaner, fiber cleaner, roller painting machine, crusher, cutter, grinder, crack repair machine, grouting machine, dispersion prevention machine, tongs carrier, Characterized in that composed of any one or more of the carrier, workbench.

The facility surface treatment robot according to the present invention is composed of a bridge structure, a body structure, an arm structure, and a surface treatment device, and is automated by moving the surface treatment device by a robot moving mechanism instead of a manpower by the bridge structure, the body structure, and the arm structure. Provide a structured movement. And surface treatment equipment is spray gun sprayer, spray hole sprayer, spray pipe sprayer, vacuum gun suction machine, vacuum hole suction machine, vacuum tube suction machine, brush cleaner, sponge cleaner, textile cleaner, roller painting machine, crusher, cutter, grinder, crack repair machine, It is composed of grouting machine, dispersion prevention machine, forceps carrier, carrier, and workbench to provide the effect of surface treatment of various facilities. Here, by spraying a variety of spraying materials to the surface of the facility by a spray gun sprayer, a spray hole sprayer, a spray pipe sprayer, it is possible to spray a variety of surface treatment materials, such as washing water, paint. The vacuum gun inhaler, the vacuum hole inhaler, and the vacuum tube inhaler can remove and remove dust, foreign matter, and dust attached to the surface of the facility. And the surface of the facility can be cleaned by various forms and methods by a brush cleaner, a sponge cleaner, and a fiber cleaner. And it is possible to paint the surface of the facility by the automatic rotary roller by roller painting machine. The shredders, cutters, and grinders are capable of crushing, cutting, and grinding the material and uneven material on the surface of the facility. In addition, it is possible to repair and repair cracks, cavities and grooves on the surface of the facility by crack repair and grouting. And it is possible to prevent the material used in the facility surface treatment operation to be dispersed to the outside by the dispersion preventer. And it is possible to provide material transport and work space necessary for surface treatment of facilities by tong carrier, carrier and work bench.

The facility surface treatment robot of the present invention is composed of a leg structure, a body structure, an arm structure and a surface treatment apparatus, wherein the leg structure supports the body structure, the arm structure and the surface treatment apparatus, and the leg is composed of a moving wheel and a connecting rod. . The leg structure is omitted, including the body structure, arm structure and surface treatment apparatus is mounted on the moving mechanism, or the leg structure and body structure is omitted, including the arm structure and surface treatment apparatus is mounted on the moving mechanism, The moving mechanism is any one of a truck, a passenger car, a carriage, a cart, a rear car, a scooter, a van, a cart, a pump car, a forklift, a tong truck, a water truck, a water sprinkler, a crane, a port lane, a tower crane, a payloader, an elevator, a crane. The moving wheel has a function of moving a body structure, an arm structure and a surface treatment device as a wheel to be moved, the connecting rod is a mechanism for connecting the moving wheel and the body structure, the body structure is located between the connecting rod and the arm structure As the skeleton structure to support the arm structure and the surface treatment apparatus. The skeletal structure is a structure in which at least one of the piston and the lattice is coupled, and the length of the skeletal structure itself increases or decreases by any one of the stretching and contracting of the piston, the unfolding and collapsing of the lattice. The arm structure is coupled to the body structure and supports the surface treatment device and the arm structure is a fracture structure consisting of one or more arms and joints, the joint is located between the arm and the arm, the at least one arm is connected to the joint, The joint moves freely 360 degrees.

At least one of the arm structure and the surface treatment apparatus is mounted on the movement line, and the movement line comprises one or more lines, and both ends of the movement line are fixed, and the arm structure or the surface treatment apparatus and the movement line. A moving roller is attached to the meeting portion, and at least one of an arm structure and a surface treatment apparatus moves along the moving line called the moving path, and the moving path is rotated by the moving roller rotating motor and moved along the moving line.

The surface treatment apparatus includes a spray gun sprayer, a spray hole sprayer, a spray tube sprayer, a vacuum gun suction machine, a vacuum hole suction machine, a vacuum tube suction machine, a brush cleaner, a sponge cleaner, a fiber cleaner, a roller painting machine, a crusher, a cutter, a grinding machine, a crack repair machine, Grouting device, dispersion prevention device, tong carrier, carrier, work table, or any one or two or more.

The injection gun injector is composed of an injection gun, an injection supply hose, an injection supply valve, an injection reservoir, and an injection pressure pump, and the injection hole injection nozzle is composed of an injection hole, an injection supply hose, an injection supply valve, an injection reservoir, and an injection pressure pump. The injection pipe injector is composed of an injection pipe, an injection supply hose, an injection supply valve, an injection reservoir and an injection pressure pump, and the injection gun is connected to the injection supply hose and the other end is an injection nozzle having a diameter of 1 cm or less. A hollow tube is formed, the injection hole is one end is connected to the injection supply hose, the other end is a hollow tube is formed with a injection hole hole of size 1 ~ 10cm, the injection tube is connected to the injection supply hose one end is It is a hollow tube that is clogged and has a jet nozzle of 1 cm or less in diameter around the tube. The injection material is injected onto the surface of the facility through the injection nozzle and the injection hole, and the injection supply hose is a hose that supplies the injection material stored in the injection reservoir to the injection gun, the injection hole, and the injection pipe. The injection supply valve is a valve for controlling the supply amount of the injection material supplied to the injection gun, the injection hole, the injection pipe through the injection supply hose in the injection reservoir. The injection pressure pump is a pump for applying pressure to the injection reservoir, the injection reservoir is a cylinder for storing the injection material. The injection gun, the injection hole, the injection pipe, the injection supply hose, the injection supply valve, the injection reservoir and the injection pressure pump are composed of the number of injection materials or the number of injection materials or less, the interior of the reservoir It consists of one compartment or two or more compartments.

The spraying material is water, washing water, acidic water, alkaline water, detergent liquid, air, wind, air bubbles, warm air, hot air, steam, oxygen, ozone, ultraviolet, infrared, far infrared, silver nano, anion, microorganism, supercritical material, adhesive, Joints, corner finishes, disinfectants, disinfectant gases, insecticides, cockroach removers, fragrances, fire extinguishing water, fire extinguishing powder, waterproofing liquids, paints, cement paste, cement milk, cement paste, shotcrete, vegetation seeds, vegetation seeds, plant herbicides, Any of plant phytonutrients, plant growing water, or any two or more of these materials are mixed, and the mixing ratios mixed in the mixed ranges from 1 to 99% by weight of each of the components to be mixed, and the total weight of the components to be mixed. 100%.

The vacuum gun inhaler includes a vacuum gun, a vacuum hose, a vacuum valve, a vacuum device, and a dust collector, and the vacuum hole inhaler includes a vacuum hole, a vacuum hose, a vacuum valve, a vacuum device, and a dust collector. It consists of a vacuum hose, a vacuum valve, a vacuum device and a dust collector, the vacuum gun is one end is connected to the vacuum hose, the other end is a hollow tube formed with a vacuum nozzle of 1cm or less in diameter, the vacuum hole is connected to the vacuum hose The other end is a hollow tube having a vacuum hole of 1 to 10 cm in diameter, the vacuum tube is connected to a vacuum hose, the other end is blocked, and the hollow tube is formed with one or more vacuum nozzles having a diameter of 1 cm or less around the tube. The vacuum pressure is applied through the vacuum nozzle and the vacuum hole, and the vacuum hose is applied to the vacuum gun, the vacuum hole, and the vacuum tube to apply a vacuum pressure, a vacuum hole, a vacuum A hose for transferring dust, dust, and foreign substances sucked from the pipe to the dust collector, wherein the vacuum valve is a valve for adjusting the magnitude of the vacuum pressure applied to the vacuum gun, the vacuum hole, and the vacuum tube through the vacuum hose in the vacuum apparatus. The apparatus is a device for generating a vacuum pressure, the dust collector is to collect the dust, dust, foreign matter transported from the vacuum hose.

The brush cleaner is a cleaner with one or more brushes attached, the sponge cleaner is a cleaner with a sponge attached, the fiber cleaner is a cleaner with fibers of a woven or non-woven fabric, the brush cleaner, sponge cleaner, fabric cleaner The shape is any one of a cylindrical shape, arc shape, annular shape, plate shape, rib shape and shingles shape. The cylindrical shape is a brush, sponge, fibers are formed in a cylindrical shape, the arc shape is a brush, sponge, fibers are formed in an arc shape, the annular shape is a brush, sponge, fibers are formed in a ring shape, the plate shape is Brush, sponge, fiber is formed in the shape of a plate, the shape of the plate is any one of a circle, a polygon, the polygon is a polygon of a triangle or more, the bar is a bar having a certain length of the brush, sponge, fiber The chamfer is a brush, sponge, or fiber attached to the tip of a rod having a predetermined length. The cylindrical shape is a brush cleaner, sponge cleaner, fiber cleaner itself is made of a cylindrical shape to form a cylindrical shape, or brush cleaner, sponge cleaner, fiber cleaner itself is not manufactured in a cylindrical shape, but to form a cylindrical shape while rotating . The cylindrical rotary motor is attached to the cylindrical, the plate-shaped rotary motor is attached to the plate, the cylindrical rotary motor is to rotate the cylindrical brush cleaner, sponge cleaner, textile cleaner about the central axis in the longitudinal direction of the cylinder, The plate rotation motor rotates about a central axis orthogonal to the plate-type brush cleaner, sponge cleaner, and fiber cleaner. The brush cleaner, the sponge cleaner, and the fiber cleaner clean the surface of the facility by itself according to the movement of the arm structure, or water, washing water, or acid water sprayed from any one or more of a spray gun sprayer, a spray hole sprayer, and a spray pipe sprayer. Clean the surface of the facility with one or more of alkaline water or detergent.

