KR20240016575A - Modular robot automation device for high place painting - Google Patents

Abstract

The modular robotic automation device for high-altitude painting of the present invention includes a mobile robot including wheels and outriggers; A lifting device mounted on the upper surface of the mobile robot; An XY moving device coupled to the upper part of the lifting device to move the XY moving table in the X-axis and Y-axis directions; A brush roller unit mounted on the XY moving table and painting the wall; and a multi-axis spray robot mounted on the XY moving table and spraying paint.

Description

Modular robot automation device for high place painting}

The present invention relates to a modular robot automation device for high-altitude painting, and more specifically, to a movable mobile robot equipped with a lifting device and an This relates to a modular robotic automation device that can paint the ceiling and even the edges in between.

High-altitude painting work is a representative 3D industry that is repeatedly performed in a dangerous and unpleasant environment. In particular, when workers use scaffolding as a stepping stone to paint wide, high walls and high ceilings, there is a constant risk of industrial accidents such as falling accidents. In the case of indoor painting, workers perform the process in a closed space, so they may have difficulty breathing while working for long periods of time, and even suffocation accidents may occur. Due to the risk factors of this work, it is difficult to secure skilled workers. In addition, the process of installing and dismantling scaffolding causes various problems, such as delays in construction period and increased costs.

To solve these problems, robots have recently been developed to automate the process. However, these robots are mainly developed and used by mounting sprayers on gondolas targeting exterior walls or mounting general industrial robots on lifts.

However, the existing vertical multi-joint type multi-axis robot arm has a spherical work area, so it is mechanically inefficient for painting work that requires flat work, and is often difficult to apply in places where entry is difficult depending on the work environment. .

Public Patent Publication No. 10-2011-0011186

The present invention improves the work efficiency of the painting process by replacing high-altitude painting work on indoor and outdoor walls and ceilings with robot automation, and overcomes the situation in which existing painting equipment has difficulty entering indoor or underground spaces due to narrow entrances. The purpose is to provide a modular robot automation device for high-altitude painting that can effectively perform painting work by applying a modular robot automation system that can be disassembled, transported, and reassembled.

The modular robot automation device for high-altitude painting of the present invention to achieve the above object includes a mobile robot including wheels and outriggers; A lifting device mounted on the upper surface of the mobile robot; An XY moving device coupled to the upper part of the lifting device to move the XY moving table in the X-axis and Y-axis directions; A brush roller unit mounted on the XY moving table and painting the wall; and a multi-axis spray robot mounted on the XY moving table and spraying paint.

The mobile robot may be composed of a plurality of main body members that each include wheels driven by a motor and outriggers that are extended and supported on the ground, and are decomposably coupled to each other.

The lifting device includes a base plate coupled to the upper surface of the plurality of main body members, a first pantograph mounted on the base plate and raised and lowered by a hydraulic cylinder, and a second pantograph connected to the first pantograph and raised and lowered by a hydraulic cylinder. It may include a third pantograph connected to the second pantograph and raised and lowered, and an upper base mounted on the top of the third pantograph.

The XY moving device includes a support plate coupled to the upper surface of the lifting device, an The second guide rail may include a Y moving block moved by a second motor.

The brush roller unit includes a fixed bracket coupled to the Y moving block, a rotating motor mounted on a motor mounting portion coupled to the fixed bracket, a rotating bracket rotated by the rotating motor, and rotatably mounted on the rotating bracket. It may include a brush roller and a spray member mounted on the rotating bracket to spray paint to the brush roller.

The spray multi-axis robot includes a fixed arm coupled to the Y moving block, a first rotating arm rotatably connected to the fixed arm, a second rotating arm rotatably connected to the first rotating arm, and the first rotating arm. It may include a third rotating arm rotatably connected to the second rotating arm, and a spray member coupled to the third rotating arm to spray paint.

According to the modular robot automation device for high-altitude painting of the present invention, high-altitude painting work on indoor and outdoor walls and ceilings is replaced with robot automation to increase the work efficiency of the painting process, and in the case of indoor or underground spaces, the entrance is To overcome situations where it is difficult for existing painting equipment to enter due to narrow spaces, effective painting work can be done by applying a modular robot automation system that can be disassembled, transported, and reassembled.

In addition, in the case of high walls, brush rollers and multi-axis robot sprayers are mounted on lifting devices that can rise and fall, enabling double or collaborative painting work to increase work speed and efficiency.

