KR20230086942A - Vibration reduction high place painting robot capable of driving - Google Patents

Abstract

A vibration-reducing travel-type aerial painting robot according to the present invention is a robot for reducing vibration and guaranteeing the quality of painting in painting the inner wall of a specific facility, and a driving unit capable of moving toward the inner wall of a specific facility that requires painting. ; a paint spraying unit for spraying paint; a moving support unit supporting the paint spraying unit so that the paint spraying unit can be moved in a front-back direction or a left-right direction; and when the first region of the inner wall surface is painted by moving the driving part to a position for painting the inner wall surface, and then moving the position of the paint spraying part in the front-back direction or the left-right direction on the moving support part, and an elevating unit mounted on the traveling part to elevate the moving support unit so that the second area corresponding to the upper or lower direction of the first area is painted, wherein the lifting unit reduces vibration of the moving support unit. It may be characterized by having a first lifting part and a second lifting part respectively located in one direction and the other direction and connected to the moving support part so that the quality of the painting is guaranteed.

Description

Vibration reduction high place painting robot capable of driving

The present invention relates to a vibration-reducing travel-type aerial painting robot, and more particularly, to a vibration-reduction travel-type aerial painting robot capable of automatically painting inner walls of sewage/wastewater treatment facilities.

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

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

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

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

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

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

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

An object of the present invention is to automatically paint the inner wall surface of sewage / wastewater treatment facilities, etc., while guaranteeing the painting quality of the entire area, preventing safety accidents, and significantly reducing construction time and construction costs. It is to provide a painting robot.

A vibration-reducing travel-type aerial painting robot according to the present invention is a robot for reducing vibration and guaranteeing the quality of painting in painting the inner wall of a specific facility, and a driving unit capable of moving toward the inner wall of a specific facility that requires painting. ; a paint spraying unit for spraying paint; a moving support unit supporting the paint spraying unit so that the paint spraying unit can be moved in a front-back direction or a left-right direction; and when the first region of the inner wall surface is painted by moving the driving part to a position for painting the inner wall surface, and then moving the position of the paint spraying part in the front-back direction or the left-right direction on the moving support part, and an elevating unit mounted on the traveling part to elevate the moving support unit so that the second area corresponding to the upper or lower direction of the first area is painted, wherein the lifting unit reduces vibration of the moving support unit. It may be characterized by having a first lifting part and a second lifting part respectively located in one direction and the other direction and connected to the moving support part so that the quality of the painting is guaranteed.

It may be characterized in that the first lifting unit and the second lifting unit of the vibration-reducing traveling type aerial coating robot according to the present invention include a step-type lifting device capable of sequentially lifting and lowering by a chain, a belt, a motor, hydraulic pressure or pneumatic pressure, respectively. there is.

The paint spraying unit of the vibration-reduction travel type aerial painting robot according to the present invention may be multi-axis controllable so as to expand the paint spraying range while being fixed at a predetermined position on the moving support unit.

According to the present invention, the vibration-reducing travel-type aerial painting robot uses an input molding technique to reduce vibration of the moving support unit generated by the moving operation of the driving unit, the lifting operation of the lifting unit, or the paint spraying operation by the paint spraying unit. It may be characterized in that it further comprises; input shaping filter unit to which this is applied.

A vibration-reducing travel-type aerial painting robot according to the present invention includes a vibration sensing unit for sensing vibration of the moving support unit; and a controller for controlling the input shaping filter unit based on the vibration detected by the vibration sensor.

The control unit of the vibration-reduction travel type aerial painting robot according to the present invention may be characterized in that it adjusts the width of the one-time lifting by the lifting unit based on the current stage of painting by the paint spraying unit.

The control unit of the vibration-reduction travel type aerial coating robot according to the present invention controls the elevation unit so that the width of one movement by the elevation unit is reduced from that of the previous stage, when the current stage is the leveling stage or the top coating stage. It can be characterized by doing.

According to the vibration-reducing travel-type aerial painting robot according to the present invention, it is possible to automatically paint the inner wall surface of a sewage/wastewater treatment facility, etc. and at the same time reduce vibration to ensure the painting quality of the entire area.

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

1 is a block configuration diagram for explaining a vibration-reducing travel type aerial coating robot according to the present invention.
Figure 2 is a schematic perspective view showing a vibration-reduction travel type aerial coating robot according to the present invention.
3 and 4 are schematic perspective views for explaining the operation of the lifting unit provided in the vibration-reducing traveling type aerial coating robot according to the present invention.

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

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

1 is a block configuration diagram for explaining a vibration reducing traveling type aerial coating robot according to the present invention, and FIG. 2 is a schematic perspective view showing a vibration reducing traveling type aerial coating robot according to the present invention.