The roller painting machine is composed of a roller and a rotary rotary motor, the roller is to paint the surface of the facility as it is rotated by the paint itself sprayed from any one or more of an injection gun sprayer, an injection hole sprayer, an injection pipe sprayer, The roller rotation motor rotates the roller about the central axis in the longitudinal direction of the roller.

The shredder is a breca which can break concrete, rocks, and protrusions. The cutter is a scissors or a kata that can cut wires, strings and strings, and the grinder is a sandpaper or grinder that can smoothly polish the surface of the facility. A grinder rotating motor is attached to the grinder, and the grinder rotating motor rotates about an axis perpendicular to the grinder.

The crack repair machine is capable of injecting the crack repair liquid into the cracks on the surface of the facility, and is composed of a syringe, an injection supply hose, an injection supply valve, an injection reservoir, and an injection pressure pump. One end is a hollow tube having a injection nozzle having a diameter of 1 cm or less, and the injection supply hose is a hose for supplying the crack repair liquid stored in the injection reservoir to the syringe, and the injection supply valve is supplied to the syringe through the injection supply hose in the injection reservoir. A valve for controlling the supply amount of the crack repair liquid, the crack repair liquid is injected through the injection nozzle, the injection reservoir is a cylinder for storing the crack repair liquid, the injection pressure pump is a pump for applying pressure to the injection reservoir.

The grouting machine is capable of injecting grouting liquid into the cavity or groove of the surface of the facility, and is composed of an injector, an injection supply hose, an injection supply valve, an injection reservoir, and an injection pressure pump, and one end of the injector is connected to an injection supply hose and One end is a hollow tube in which an injection hole having a diameter of 1 to 10 cm is formed. The injection supply hose is a hose for supplying the grouting liquid stored in the injection reservoir to the injector, the injection supply valve is a valve for adjusting the supply amount of the grouting liquid supplied to the injector through the injection supply hose in the injection reservoir, the injection hole The grouting liquid is injected through the injection reservoir is a cylinder for storing the grouting liquid, and the injection pressure pump is a pump for applying pressure to the injection reservoir.

The hollow tube is a hollow tube, and the hollow tube is an injection gun, an injection hole, an injection tube, a vacuum gun, a vacuum hole, a vacuum tube, a syringe, an injection gun, an injection hole, a vacuum gun, a vacuum hole, a syringe is a length. Is 1 m or less, and the injection tube, vacuum tube, and injector are 1 m or more in length.

The dispersion preventer is a cover for reducing the dispersion or outflow of any one or more of the spray material, vacuum pressure, crack repair liquid, grouting liquid to the outside of the facility surface, the dispersion preventer is a spray gun, spray hole, spray pipe, vacuum gun It encloses any one or more of a vacuum hole, a vacuum tube, a brush, a sponge, a fiber, a roller, a syringe, and an injector.

The tong carrier is a tong or a ring for picking up the object or object to be transported, the pallet is a cage for loading the object or object to be transported, the workbench provides a space for working on the surface of the facility It is a cage, and the cage has a six-sided three-dimensional structure so that the upper part is open and the lower part and four sides are closed.

The distal end of the arm structure, injection gun, injection hole, injection tube, vacuum gun, vacuum hole, vacuum tube, brush, sponge, fiber, Laura, Breca, scissors, kata, sandpaper, grinder, syringe, injector, dispersion preventer, forceps, At least one of a hook, a carriage, and a work bench is attached. Injection gun, injection hole, injection tube, vacuum gun, vacuum hole, vacuum tube, brush, sponge, fiber, Laura, Breca, scissors, kata, sandpaper, grinder, syringe, injector, dispersion preventer, tongs at the tip of the arm structure, The attachment of any one or more of a ring, a carriage, and a work platform includes attaching one stage or multiple stages of one or more stages over one side of one surface of the facility surface or multiple surfaces of two or more surfaces of the facility surface, and Attached to one end is a single gun, injection hole, injection tube, vacuum gun, vacuum hole, vacuum tube, brush, sponge, fiber, Laura, Breca, scissors, cata, sandpaper, grinder, syringe, injector, dispersion The at least one of the preventer, the tongs, the hook, the carriage, the work bench is attached, and the plurality of stages are attached to two or more stages of the injection gun, the injection hole, the injection tube, the vacuum gun, the vacuum hole, the vacuum tube, the brush, Sponge, Laura, Breca, scissors, kata, sandpaper, grinders, syringes, injectors, dispersion preventers, tongs, hooks, carriers, workbench, characterized in that any one or more of the attachment.

The facilities include buildings, buildings, bridges, overpasses, railings, stairs, walls, soundproof walls, soundproof walls, barrier walls, temporary walls, fence walls, tunnels, underpasses, basements, underground parking lots, culverts, underground boxes, signs, billboards, billboards, Guardrail, median, fence, street light, chimney, road, road surface, sidewalk, sidewalk, walkway, ground, surface, slope, characterized in that any one of the surface.

Referring to the configuration of the present invention as described above in detail as follows.

1 is a schematic diagram showing a surface treatment robot facility containing a dispersion prevention device according to the present invention. Facility surface treatment robot according to the present invention is composed of a bridge structure, body structure, arm structure and surface treatment apparatus. The leg structure supports the trunk structure, the arm structure and the surface treatment device, and the leg is composed of the moving wheel and the connecting rod, and the moving wheel is a moving wheel and has the function of moving the body structure, the arm structure and the surface treatment device. Is a mechanism that connects the wheel to the body structure. The trunk structure is a skeletal structure positioned between the connecting rod and the arm structure to support the arm structure and the surface treatment apparatus. The arm structure is coupled to the torso structure and supports the surface treatment device, and the arm structure is a fracture structure consisting of one or more arms and joints, where the joint is located between the arms and the arms, one or more arms are connected to the joint, and the joint is 360 Move freely.

Figure 2 is a schematic diagram showing a surface treatment robot facility excluded dispersion dispersion according to the present invention. Dispersion preventing device is a cover for reducing the dispersion or outflow of any one or more of the spray material, vacuum pressure, crack repair liquid, grouting liquid to the outside of the facility surface. In this figure, the distal end of the arm structure constituting the surface treatment robot of the facility is spray gun, injection hole, injection tube, vacuum gun, vacuum hole, vacuum tube, brush, sponge, fiber, Laura, Breca, scissors, kata, sandpaper, grinder, It shows that one or more of a syringe, injector, disperser, tongs, hooks, carriage, and workbench are attached.

Figure 3 is a schematic diagram showing the treatment of the surface of the facility of the building using the bridge structure, body structure, arm structure, surface treatment apparatus according to the present invention.

Figure 4 is a schematic diagram showing that the length of the body structure itself is reduced by treating the surface of the facility of the building using the bridge structure, body structure, arm structure, surface treatment apparatus according to the present invention. The skeletal structure constituting the trunk structure is a structure in which at least one of the piston and the lattice is combined, and the length of the skeletal structure itself is increased or shortened by any one of the stretching and contracting of the piston, the lattice unfolding and collapsing. do.

5 is a schematic diagram showing a structure in which the skeletal structure of the trunk structure according to the present invention is coupled to the lattice. The lattice is stretched or collapsed to increase or decrease the length of the framework itself.

Figure 6 is a schematic diagram showing a structure in which the skeleton structure of the trunk structure according to the present invention is coupled to the piston. The piston is extended or shortened by the lengthening and shrinking of the piston itself.

Figure 7 is a schematic diagram showing a structure in which the skeleton structure of the trunk structure according to the present invention is coupled to the piston and the lattice. Skeletal structure is the length of the skeleton structure itself is increased or shortened by the behavior of the piston and the lattice.

8 is a schematic view showing a surface treatment apparatus according to the present invention. Surface treatment equipment is spray gun injector, spray hole injector, spray tube injector, vacuum gun inhaler, vacuum hole inhaler, vacuum tube inhaler, brush cleaner, sponge cleaner, textile cleaner, roller painting machine, crusher, cutter, grinder, crack repair machine, grouting Composed of any one or more of the group, the dispersion preventer, tong carrier, carrier, workbench.

9 is a schematic diagram showing a dispersion preventing device according to the present invention. Dispersion preventing device is a cover for reducing the dispersion or outflow of any one or more of the spray material, vacuum pressure, crack repair liquid, grouting liquid to the outside of the facility surface.

10 is a schematic view showing a surface treatment apparatus including a dispersion preventing device according to the present invention. The dispersion preventer encloses any one or more of an injection gun, an injection hole, an injection tube, a vacuum gun, a vacuum hole, a vacuum tube, a brush, a sponge, a fiber, a roller, a syringe, and an injector. A tong carrier is a tong or hook for picking up an object or object to be carried, a carrier is a cage for loading an object or object on a carrier, and a workbench is a cage for providing space for working on a surface of a facility. to be. The cage has a six-sided three-dimensional structure, with the top open and the bottom and four sides closed.

11 is a schematic diagram showing that the surface treatment apparatus according to the present invention is mounted on a moving mechanism. The facility surface treatment robot according to the present invention includes a body structure, an arm structure, and a surface treatment apparatus mounted on a moving mechanism by omitting a leg structure, or an arm structure and a surface treatment apparatus by moving a leg structure and a body structure. It includes being mounted to a mechanism. The moving device is any one of a truck, a passenger car, a carriage, a cart, a rear car, a scooter, a van, a cart, a pump car, a forklift truck, a truck, a water truck, a water sprinkler, a crane, a port lane, a tower crane, a payloader, an elevator, a crane.

12 is a schematic view showing a spray gun sprayer and a spray hole sprayer according to the present invention. The injection gun injector is composed of the injection gun, the injection supply hose, the injection supply valve, the injection reservoir and the injection pressure pump, and the injection hole injection nozzle is composed of the injection hole, the injection supply hose, the injection supply valve, the injection reservoir and the injection pressure pump. The injection gun is a hollow tube, one end of which is connected to the injection supply hose, the other end of which is formed with an injection nozzle with a diameter of 1 cm or less, the injection hole is connected to the injection supply hose, and the other end is an injection hole of a diameter of 1 to 10 cm. It is a hollow tube formed. The spraying material is sprayed onto the surface of the facility through the spray nozzle and the spray hole. The spraying supply hose is a hose that supplies the spraying material stored in the spray reservoir to the spray gun, the spray hole, and the spray pipe. It is a valve that controls the amount of injection material supplied to the injection gun, the injection hole, and the injection pipe through the supply hose, the injection pressure pump is a pump for applying pressure to the injection reservoir. The injection gun, the injection hole, the injection pipe, the injection supply hose, the injection supply valve, the injection reservoir and the injection pressure pump are composed of the number of injection materials or the number of injection materials or less.

Figure 13 is a schematic diagram showing that the inside of the storage container according to the present invention is composed of two or more compartments. The injection reservoir is a cylinder for storing the sprayed material, and the interior of the reservoir consists of one compartment or two or more compartments. Spraying materials include water, washing water, acidic water, alkaline water, detergent, air, wind, air bubbles, warm air, hot air, steam, oxygen, ozone, ultraviolet light, infrared rays, far infrared rays, silver nano, anions, microorganisms, supercritical materials, adhesives, joints Cornering agent, disinfectant, disinfectant gas, insecticide, cockroach remover, air freshener, fire extinguishing water, fire extinguishing powder, waterproofing liquid, paint, cement paste, cement milk, cement paste, shotcrete, vegetation seed, vegetation seed, plant herbicide, plant A nutrient, a plant growing material, or any two or more materials are mixed. The mixing ratio mixed in the mixed here is in the range of 1 to 99% by weight of each component to be mixed, and 100% by weight of the entire component to be mixed.

14 is a schematic view showing a spray pipe injector according to the present invention. The injection pipe injector is composed of injection pipe, injection supply hose, injection supply valve, injection reservoir and injection pressure pump. The injection tube is a hollow tube, one end of which is connected to the injection supply hose, the other end of which is blocked, and an injection nozzle having a diameter of 1 cm or less is formed around the tube.

15 is a schematic diagram showing a vacuum gun injector and a vacuum hole injector according to the present invention. The vacuum gun inhaler is composed of a vacuum gun, a vacuum hose, a vacuum valve, a vacuum device and a dust collector, and the vacuum hole inhaler is composed of a vacuum hole, a vacuum hose, a vacuum valve, a vacuum device, and a dust collector. The vacuum gun is a hollow tube, one end of which is connected to a vacuum hose and the other end of which is formed with a vacuum nozzle having a diameter of 1 cm or less, and the vacuum hole of which is connected to a vacuum hose, and the other end of which is formed of a vacuum hole hole having a diameter of 1 to 10 cm. It is a tube. The vacuum pressure is applied through the vacuum nozzle and the vacuum hole hole, and the vacuum hose applies the vacuum pressure to the vacuum gun, the vacuum hole, and the vacuum tube to transfer the dust, dust, and foreign substances sucked from the vacuum gun, the vacuum hole, and the vacuum tube to the dust collector. The vacuum valve is a valve for controlling the magnitude of the vacuum pressure applied to the vacuum gun, the vacuum hole, and the vacuum tube through the vacuum hose in the vacuum device, the vacuum device is a device for generating a vacuum pressure, the dust collector is transferred from the vacuum hose Dust, dust, and foreign matter are collected.

16 is a schematic view showing a vacuum tube injector according to the present invention. The vacuum tube inhaler is composed of vacuum tube, vacuum hose, vacuum valve, vacuum device and dust collector. The vacuum tube is a hollow tube having one end connected to a vacuum hose, the other end being blocked, and one or more vacuum nozzles having a diameter of 1 cm or less formed around the tube.

It is a schematic diagram which shows the brush cleaner by this invention. Brush cleaners are cleaners with one or more brushes attached. The configuration of the brush cleaner, sponge cleaner, and fiber cleaner is any one of a cylindrical shape, an arc shape, a ring shape, a plate shape, a wedge shape, and a total shape. Cylindrical means that the brush, sponge, fiber is formed in the shape of a cylinder, arc shape is the brush, sponge, the fiber is formed in an arc shape, annular shape is brush, sponge, fiber is formed in the ring shape, plate shape is brush, sponge, The fibers are formed in a plate shape. The shape of the plate is either circular or polygonal, and polygons are polygons of triangles or more. The bar-shaped part is a brush, sponge, and fiber attached along the length of the bar with a certain length, and the coarse shape is a brush, sponge, and fiber attached to the tip of the bar having a certain length. Cylindrical rotary motor is attached to the cylinder, plate rotary motor is attached to the plate shape, and cylindrical rotary motor is to rotate the cylindrical brush cleaner, sponge cleaner, and fiber cleaner about the central axis in the longitudinal direction of the cylinder. Is a plate-type brush cleaner, sponge cleaner, and fiber cleaner which are rotated about an axis while being orthogonal to the plate.

It is a schematic diagram which shows the sponge cleaner which concerns on this invention. The sponge cleaner is a cleaner with a sponge attached. Cylindrical brush cleaners, sponge cleaners, and fiber cleaners are cylindrical in shape, and brush cleaners, sponge cleaners, and fiber cleaners themselves are made in a cylindrical shape, or brush cleaners, sponge cleaners, and textile cleaners are made in a cylindrical shape. It does not, but rotates to form a cylinder.

It is a schematic diagram which shows the fiber cleaner which concerns on this invention. Textile cleaners are vacuum cleaners with woven or nonwoven fibers attached thereto. Brush cleaners, sponge cleaners and textile cleaners clean the surface of the facilities by themselves according to the movement of the arm structure, or water sprayed from any one or more of a spray gun sprayer, a spray hole sprayer and a spray pipe sprayer, washing water, acidic water, Clean the surface of the facility with one or more of alkaline water and detergent solution.

20 is a schematic diagram showing a roller painting machine, a crusher, a cutter, and a polishing machine according to the present invention. The roller painting machine is composed of a roller and a rotary motor. Laura paints the surface of the facility as he is rotated by applying paint sprayed from one or more of a spray gun sprayer, a spray hole sprayer, and a spray pipe sprayer. To rotate. A crusher is a breca that can break concrete, rocks, and protrusions. A cutter is a scissors or a kata that can cut wires, strings, and strings. The grinder is a sandpaper or grinder capable of smoothly polishing the surface of a facility, and a grinder rotating motor is attached to the grinder, and the grinder rotating motor rotates about an axis perpendicular to the grinder.

21 is a schematic diagram showing a crack repair machine and a grouting machine according to the present invention. The crack repair machine is capable of injecting the crack repair liquid into the cracks on the surface of the facility. It is composed of a syringe, an injection supply hose, an injection supply valve, an injection reservoir, and an injection pressure pump. The syringe is a hollow tube with one end connected to the injection supply hose and the other end with a injection nozzle having a diameter of 1 cm or less. The injection supply hose is a hose for supplying the crack repair liquid stored in the injection reservoir to the syringe. It is a valve that controls the supply amount of crack repair liquid supplied to the syringe through the injection supply hose, the crack repair liquid is injected through the injection nozzle, the injection reservoir is a container for storing the crack repair liquid, and the injection pressure pump pressurizes the injection reservoir It is a pump. The grouting machine is capable of injecting grouting liquid into the cavity or groove of the surface of the facility, and is composed of an injector, an injection supply hose, an injection supply valve, an injection reservoir, and an injection pressure pump. The injector is a hollow tube, one end of which is connected to the injection supply hose and the other end of which is formed with an injection hole having a diameter of 1 to 10 cm, the hollow tube being a hollow tube, and the injection supply hose is supplied with the grouting liquid stored in the injection reservoir. It is a hose to supply, the injection supply valve is a valve for adjusting the supply amount of the grouting liquid supplied to the injector through the injection supply hose in the injection reservoir, the grouting liquid is injected through the injection hole, the injection reservoir is a barrel for storing the grouting liquid The injection pressure pump is a pump for applying pressure to the injection reservoir. In the present invention, the injection gun, the injection hole, the injection tube, the vacuum gun, the vacuum hole, the vacuum tube, the syringe, which is a hollow tube, the injection gun, the injection hole, the vacuum gun, the vacuum hole, the syringe is 1 m or less in length, the injection tube, the vacuum tube , Injector is characterized in that the length is more than 1m.

22 is a schematic diagram showing an arm structure, a surface treatment apparatus, and a moving roller according to the present invention.

Fig. 23 is a schematic diagram showing that at least one of an arm structure and a surface treatment apparatus according to the present invention is mounted on a moving line. In the present invention, any one or more of the arm structure, the surface treatment apparatus includes being moved to the moving line. The moving line is composed of one or more lines, and both ends of the moving line are fixed. The moving roller is attached to the portion where the arm structure or the surface treatment device meets the moving line, and the moving path is moved by one or more of the arm structure or the surface treatment device along the moving line, and the moving path is rotated by the moving roller rotating motor. It is moved along the moving line.