Referring to FIGS. 1 and 2, the vibration-reducing travel type aerial painting robot 100 according to the present invention reduces vibration when waterproofing the inner wall surface of a specific facility, for example, a sewage/wastewater treatment facility. There are robots to ensure the quality of

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

However, the vibration-reduction driving type aerial painting robot 100 can be used for painting of sewage/wastewater treatment facilities as well as all facilities or buildings requiring wall painting.

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

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

Hereinafter, components constituting the vibration-reducing travel type aerial coating robot 100 according to the present invention will be described in detail.

The vibration-reducing travel type aerial coating robot 100 according to the present invention may include a traveling part 110, a paint spraying part 120, a moving support part 130, and an elevating part 140.

The driving unit 110 is a kind of driving means for moving the vibration-reducing traveling type aerial painting robot 100 according to the present invention toward the inner wall surface of a specific facility requiring painting, and includes wheels 112 for movement. can do.

When the vibration-reducing travel-type aerial painting robot 100 receives a painting-related command including a painting order for a plurality of inner walls of the specific facility by an operator, the driving unit 110 is controlled by the control unit 150. will be moved automatically.

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

The sensing unit may be located at four vertices of the driving unit 110, and the control unit 150 precisely controls the position of the driving unit 110 based on the sensing result of the sensing unit.

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

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

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

The paint spraying unit 120 may be multi-axis controllable so as to expand the paint spraying range while being fixed at a predetermined position on the moving support unit 130 to be described later, and may be a kind of multi-axis control articulated robot.

Since the paint spraying unit 120 is capable of multi-axis control, it is possible to simply paint the ceiling of a specific facility.

On the other hand, in order to improve the coating performance by the paint sprayed from the at least one nozzle, the vibration-reduction travel type aerial painting robot 100 according to the present invention may be added with a constant temperature and/or constant humidity function.

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

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

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

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

Meanwhile, a series of processes for implementing the constant temperature function and/or the constant humidity function may be automatically implemented in real time by the controller 150 .

The moving support part 130 is a component for supporting the paint spraying part 120 so that the paint spraying part 120 can move in the front-back direction D1 and the left-right direction D2, and the paint spraying part It may include a configuration such as a rail for implementing the positional movement of (120).

However, the positional movement of the paint spraying unit 120 is not necessarily limited to the rail, and may be implemented through various means such as a belt or a gear.

The movement of the paint spraying part 120 can maximize the range of painting by the paint spraying part 120 in a state where the driving part 110 is located at a specific position, thereby reducing construction time and construction cost. can be significantly reduced.

After the driving part 110 is moved to the position where the inner wall surface is to be painted, the lifting part 140 moves in the front-back direction D1 or the left-right direction of the paint spraying part 120 on the moving support part 130. When the first area of the inner wall surface is painted by the position movement in (D2), the driving part ( 110) and may be a component for elevating the moving support unit 130.

Here, the lifting part 140 is a first lifting part connected to the moving supporting part 130, located in one direction and the other direction, respectively, so as to reduce the vibration of the moving supporting part 130 and ensure the quality of the painting. 142 and a second elevation part 144 may be provided.

The first elevation unit 142 and the second elevation unit 144 may each include a step-type elevation device capable of sequentially ascending and descending by means of a chain, belt, motor, hydraulic pressure or pneumatic pressure, but are not necessarily limited thereto, A known elevating device such as scissor type may be included.

However, the elevating unit 140 is composed of a plurality of vibrations of the moving support unit 130 that may occur during elevation, vibration of the moving support unit 130 that may occur during the movement of the traveling unit 110, and paint spraying unit. Vibration of the moving support unit 130 that may be generated by the paint spraying operation by the 120 can be reduced.

The elevation part 140 can be sequentially raised or lowered so that all areas of the inner wall requiring painting can be painted, and the ascending and descending may be mixed or the order of the ascending and descending may be changed depending on the working environment.

On the other hand, in addition to the effect of reducing vibration due to the first lifting part 142 and the second lifting part 144, the vibration reducing traveling type aerial coating robot 100 according to the present invention introduces an input molding technique to reduce vibration. is being maximized, which will be described later with reference to FIGS. 3 and 4.

3 and 4 are schematic perspective views for explaining the operation of the lifting unit provided in the vibration-reducing travel type aerial coating robot according to the present invention.

Referring to FIGS. 3 and 4 , the vibration-reduction travel type aerial coating robot 100 according to the present invention can change the area where painting can be performed by moving the elevation unit 140 up and down.

Here, as the elevation part 140 expands and the movement support part 130 becomes higher, the movement support part 130 is inevitably vulnerable to vibration. The same may be true even when the paint is sprayed by the spraying unit 120 .