24 is a schematic diagram showing that at least one of the arm structure and the surface treatment apparatus according to the present invention is mounted on the moving line and moved along the soundproof wall surface.

25 is a schematic diagram showing that at least one of the arm structure and the surface treatment apparatus according to the present invention is mounted on the moving line and moved along the tunnel surface.

It is a schematic diagram which shows that the surface treatment apparatus by this invention processes the surface of a facility over one surface of the surface of the facility surface of a soundproof wall. In the present invention, the injection gun, injection hole, injection tube, vacuum gun, vacuum hole, vacuum tube, brush, sponge, fiber, Laura, Breca, scissors, kata, sandpaper, grinder, syringe, injector, dispersion preventer, forceps, hook, transport In addition, when any one or more of the worktables are attached to the front end of the arm structure, it includes attaching one stage or two or more stages over one surface of one surface of the facility surface or multiple surfaces of two or more surfaces of the facility surface. .

It is a schematic diagram which shows that the surface treatment apparatus by this invention processes a surface of a facility over one surface of one surface of the facility surface of a slope.

28 is a schematic diagram showing that the surface treatment apparatus according to the present invention treats the surface of a facility over two surfaces of the facility surface inside and outside the guardrail.

29 is a schematic diagram showing that the surface treatment apparatus according to the present invention treats the surface of a facility over two or more surfaces of the surface of a facility in a building.

30 is a schematic diagram showing that the surface treatment apparatus according to the present invention treats the surface of a facility over two or more surfaces of the facility surface on the bottom, left, and right sides of the bridge.

31 is a schematic diagram showing that the surface treatment apparatus according to the present invention treats the surface of a facility over two or more surfaces of the facility surface of the guardrail, the sidewalk and the road surface.

32 is a schematic diagram showing that the street lamp is cleaned by the ring-shaped brush cleaner, sponge cleaner, and fiber cleaner according to the present invention. The annulus has an empty space in the center, which is very effective for cleaning long facilities such as street lamps.

33 is a schematic diagram showing that the surface treatment apparatus according to the present invention treats the inner surface of a facility. Surface treatment apparatus according to the present invention can be applied to the inner surface as well as the outer surface of the facility.

Fig. 34 is a schematic diagram showing that the surface treatment apparatus is attached to one end of one end of the arm structure according to the present invention. Attached to one end is a single gun, injection hole, injection tube, vacuum gun, vacuum hole, vacuum tube, brush, sponge, fiber, Laura, Breca, scissors, cata, sandpaper, grinder, syringe, injector, dispersion At least one of the protector, the forceps, the hook, the carriage, and the workbench is attached.

35 is a schematic view showing that the surface treatment apparatus is attached to the two ends of the two stages to the front end of the arm structure according to the present invention.

36 is a schematic diagram showing that the surface treatment apparatus is attached to the front end of the arm structure according to the present invention in two or more stages. Attached in multiple stages are spray guns, spray holes, spray tubes, vacuum guns, vacuum holes, vacuum tubes, brushes, sponges, fibers, Laura, Breca, scissors, cata, sandpaper, grinders, syringes, injectors, Dispersion preventers, tongs, hooks, carriages, workbench is attached to one or more of the.

37 is a schematic diagram showing a structure in which the dispersion preventer according to the present invention surrounds any one or more of a vacuum gun, a vacuum hole, and a vacuum tube. The dispersion preventer encloses any one or more of a spray gun, an injection hole, an injector, a vacuum gun, a vacuum hole, a vacuum tube, a brush, a sponge, a fiber, a roller, a syringe, an injector, and the dispersion preventer includes a vacuum gun, a vacuum hole, Forming a structure enclosing at least one of the vacuum tubes, or the disperser forming a structure enclosing at least one of the brush, sponge, or fiber, or the dispersing agent comprises at least one of a vacuum gun, a vacuum hole, a vacuum tube and a brush, A structure surrounding any one or more of a sponge and a fiber is formed.

38 is a schematic view showing a structure in which the dispersion preventer according to the present invention surrounds any one or more of a brush, a sponge, and a fiber.

FIG. 39 is a schematic diagram showing a structure in which the dispersion prevention device according to the present invention surrounds any one or more of a vacuum gun, a vacuum hole, and a vacuum tube, and any one or more of a brush, a sponge, and a fiber.

1 is a schematic view showing a surface treatment robot facility containing dispersion prevention device according to the present invention

Figure 2 is a schematic diagram showing a surface treatment robot facility excluded dispersion dispersion according to the present invention

Figure 3 is a schematic diagram showing the treatment of the facility surface of the building using the bridge structure, the body structure, the arm structure, the surface treatment apparatus according to the present invention.

4 is a schematic diagram showing that the length of the body structure itself is reduced by treating the surface of the facility of the building using the bridge structure, body structure, arm structure, surface treatment apparatus according to the present invention.

Figure 5 is a schematic diagram showing a structure in which the skeletal structure of the trunk structure according to the present invention coupled to the lattice

Figure 6 is a schematic diagram showing a structure in which the skeleton structure of the trunk structure according to the present invention coupled to the piston

Figure 7 is a schematic diagram showing a structure in which the skeleton structure of the trunk structure according to the present invention coupled to the piston and lattice

8 is a schematic view showing a surface treatment apparatus according to the present invention.

9 is a schematic view showing a dispersion preventing device according to the present invention

10 is a schematic view showing a surface treatment apparatus including a dispersion preventer according to the present invention.

11 is a schematic view showing that the surface treatment apparatus according to the present invention is mounted on a moving mechanism.

12 is a schematic view showing a spray gun sprayer and a spray hole sprayer according to the present invention.

Figure 13 is a schematic diagram showing that the inside of the reservoir according to the present invention is composed of two or more of a plurality of compartments.

14 is a schematic view showing a spray pipe injector according to the present invention

15 is a schematic diagram showing a vacuum gun injector and a vacuum hole injector according to the present invention.

16 is a schematic view showing a vacuum tube injector according to the present invention

17 is a schematic view showing a brush cleaner according to the present invention.

18 is a schematic view showing a sponge cleaner according to the present invention

19 is a schematic view showing a fiber cleaner according to the present invention.

20 is a schematic diagram showing a roller painting machine, a crusher, a cutter, and a polishing machine according to the present invention.

Figure 21 is a schematic diagram showing a crack repair machine and grouting machine according to the present invention

22 is a schematic view showing an arm structure, a surface treatment apparatus, a mobile roller according to the present invention.

Figure 23 is a schematic diagram showing that any one or more of the arm structure, the surface treatment apparatus according to the present invention is mounted on the moving line

Figure 24 is a schematic diagram showing that any one or more of the arm structure, the surface treatment apparatus according to the present invention is mounted on the moving line to move along the soundproof wall surface

25 is a schematic diagram showing that any one or more of the arm structure, the surface treatment apparatus according to the present invention is mounted on a moving line and moved along the tunnel surface.

Fig. 26 is a schematic diagram showing that the surface treatment apparatus according to the present invention treats the surface of a facility over one side of one surface of the facility surface of the soundproof wall.

Fig. 27 is a schematic diagram showing that the surface treatment apparatus according to the present invention treats a surface of a facility over one surface of one surface of a facility on a slope.

28 is a schematic diagram showing that the surface treatment apparatus according to the present invention treats the surface of the facility over two surfaces of the facility inside and outside the guard rail.

29 is a schematic diagram showing that the surface treatment apparatus according to the present invention treats the surface of a facility over multiple surfaces of two or more surfaces of the facility surface of a building.

30 is a schematic diagram showing that the surface treatment apparatus according to the present invention treats the surface of a facility over two or more surfaces of the surface of the facility on the bottom, left, and right sides of the bridge.

31 is a schematic diagram showing that the surface treatment apparatus according to the present invention treats the surface of a facility over two or more surfaces of the facility surface of the guardrail, the sidewalk and the road surface.

32 is a schematic diagram showing that the street lamp is cleaned by the ring-shaped brush cleaner, sponge cleaner, and fiber cleaner according to the present invention.

33 is a schematic diagram showing that the surface treatment apparatus according to the present invention treats the inner surface of the facility.

34 is a schematic view showing that the surface treatment apparatus is attached to one end of the first stage to the front end of the arm structure according to the present invention.

35 is a schematic view showing that the surface treatment apparatus is attached to the two ends of the two stages to the front end of the arm structure according to the present invention.

36 is a schematic view showing that the surface treatment apparatus is attached to the front end of the arm structure according to the present invention in two or more stages.

37 is a schematic view showing a structure in which the dispersion preventer according to the present invention surrounds any one or more of a vacuum gun, a vacuum hole, and a vacuum tube.

38 is a schematic view showing a structure in which the dispersion preventer according to the present invention surrounds any one or more of a brush, a sponge, and a fiber.

39 is a schematic view showing a structure in which the dispersion preventer according to the present invention surrounds any one or more of a vacuum gun, a vacuum hole, and a vacuum tube, and any one or more of a brush, a sponge, and a fiber.

<Description of Signs of Major Parts of Drawings>

1: Facility 1-1: Building

1-2: Bridge 1-3: Soundproof Wall

1-4: Tunnel 1-5: Guardrail

1-6: Street lamp 1-7: Road surface

1-8: slope 2: bridge structure

2-1: Wheels 2-2: Connecting Rod

3: body structure 3-1: piston

3-2: grid 4: arm structure

4-1: Arm 4-2: Joint

5: surface treatment apparatus 10: spray gun

10-1: Injection Gun 10-11: Injection Nozzle

10-2: Injection supply hose 10-3: Injection supply valve

10-4: Injection reservoir 10-41: compartment

10-5: injection pressure pump 11: injection hole injector

11-1: injection hole 11-11: injection hole

12: injection pipe injector 12-1: injection pipe

13: vacuum gun inhaler 13-1: vacuum gun

13-11: Vacuum Nozzle 13-2: Vacuum Hose

13-3: vacuum valve 13-4: vacuum device

13-5: dust collector 14: vacuum hole suction

14-1: vacuum hole 14-11: vacuum hole hole

15: vacuum tube inhaler 15-1: vacuum tube

16: brush cleaner 16-1: cylindrical

16-11: Cylindrical Rotary Motor 16-2: Arc Type

16-3: ring type 16-4: plate type

16-41: Plate rotation motor 16-5: 쫄 large size

16-51: 쫄 16-16: gun

16-61: Rod 16-7: Brush

16-8: Sponge 16-9: Fiber

17: sponge cleaner 18: textile cleaner

19: Laura Painting Machine 19-1: Laura

19-2: Laura rotary motor 20: Crusher

20-1: Breca 21: Cutter

21-1: Scissors 22: Polishing Machine

22-1: Grinder 22-2: Grinder Revolving Motor

23: crack repair machine 23-1: syringe

23-11: injection nozzle 23-2: injection supply hose

23-3: injection supply valve 23-4: injection reservoir

23-5: injection pressure pump 24: grouting machine

24-1: Injector 24-11: Injection hole

24-2: Injection supply hose 24-3: Injection supply valve

24-4: Injection reservoir 24-5: Injection pressure pump

25: dispersion prevention 26: forceps carrier

27: carrier 28: workbench

29: hollow tube 40: moving mechanism

41: moving ship 41-1: moving roller

41-2: Mobile rotary motor 41-3: Fixed

50: surface of facility 1 surface 51: surface of facility 2

52: Multiple surfaces of two or more surfaces 53: One stage of one stage

54: Two stages of two stages 55: Multiple stages of two or more stages

60: A combination in which the dispersion preventer is combined with any one or more of a vacuum gun, a vacuum hole, and a vacuum tube

61: a combination in which the dispersion preventer is combined with any one or more of a brush cleaner, a sponge cleaner, and a fiber cleaner

62: a combination of a dispersion preventer combined with at least one of a vacuum gun, a vacuum hole, and a vacuum tube and at least one of a brush cleaner, a sponge cleaner, and a fiber cleaner.

Claims (12)