For the above reasons, in the present invention, the moving support unit 130 generated by the moving operation of the driving unit 110, the lifting operation of the lifting unit 140, or the paint spraying operation by the paint spraying unit 120 It includes an input shaping filter unit to which an input shaping technique is applied so that the vibration of is reduced.

The input shaping technique convolves the impulse train with the reference input so that the input does not excite the system frequency component. It is a technique that cancels the residual vibration by adding an impulse equal to the damped amplitude after a half cycle to eliminate the vibration.

And, the filter to which the above input shaping technique is applied is the input shaping filter unit.

Here, the vibration-reducing travel-type aerial coating robot 100 according to the present invention may include a vibration sensing unit 160 (see FIG. 1), which is a kind of sensor that detects vibration of the moving support unit 130, and the control unit 150 ) can cancel the vibration generated in the moving support unit 130 by controlling the input shaping filter unit 170 (see FIG. 1) based on the vibration detected by the vibration sensor 160.

On the other hand, in the case of painting the inner wall surface, the painting step may be divided into a plurality according to the purpose of painting. can

Here, painting in all painting stages is an important step in determining the quality of painting, but in the undercoating stage or roughing stage, the speed of painting is relatively more important than the quality of painting, and in the topcoating stage or leveling stage, relatively The quality of painting may be a more important factor than the speed of painting.

Considering the characteristics of each painting step as described above, it is necessary to optimally control the vibration-reduction traveling type aerial painting robot 100 according to the present invention. Based on the current step, the one-time lifting width by the lifting unit 140 may be adjusted.

That is, when the current step is the leveling step or the top coat step, the control unit 150 controls the lifting unit 140 so that the width of one lift by the lifting unit 140 is smaller than that of the previous step. The quality of the paint is guaranteed.

As described above, according to the vibration-reducing travel type aerial painting robot 100 according to the present invention, the inner wall surface of sewage/wastewater treatment facilities is automatically painted, and at the same time, the elevation part 140 and the input shaping filter part 170, etc. Through this, vibration can be reduced to ensure the painting quality of the entire area.

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

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

100: Vibration-reduction driving aerial coating robot
110: driving unit
120: paint spraying unit
130: moving support
140: lifting part
150: control unit

Claims (7)

In the vibration reduction traveling type aerial painting robot for guaranteeing the quality of painting by reducing vibration in painting the inner wall surface of a specific facility,
A traveling unit movable toward the inner wall surface of a specific facility requiring painting;
a paint spraying unit for spraying paint;
a moving support unit supporting the paint spraying unit so that the paint spraying unit can be moved in a front-back direction or a left-right direction; and
After the driving part is moved to a position for painting the inner wall surface, when the first area of the inner wall surface is painted by the position movement of the paint spraying part in the front-back direction or the left-right direction on the moving support part, the first area of the inner wall surface is painted. A lifting unit mounted on the driving unit to move the moving support unit up and down so that a second area corresponding to the upper or lower direction of the first area is painted,
The lift part,
A vibration reduction travel type characterized by having first and second elevations located in one direction and the other direction, respectively, connected to the movement support unit, to reduce vibration of the movement support unit and ensure the quality of the painting. high altitude coating robot.
According to claim 1,
The first lifting part and the second lifting part,
A vibration-reducing travel-type aerial painting robot characterized in that it includes a step-like elevator that can be sequentially moved up and down by chain, belt, motor, hydraulic pressure or pneumatic pressure.
According to claim 1,
The paint spraying part,
A vibration-reducing travel-type aerial painting robot, characterized in that multi-axis control is possible so that the paint spraying range is expanded in a state fixed at a predetermined position on the moving support unit.
According to claim 1,
An input shaping filter unit to which an input shaping technique is applied to reduce vibration of the moving support unit generated by the moving operation of the traveling unit, the lifting operation of the lifting unit, or the paint spraying operation by the paint spraying unit; characterized in that it further comprises a Vibration-reduction travel type aerial coating robot.
According to claim 4,
a vibration sensing unit for sensing vibration of the moving support unit; and
A vibration reducing driving type aerial painting robot further comprising a; control unit for controlling the input shaping filter unit based on the vibration detected by the vibration sensing unit.
According to claim 5,
The control unit,
A vibration reduction travel type aerial painting robot characterized in that the one-time lifting width by the lifting unit is adjusted based on the current stage of painting by the paint spraying unit.
According to claim 6,
The control unit,
When the current step is a leveling step or a top coat step, the vibration reduction traveling type aerial painting robot, characterized in that, to control the lifting unit so that the lifting width of one time by the lifting unit is smaller than that of the previous step.

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