Consists of leg structure, body structure, arm structure and surface treatment device, The leg structure, the body structure, the arm structure supports the surface treatment device, The surface treatment apparatus includes a spray gun sprayer, a spray hole sprayer, a spray pipe sprayer, a vacuum gun suction machine, a vacuum hole suction machine, a vacuum tube suction machine, a brush cleaner, a sponge cleaner, a fiber cleaner, a roller painting machine, a crusher, a cutter, a grinding machine, a crack repair machine, Surface treatment robot for the facility, characterized in that it is composed of any one or more of grouting machine, dispersion prevention machine, forceps carrier, carrier, workbench Consists of leg structure, body structure, arm structure and surface treatment device, The leg structure supports the body structure, arm structure and surface treatment device, the leg is composed of a moving wheel and connecting rod, The moving wheel has a function of moving the body structure, arm structure and surface treatment apparatus as a wheel to be moved, The connecting rod is a mechanism for connecting the moving wheel and the body structure, The body structure is a skeletal structure located between the connecting rod and the arm structure to support the arm structure and the surface treatment device, The arm structure is coupled to the body structure and supports the surface treatment device and the arm structure is a fracture structure consisting of one or more arms and joints, A joint is located between the arm and the arm, At least one arm is connected to the joint, The joint moves freely 360 degrees, The surface treatment apparatus includes a spray gun sprayer, a spray hole sprayer, a spray tube sprayer, a vacuum gun suction machine, a vacuum hole suction machine, a vacuum tube suction machine, a brush cleaner, a sponge cleaner, a fiber cleaner, a roller painting machine, a crusher, a cutter, a grinding machine, a crack repair machine, Grouting machine, dispersion prevention device, tong carrier, carrier, work table, any one or more than two, The injection gun injector is composed of an injection gun, injection supply hose, injection supply valve, injection reservoir and injection pressure pump, The injection hole injector is composed of an injection hole, injection supply hose, injection supply valve, injection reservoir and injection pressure pump, The injection pipe injector is composed of a injection pipe, injection supply hose, injection supply valve, injection reservoir and injection pressure pump, The injection gun is a hollow tube having one end connected to an injection supply hose and the other end having an injection nozzle having a diameter of 1 cm or less, The injection hole is a hollow tube, one end is connected to the injection supply hose and the other end is formed with an injection hole of a diameter of 1 ~ 10cm, The injection pipe is a hollow pipe, one end of which is connected to the injection supply hose, the other end is blocked, and the injection nozzle having a diameter of 1 cm or less is formed around the pipe. The injection material is sprayed onto the surface of the facility through the injection nozzle and the injection hole, The injection supply hose is a hose for supplying the injection material stored in the injection reservoir to the injection gun, injection hole, injection pipe, The injection supply valve is a valve for controlling the supply amount of the injection material supplied to the injection gun, the injection hole, the injection pipe through the injection supply hose in the injection reservoir, The injection pressure pump is a pump for applying pressure to the injection reservoir, The injection reservoir is a cylinder for storing the injection material, The injection gun, the injection hole, the injection pipe, the injection supply hose, the injection supply valve, the injection reservoir and the injection pressure pump is composed of the number of injection material or the number of injection material or less, The interior of the reservoir is composed of one compartment or two or more compartments, The spraying material is water, washing water, acidic water, alkaline water, detergent liquid, air, wind, air bubbles, warm air, hot air, steam, oxygen, ozone, ultraviolet, infrared, far infrared, silver nano, anion, microorganism, supercritical material, adhesive, Joints, corner finishes, disinfectants, disinfectant gases, insecticides, cockroach removers, air fresheners, fire extinguishing water, fire extinguishing powder, waterproofing, paint, cement paste, cement milk, cement paste, shotcrete, vegetation seeds, vegetation seeds, plant herbicides, Any one of plant nutrients, plant growing water, or any two or more thereof, The mixing ratio mixed in the mixed ranges from 1 to 99% by weight of each component to be mixed and 100% by weight of the entire component to be mixed, The vacuum gun inhaler is composed of a vacuum gun, a vacuum hose, a vacuum valve, a vacuum device and a dust collector, The vacuum hole suction unit is composed of a vacuum hole, a vacuum hose, a vacuum valve, a vacuum device and a dust collector, The vacuum tube suction unit is composed of a vacuum tube, a vacuum hose, a vacuum valve, a vacuum device and a dust collector, The vacuum gun is a hollow tube having one end connected to a vacuum hose and the other end having a vacuum nozzle having a diameter of 1 cm or less, The vacuum hole is a hollow tube having one end connected to a vacuum hose and the other end having a vacuum hole hole having a diameter of 1 to 10 cm, The vacuum tube is a hollow tube, one end of which is connected to a vacuum hose, the other end of which is blocked, and at least one vacuum nozzle having a diameter of 1 cm or less is formed around the tube. Vacuum pressure is applied through the vacuum nozzle and the vacuum hole hole, The vacuum hose is a hose for applying dust to the vacuum gun, vacuum hole, vacuum tube to transfer the dust, dust, and foreign matter sucked from the vacuum gun, vacuum hole, vacuum tube to the dust collector, The vacuum valve is a valve for adjusting the magnitude of the vacuum pressure applied to the vacuum gun, the vacuum hole, the vacuum tube through the vacuum hose in the vacuum apparatus, The vacuum device is a device for generating a vacuum pressure, The dust collector is to collect dust, dust, foreign matters transferred from the vacuum hose, The brush cleaner is a cleaner attached to one or more strands, The sponge cleaner is a sponge attached cleaner, The fiber cleaner is a cleaner attached to the fibers of woven or nonwoven fabric, The configuration of the brush cleaner, sponge cleaner, fiber cleaner is any one of a cylindrical, arc-shaped, ring-shaped, plate-shaped, giant, gun-shaped, The cylindrical is a brush, sponge, fibers are formed in a cylindrical shape, The arc shape is a brush, sponge, fibers are formed in an arc shape, The ring is a brush, sponge, fibers are formed in a ring shape, The plate shape is a brush, sponge, fibers are formed in a plate shape, The shape of the plate is any one of a circle, a polygon, The polygon is a polygon or more than a triangle, The wedge is a brush, sponge, fibers are attached along the length of the wand having a certain length, The chamfer is a brush, sponge, fibers are attached to the tip of the rod having a certain length, A cylindrical rotary motor is attached to the cylindrical, The plate rotation motor is attached to the plate type, The cylindrical rotary motor is to rotate the cylindrical brush cleaner, sponge cleaner, fiber cleaner about the central axis in the longitudinal direction of the cylinder, The plate rotation motor is to rotate about a central axis orthogonal to the plate brush cleaner, sponge cleaner, fiber cleaner, and the plate, The brush cleaner, the sponge cleaner, and the fiber cleaner clean the surface of the facility by itself according to the movement of the arm structure, or water, washing water, or acid water sprayed from any one or more of a spray gun sprayer, a spray hole sprayer, and a spray pipe sprayer. One or more of alkaline water, detergent, The roller painting machine is composed of a roller and a rotary rotary motor, The roller is to paint the surface of the facility as it is rotated by applying the paint sprayed from any one or more of a spray gun sprayer, a spray hole sprayer, a spray pipe sprayer to itself, The rotary rotary motor is to rotate the Laura about the central axis in the longitudinal direction of the Laura, The crusher is a Breca that can crush concrete, rocks, protrusions, The cutter is a scissors or kata that can cut a wire, string, string, The grinder is a sandpaper or grinder capable of smoothly polishing the surface of the facility, The grinder is attached to the grinder rotating motor, The grinder rotating motor is to rotate about the center of the orthogonal to the grinder axis, The crack repair machine is capable of injecting the crack repair liquid to the cracks on the surface of the facility and consists of a syringe, an injection supply hose, an injection supply valve, an injection reservoir, and an injection pressure pump. The syringe is a hollow tube, one end is connected to the injection supply hose and the other end is formed with a injection nozzle of less than 1cm in diameter, The injection supply hose is a hose for supplying the syringe the crack repair liquid stored in the injection reservoir, The injection supply valve is a valve for adjusting the supply amount of the crack repair liquid supplied to the syringe through the injection supply hose in the injection reservoir, The crack repair liquid is injected through the injection nozzle, The injection reservoir is a cylinder for storing the crack repair liquid, The injection pressure pump is a pump for applying pressure to the injection reservoir, The grouting machine is capable of injecting grouting liquid into the cavity or groove of the surface of the facility, and is composed of an injector, an injection supply hose, an injection supply valve, an injection reservoir, and an injection pressure pump. The injector is a hollow tube having one end connected to an injection supply hose and the other end having an injection hole having a diameter of 1 to 10 cm, The hollow tube is a hollow tube, The injection supply hose is a hose for supplying the grouting liquid stored in the injection reservoir to the injector, The injection supply valve is a valve for adjusting the supply amount of grouting liquid supplied to the injector through the injection supply hose in the injection reservoir, The grouting liquid is injected through the injection hole, The injection reservoir is a container for storing grouting liquid, The injection pressure pump is a pump for applying pressure to the injection reservoir, The dispersion preventing device is a cover for reducing the dispersion or outflow of any one or more of the spray material, vacuum pressure, crack repair liquid, grouting liquid to the outside of the facility surface, The dispersion preventer surrounds any one or more of an injection gun, an injection hole, an injection tube, a vacuum gun, a vacuum hole, a vacuum tube, a brush, a sponge, a fiber, a roller, a syringe, an injector, The tong carrier is a tong or a ring that can pick up the object or object to be carried, The carriage is a cage that can be loaded with the object or object to be carried, The workbench is a cage that provides a space for working on the surface of the facility, The confinement has a three-dimensional solid surface, the upper portion is open and the lower and fourth sides have a closed structure, The distal end of the arm structure, injection gun, injection hole, injection tube, vacuum gun, vacuum hole, vacuum tube, brush, sponge, fiber, Laura, Breca, scissors, kata, sandpaper, grinder, syringe, injector, dispersion preventer, forceps, Facility surface treatment robot, characterized in that any one or more of the hook, carrier, workbench is attached The method according to claim 1 or 2, The leg structure is omitted, including the body structure, arm structure and surface treatment apparatus is mounted on the moving mechanism, or the leg structure and body structure is omitted, including the arm structure and surface treatment apparatus is mounted on the moving mechanism, The moving mechanism is any one of a truck, a passenger car, a carriage, a cart, a rear car, a scooter, a van, a cart, a pump car, a forklift, a tong truck, a water truck, a water sprinkler, a crane, a port lane, a tower crane, a payloader, an elevator, a crane. Facility surface treatment robot The method of claim 2, The injection gun, injection hole, injection tube, vacuum gun, vacuum hole, vacuum tube, brush, sponge, fiber, Laura, Breca, scissors, kata, sandpaper, grinder, syringe, injector, dispersion prevention, tongs, hook, carrier, In any one or more of the working table is attached to the tip of the arm structure, On one side of one surface of the facility or on more than one side of the surface of the facility It includes being attached to one or two or more stages of one stage, The one end is attached to one end of the injection gun, injection hole, injection tube, vacuum gun, vacuum hole, vacuum tube, brush, sponge, fiber, Laura, Breca, scissors, kata, sandpaper, grinder, syringe, injector, At least one of the dispersion preventer, the tongs, the hook, the carriage, the workbench is attached, Attached in multiple stages are spray guns, injection holes, injection tubes, vacuum guns, vacuum holes, vacuum tubes, brushes, sponges, fibers, Laura, Breca, scissors, cata, sandpaper, grinders, syringes, injectors , Surface treatment robot, characterized in that any one or more of the dispersion prevention, tongs, hooks, carrier, workbench is attached The method of claim 2, The skeletal structure is a structure in which any one or more of the piston, lattice is coupled, Facility surface treatment robot, characterized in that the length of the skeletal structure itself increases or decreases by any one of stretching and contracting the piston, unfolding and collapsing the lattice The method according to claim 1 or 2, It includes any one or more of the arm structure, the surface treatment apparatus is mounted to the moving line, The moving line is composed of one or more lines, Both ends of the moving line is fixed, A moving roller is attached to a portion where the arm structure or the surface treatment device and the moving line meet each other. One or more of the arm structure, the surface treatment apparatus is moved along the movement line called the movement path, The surface treatment robot, characterized in that the movement is rotated by a movement roller rotation motor is moved along the movement line The method of claim 2, In the dispersion preventing device encloses any one or more of the injection gun, injection hole, injection tube, vacuum gun, vacuum hole, vacuum tube, brush, sponge, fiber, roller, syringe, injector, The dispersion preventer forms a structure surrounding at least one of the vacuum gun, the vacuum hole, and the vacuum tube, Or the dispersion preventer forms a structure surrounding at least one of a brush, a sponge, and a fiber, Or the dispersion prevention robot forms a structure surrounding any one or more of a vacuum gun, a vacuum hole, and a vacuum tube and at least one of a brush, a sponge, and a fiber. The method of claim 2, The cylindrical shape is a brush cleaner, sponge cleaner, fiber cleaner itself is made of a cylindrical shape to form a cylindrical shape, Or brush cleaner, sponge cleaner, textile cleaner itself is not manufactured in a cylindrical shape, but the surface treatment robot, characterized in that the cylindrical shape while rotating The method of claim 2, Among the hollow tube injection gun, injection hole, injection tube, vacuum gun, vacuum hole, vacuum tube, syringe, injector The injection gun, injection hole, vacuum gun, vacuum hole, syringe is less than 1m in length, The injection tube, vacuum tube, injector surface treatment facility, characterized in that the length of more than 1m Consists of leg structure, body structure, arm structure and surface treatment device, The leg structure supports the body structure, arm structure and surface treatment device, the leg is composed of a moving wheel and connecting rod, The leg structure is omitted, including the body structure, arm structure and surface treatment apparatus is mounted on the moving mechanism, or the leg structure and body structure is omitted, including the arm structure and surface treatment apparatus is mounted on the moving mechanism, The moving mechanism is any one of a truck, a passenger car, a carriage, a cart, a rear car, a scooter, a van, a cart, a pump car, a forklift truck, a tong truck, a water truck, a water sprinkler, a crane, a port lane, a tower crane, a payloader, an elevator, a crane, The moving wheel has a function of moving the body structure, arm structure and surface treatment apparatus as a wheel to be moved, The connecting rod is a mechanism for connecting the moving wheel and the body structure, The body structure is a skeletal structure located between the connecting rod and the arm structure to support the arm structure and the surface treatment device, The skeletal structure is a structure in which any one or more of the piston and the grating is combined, the length of the skeletal structure itself is increased or shortened by any one of the stretching and contraction of the piston, the expansion and contraction of the grating, The arm structure is coupled to the body structure and supports the surface treatment device and the arm structure is a fracture structure consisting of one or more arms and joints, A joint is located between the arm and the arm, At least one arm is connected to the joint, The joint moves freely 360 degrees, It includes any one or more of the arm structure, the surface treatment apparatus is mounted to the moving line, The moving line is composed of one or more lines, Both ends of the moving line is fixed, The moving roller is attached to a portion where the arm structure or the surface treatment device and the moving line meet, One or more of the arm structure, the surface treatment apparatus is moved along the movement line called the movement path, The moving path is rotated by a moving roller rotating motor is moved along the moving line, The surface treatment apparatus includes a spray gun sprayer, a spray hole sprayer, a spray tube sprayer, a vacuum gun suction machine, a vacuum hole suction machine, a vacuum tube suction machine, a brush cleaner, a sponge cleaner, a fiber cleaner, a roller painting machine, a crusher, a cutter, a grinding machine, a crack repair machine, Grouting machine, dispersion prevention device, tong carrier, carrier, work table, any one or more than two, The injection gun injector is composed of an injection gun, injection supply hose, injection supply valve, injection reservoir and injection pressure pump, The injection hole injector is composed of an injection hole, injection supply hose, injection supply valve, injection reservoir and injection pressure pump, The injection pipe injector is composed of a injection pipe, injection supply hose, injection supply valve, injection reservoir and injection pressure pump, The injection gun is a hollow tube having one end connected to an injection supply hose and the other end having an injection nozzle having a diameter of 1 cm or less, The injection hole is a hollow tube, one end is connected to the injection supply hose and the other end is formed with an injection hole of a diameter of 1 ~ 10cm, The injection pipe is a hollow pipe, one end of which is connected to the injection supply hose, the other end is blocked, and the injection nozzle having a diameter of 1 cm or less is formed around the pipe. The injection material is sprayed onto the surface of the facility through the injection nozzle and the injection hole, The injection supply hose is a hose for supplying the injection material stored in the injection reservoir to the injection gun, injection hole, injection pipe, The injection supply valve is a valve for controlling the supply amount of the injection material supplied to the injection gun, the injection hole, the injection pipe through the injection supply hose in the injection reservoir, The injection pressure pump is a pump for applying pressure to the injection reservoir, The injection reservoir is a cylinder for storing the injection material, The injection gun, the injection hole, the injection pipe, the injection supply hose, the injection supply valve, the injection reservoir and the injection pressure pump is composed of the number of injection material or the number of injection material or less, The interior of the reservoir is composed of one compartment or two or more compartments, The spraying material is water, washing water, acidic water, alkaline water, detergent liquid, air, wind, air bubbles, warm air, hot air, steam, oxygen, ozone, ultraviolet, infrared, far infrared, silver nano, anion, microorganism, supercritical material, adhesive, Joints, corner finishes, disinfectants, disinfectant gases, insecticides, cockroach removers, air fresheners, fire extinguishing water, fire extinguishing powder, waterproofing, paint, cement paste, cement milk, cement paste, shotcrete, vegetation seeds, vegetation seeds, plant herbicides, Phytonutrients, plant growth material any one material or a mixture of two or more, The mixing ratio mixed in the mixed ranges from 1 to 99% by weight of each component to be mixed and 100% by weight of the entire component to be mixed, The vacuum gun inhaler is composed of a vacuum gun, a vacuum hose, a vacuum valve, a vacuum device and a dust collector, The vacuum hole suction unit is composed of a vacuum hole, a vacuum hose, a vacuum valve, a vacuum device and a dust collector, The vacuum tube suction unit is composed of a vacuum tube, a vacuum hose, a vacuum valve, a vacuum device and a dust collector, The vacuum gun is a hollow tube having one end connected to a vacuum hose and the other end having a vacuum nozzle having a diameter of 1 cm or less, The vacuum hole is a hollow tube having one end connected to a vacuum hose and the other end having a vacuum hole hole having a diameter of 1 to 10 cm, The vacuum tube is a hollow tube, one end of which is connected to a vacuum hose, the other end of which is blocked, and at least one vacuum nozzle having a diameter of 1 cm or less is formed around the tube. Vacuum pressure is applied through the vacuum nozzle and the vacuum hole hole, The vacuum hose is a hose for applying dust to the vacuum gun, vacuum hole, vacuum tube to transfer the dust, dust, and foreign matter sucked from the vacuum gun, vacuum hole, vacuum tube to the dust collector, The vacuum valve is a valve for adjusting the magnitude of the vacuum pressure applied to the vacuum gun, the vacuum hole, the vacuum tube through the vacuum hose in the vacuum apparatus, The vacuum device is a device for generating a vacuum pressure, The dust collector is to collect the dust, dust, foreign matters transferred from the vacuum hose, The brush cleaner is a cleaner attached to one or more strands, The sponge cleaner is a sponge attached cleaner, The fiber cleaner is a cleaner attached to the fibers of woven or nonwoven fabric, The configuration of the brush cleaner, sponge cleaner, fiber cleaner is any one of a cylindrical, arc-shaped, ring-shaped, plate-shaped, giant, gun-shaped, The cylindrical is a brush, sponge, fibers are formed in a cylindrical shape, The arc shape is a brush, sponge, fibers are formed in an arc shape, The ring is a brush, sponge, fibers are formed in a ring shape, The plate shape is a brush, sponge, fibers are formed in a plate shape, The shape of the plate is any one of a circle, a polygon, The polygon is a polygon or more than a triangle, The wedge is a brush, sponge, fibers are attached along the length of the wand having a certain length, The chamfer is a brush, sponge, fibers are attached to the tip of the rod having a certain length, The cylindrical shape is a brush cleaner, sponge cleaner, fiber cleaner itself is made of a cylindrical shape to form a cylindrical shape, or brush cleaner, sponge cleaner, fiber cleaner itself is not manufactured in a cylindrical shape, but the cylindrical shape while rotating Will, A cylindrical rotary motor is attached to the cylindrical, The plate rotation motor is attached to the plate type, The cylindrical rotary motor is to rotate the cylindrical brush cleaner, sponge cleaner, fiber cleaner about the central axis in the longitudinal direction of the cylinder, The plate rotation motor is to rotate about a central axis orthogonal to the plate brush cleaner, sponge cleaner, fiber cleaner, and the plate, The brush cleaner, the sponge cleaner, and the fiber cleaner clean the surface of the facility by itself according to the movement of the arm structure, or water, washing water, or acid water sprayed from any one or more of a spray gun sprayer, a spray hole sprayer, and a spray pipe sprayer. One or more of alkaline water, detergent, The roller painting machine is composed of a roller and a rotary rotary motor, The roller is to paint the surface of the facility as it is rotated by applying the paint sprayed from any one or more of a spray gun sprayer, a spray hole sprayer, a spray pipe sprayer to itself, The rotary rotary motor is to rotate the Laura about the central axis in the longitudinal direction of the Laura, The crusher is a Breca that can crush concrete, rocks, protrusions, The cutter is a scissors or kata that can cut a wire, string, string, The grinder is a sandpaper or grinder capable of smoothly polishing the surface of the facility, The grinder is attached to the grinder rotating motor, The grinder rotating motor is to rotate about the center of the orthogonal to the grinder axis, The crack repair machine is capable of injecting the crack repair liquid to the cracks on the surface of the facility and consists of a syringe, an injection supply hose, an injection supply valve, an injection reservoir, and an injection pressure pump. The syringe is a hollow tube, one end is connected to the injection supply hose and the other end is formed with a injection nozzle of less than 1cm in diameter, The injection supply hose is a hose for supplying the syringe the crack repair liquid stored in the injection reservoir, The injection supply valve is a valve for adjusting the supply amount of the crack repair liquid supplied to the syringe through the injection supply hose in the injection reservoir, The crack repair liquid is injected through the injection nozzle, The injection reservoir is a cylinder for storing the crack repair liquid, The injection pressure pump is a pump for applying pressure to the injection reservoir, The grouting machine is capable of injecting grouting liquid into the cavity or groove of the surface of the facility, and is composed of an injector, an injection supply hose, an injection supply valve, an injection reservoir, and an injection pressure pump. The injector is a hollow tube having one end connected to an injection supply hose and the other end having an injection hole having a diameter of 1 to 10 cm, The hollow tube is a hollow tube, The injection gun, the injection hole, the injection tube, the vacuum gun, the vacuum hole, the vacuum tube, the syringe, the injector, which is the hollow tube, the injection gun, the injection hole, the vacuum gun, the vacuum hole, the syringe is 1 m or less in length, the injection tube, the vacuum tube, the injector Is at least 1 m in length, The injection supply hose is a hose for supplying the grouting liquid stored in the injection reservoir to the injector, The injection supply valve is a valve for adjusting the supply amount of grouting liquid supplied to the injector through the injection supply hose in the injection reservoir, The grouting liquid is injected through the injection hole, The injection reservoir is a container for storing grouting liquid, The injection pressure pump is a pump for applying pressure to the injection reservoir, The dispersion preventing device is a cover for reducing the dispersion or outflow of any one or more of the spray material, vacuum pressure, crack repair liquid, grouting liquid to the outside of the facility surface, The dispersion preventer surrounds any one or more of an injection gun, an injection hole, an injection tube, a vacuum gun, a vacuum hole, a vacuum tube, a brush, a sponge, a fiber, a roller, a syringe, an injector, The tong carrier is a tong or a ring that can pick up the object or object to be carried, The carriage is a cage that can be loaded with the object or object to be carried, The workbench is a cage that provides a space for working on the surface of the facility, The confinement has a three-dimensional solid surface, the upper portion is open and the lower and fourth sides have a closed structure, The distal end of the arm structure, injection gun, injection hole, injection tube, vacuum gun, vacuum hole, vacuum tube, brush, sponge, fiber, Laura, Breca, scissors, kata, sandpaper, grinder, syringe, injector, dispersion preventer, forceps, One or more of a hook, a carriage, a workbench is attached, Injection gun, injection hole, injection tube, vacuum gun, vacuum hole, vacuum tube, brush, sponge, fiber, Laura, Breca, scissors, kata, sandpaper, grinder, syringe, injector, dispersion preventer, tongs at the tip of the arm structure, In the attachment of at least one of a ring, a carriage, and a work platform, it includes attaching one stage or multiple stages of one or more stages over one side of one surface of the facility or multiple surfaces of two or more surfaces of the facility, The one end is attached to one end of the injection gun, injection hole, injection tube, vacuum gun, vacuum hole, vacuum tube, brush, sponge, fiber, Laura, Breca, scissors, kata, sandpaper, grinder, syringe, injector, At least one of the dispersion preventer, the tongs, the hook, the carriage, the workbench is attached, Attached in multiple stages are spray guns, injection holes, injection tubes, vacuum guns, vacuum holes, vacuum tubes, brushes, sponges, fibers, Laura, Breca, scissors, cata, sandpaper, grinders, syringes, injectors , Surface treatment robot, characterized in that any one or more of the dispersion prevention, tongs, hooks, carrier, workbench is attached Spray gun injector, spray hole injector, spray pipe injector, vacuum gun inhaler, vacuum hole inhaler, vacuum tube inhaler, brush cleaner, sponge cleaner, fiber cleaner, roller painting machine, crusher, cutter, grinder, crack repair machine, grouting machine, dispersion prevention machine By treating the surface of the facility while moving the surface treatment device consisting of any one or more of the tong carrier, carrier, workbench to the surface of the facility, The injection gun injector is composed of an injection gun, injection supply hose, injection supply valve, injection reservoir and injection pressure pump, The injection hole injector is composed of an injection hole, injection supply hose, injection supply valve, injection reservoir and injection pressure pump, The injection pipe injector is composed of a injection pipe, injection supply hose, injection supply valve, injection reservoir and injection pressure pump, The injection gun is a hollow tube having one end connected to an injection supply hose and the other end having an injection nozzle having a diameter of 1 cm or less, The injection hole is a hollow tube, one end is connected to the injection supply hose and the other end is formed with an injection hole of a diameter of 1 ~ 10cm, The injection pipe is a hollow pipe, one end of which is connected to the injection supply hose, the other end is blocked, and the injection nozzle having a diameter of 1 cm or less is formed around the pipe. The injection material is sprayed onto the surface of the facility through the injection nozzle and the injection hole, The injection supply hose is a hose for supplying the injection material stored in the injection reservoir to the injection gun, injection hole, injection pipe, The injection supply valve is a valve for controlling the supply amount of the injection material supplied to the injection gun, the injection hole, the injection pipe through the injection supply hose in the injection reservoir, The injection pressure pump is a pump for applying pressure to the injection reservoir, The injection reservoir is a cylinder for storing the injection material, The injection gun, the injection hole, the injection pipe, the injection supply hose, the injection supply valve, the injection reservoir and the injection pressure pump is composed of the number of injection material or the number of injection material or less, The interior of the reservoir is composed of one compartment or two or more compartments, The spraying material is water, washing water, acidic water, alkaline water, detergent liquid, air, wind, air bubbles, warm air, hot air, steam, oxygen, ozone, ultraviolet, infrared, far infrared, silver nano, anion, microorganism, supercritical material, adhesive, Joints, corner finishes, disinfectants, disinfectant gases, insecticides, cockroach removers, air fresheners, fire extinguishing water, fire extinguishing powder, waterproofing, paint, cement paste, cement milk, cement paste, shotcrete, vegetation seeds, vegetation seeds, plant herbicides, Any one of plant nutrients, plant growing water, or any two or more thereof, The mixing ratio mixed in the mixed is the component to be mixed in the range of 1 to 99% by weight and the total component to be mixed is 100% by weight, The vacuum gun inhaler is composed of a vacuum gun, a vacuum hose, a vacuum valve, a vacuum device and a dust collector, The vacuum hole suction unit is composed of a vacuum hole, a vacuum hose, a vacuum valve, a vacuum device and a dust collector, The vacuum tube suction unit is composed of a vacuum tube, a vacuum hose, a vacuum valve, a vacuum device and a dust collector, The vacuum gun is a hollow tube having one end connected to a vacuum hose and the other end having a vacuum nozzle having a diameter of 1 cm or less, The vacuum hole is a hollow tube having one end connected to a vacuum hose and the other end having a vacuum hole hole having a diameter of 1 to 10 cm, The vacuum tube is a hollow tube, one end of which is connected to a vacuum hose, the other end of which is blocked, and at least one vacuum nozzle having a diameter of 1 cm or less is formed around the tube. Vacuum pressure is applied through the vacuum nozzle and the vacuum hole hole, The vacuum hose is a hose for applying dust to the vacuum gun, vacuum hole, vacuum tube to transfer the dust, dust, and foreign matter sucked from the vacuum gun, vacuum hole, vacuum tube to the dust collector, The vacuum valve is a valve for adjusting the magnitude of the vacuum pressure applied to the vacuum gun, the vacuum hole, the vacuum tube through the vacuum hose in the vacuum apparatus, The vacuum device is a device for generating a vacuum pressure, The dust collector is to collect the dust, dust, foreign matters transferred from the vacuum hose, The brush cleaner is a cleaner attached to one or more strands, The sponge cleaner is a sponge attached cleaner, The fiber cleaner is a cleaner attached to the fibers of woven or nonwoven fabric, The configuration of the brush cleaner, sponge cleaner, fiber cleaner is any one of a cylindrical, arc-shaped, ring-shaped, plate-shaped, giant, gun-shaped, The cylindrical is a brush, sponge, fibers are formed in a cylindrical shape, The arc shape is a brush, sponge, fibers are formed in an arc shape, The ring is a brush, sponge, fibers are formed in a ring shape, The plate shape is a brush, sponge, fibers are formed in a plate shape, The shape of the plate is any one of a circle, a polygon, The polygon is a polygon or more than a triangle, The wedge is a brush, sponge, fibers are attached along the length of the wand having a certain length, The chamfer is a brush, sponge, fibers are attached to the tip of the rod having a certain length, The cylindrical shape is a brush cleaner, sponge cleaner, fiber cleaner itself is made of a cylindrical shape to form a cylindrical shape, or brush cleaner, sponge cleaner, fiber cleaner itself is not manufactured in a cylindrical shape, but to form a cylindrical shape while rotating , A cylindrical rotary motor is attached to the cylindrical, The plate rotation motor is attached to the plate type, The cylindrical rotary motor is to rotate the cylindrical brush cleaner, sponge cleaner, fiber cleaner about the central axis in the longitudinal direction of the cylinder, The plate rotation motor is to rotate about a central axis orthogonal to the plate brush cleaner, sponge cleaner, fiber cleaner, and the plate, The brush cleaner, the sponge cleaner, and the fiber cleaner clean the surface of the facility by itself according to the movement of the arm structure, or water, washing water, or acid water sprayed from any one or more of a spray gun sprayer, a spray hole sprayer, and a spray pipe sprayer. One or more of alkaline water, detergent, The roller painting machine is composed of a roller and a rotary rotary motor, The roller is to paint the surface of the facility as it is rotated by applying the paint sprayed from any one or more of a spray gun sprayer, a spray hole sprayer, a spray pipe sprayer to itself, The rotary rotary motor is to rotate the Laura about the central axis in the longitudinal direction of the Laura, The crusher is a Breca that can crush concrete, rocks, protrusions, The cutter is a scissors or kata that can cut a wire, string, string, The grinder is a sandpaper or grinder capable of smoothly polishing the surface of the facility, The grinder is attached to the grinder rotating motor, The grinder rotating motor is to rotate about the center of the orthogonal to the grinder axis, The crack repair machine is capable of injecting the crack repair liquid to the cracks on the surface of the facility and consists of a syringe, an injection supply hose, an injection supply valve, an injection reservoir, and an injection pressure pump. The syringe is a hollow tube, one end is connected to the injection supply hose and the other end is formed with a injection nozzle of less than 1cm in diameter, The injection supply hose is a hose for supplying the syringe the crack repair liquid stored in the injection reservoir, The injection supply valve is a valve for adjusting the supply amount of the crack repair liquid supplied to the syringe through the injection supply hose in the injection reservoir, The crack repair liquid is injected through the injection nozzle, The injection reservoir is a cylinder for storing the crack repair liquid, The injection pressure pump is a pump for applying pressure to the injection reservoir, The grouting machine is capable of injecting grouting liquid into the cavity or groove of the surface of the facility, and is composed of an injector, an injection supply hose, an injection supply valve, an injection reservoir, and an injection pressure pump. The injector is a hollow tube having one end connected to an injection supply hose and the other end having an injection hole having a diameter of 1 to 10 cm, The hollow tube is a hollow tube, The injection gun, the injection hole, the injection tube, the vacuum gun, the vacuum hole, the vacuum tube, the syringe, the injector, which is the hollow tube, the injection gun, the injection hole, the vacuum gun, the vacuum hole, the syringe is 1 m or less in length, the injection tube, the vacuum tube, the injector Is at least 1 m in length, The injection supply hose is a hose for supplying the grouting liquid stored in the injection reservoir to the injector, The injection supply valve is a valve for adjusting the supply amount of grouting liquid supplied to the injector through the injection supply hose in the injection reservoir, The grouting liquid is injected through the injection hole, The injection reservoir is a container for storing grouting liquid, The injection pressure pump is a pump for applying pressure to the injection reservoir, The dispersion preventing device is a cover for reducing the dispersion or outflow of any one or more of the spray material, vacuum pressure, crack repair liquid, grouting liquid to the outside of the facility surface, The dispersion preventer surrounds any one or more of an injection gun, an injection hole, an injection tube, a vacuum gun, a vacuum hole, a vacuum tube, a brush, a sponge, a fiber, a roller, a syringe, an injector, The tong carrier is a tong or a ring that can pick up the object or object to be carried, The carriage is a cage that can be loaded with the object or object to be carried, The workbench is a cage that provides a space for working on the surface of the facility, The confinement box has a three-dimensional solid surface, and the upper surface is open, and the lower surface and the four sides are closed surface treatment robot, characterized in that the structure The method according to any one of claims 1 to 11, The facilities include buildings, buildings, bridges, overpasses, railings, stairs, walls, soundproof walls, soundproof walls, barrier walls, temporary walls, fence walls, tunnels, underpasses, basements, underground parking lots, culverts, underground boxes, signs, billboards, billboards, Guard surface, median, fence, street light, chimney, road, road surface, sidewalk, sidewalk, walkway, ground, ground surface, slope, any one surface of the facility surface treatment robot

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