In addition, in the case of wide and flat walls, work is done with an automatically operated brush roller device, and since brushing the corners between the wall and the ceiling is difficult, a multi-axis robot spray device is in charge, enabling simultaneous work, greatly improving work efficiency. there is.

Figure 1 is a perspective view showing a modular robot automation device for high-altitude painting according to an embodiment of the present invention.
Figure 2 is a perspective view showing the lifting device in Figure 1 in an elevated state.
Figure 3 is a partial perspective view showing the XY moving device and brush roller unit in Figure 1.
Figure 4 is a partial side view showing the brush roller unit painting the wall surface and the spray multi-axis robot painting the corner portion.
Figure 5 is an exploded perspective view showing the mobile robot and the lifting device.
Figure 6 is a perspective view showing the XY moving device (a), the brush roller unit (b), and the spray multi-axis robot (c), respectively.
Figure 7 is a side view showing a multi-axis spray robot painting a wall.
Figure 8 is a side view showing the spray multi-axis robot painting the ceiling.

Since the present invention can be modified in various ways and can have various embodiments, specific embodiments will be exemplified and explained in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all transformations, equivalents, and substitutes included in the spirit and technical scope of the present invention.

The terms used in the present invention are only used to describe specific embodiments and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In the present invention, terms such as 'include' or 'have' are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. At this time, note that in the attached drawings, like components are indicated by the same symbols whenever possible. Additionally, detailed descriptions of well-known functions and configurations that may obscure the gist of the present invention will be omitted. For the same reason, some components are exaggerated, omitted, or schematically shown in the accompanying drawings.

Figure 1 is a perspective view showing a modular robot automation device for high-altitude painting according to an embodiment of the present invention, Figure 2 is a perspective view showing the lifting device in an elevated state in Figure 1, and Figure 3 is an XY movement device in Figure 1. and a partial perspective view showing the brush roller unit, and Figure 4 is a partial side view showing the brush roller unit painting the wall and the spray multi-axis robot painting the corner. In addition, Figure 5 is an exploded perspective view showing the mobile robot and the lifting device, and Figure 6 is a perspective view showing the XY moving device (a), the brush roller unit (b), and the spray multi-axis robot (c), respectively.

As shown in Figure 1, the modular robotic automation device 100 for high-altitude painting of the present invention includes a mobile robot 110 including wheels 113 and outriggers 115, and is mounted on the upper surface of the mobile robot. a lifting device 120, an XY moving device 170 coupled to the upper part of the lifting device to move the XY moving table in the and a spray multi-axis robot 210 that is mounted on an XY moving table and sprays paint.

The mobile robot 110 includes a main body member 111 formed in the shape of a rectangular block, a plurality of wheels 113 mounted on both sides of the main body member and rotated by a motor mounted inside, and rotating and rotating at the corners of the main body member. It may include a plurality of outriggers 115 that are flexible and prevent the mobile robot 110 from falling.

As shown in FIG. 5, the mobile robot 110 may be composed of a plurality of body members 111 that are decomposably coupled to each other. Each main body member 111 may be provided with one wheel 113 and one outrigger 115. The plurality of body members 111 may be coupled to each other, and the coupled body members 111 may be coupled to the base plate 121 of the lifting member 120.

The lifting device 120 includes a base plate 121 coupled to the upper surface of the plurality of main body members 111, a pantograph (Pantograph) mounted on the base plate and raised and lowered by a hydraulic cylinder, and a pantograph mounted on the top of the pantograph. It may include an upper base 160.

The pantograph includes a first pantograph 130 mounted on a base plate and raised and lowered by a hydraulic cylinder 137, a second pantograph 140 connected to the first pantograph and raised and lowered by a hydraulic cylinder 147, and a second pantograph. It may be composed of a third pantograph 150 that is connected to and lifted up.

The first pantograph 130 includes a plurality of links 131, an intermediate rotation axis 133 connected to the middle of the links, an end rotation axis 135 connected to the ends of the links, an end rotation axis at the bottom of one side, and It may include a hydraulic cylinder 137 connected between the end rotation shafts at the top of the other side.

The second pantograph 140 includes a plurality of links 141, an intermediate rotation axis 143 connected to the middle of the links, an end rotation axis 145 connected to the ends of the links, an end rotation axis at the bottom of one side, and It may include a hydraulic cylinder 147 connected between the end rotation shafts at the top of the other side.

The third pantograph 150 may include a plurality of links 151, an intermediate rotation axis 153 connected to the middle of the links, and an end rotation axis 155 connected to the ends of the links. The first pantograph 130, the second pantograph 140, and the third pantograph 150 may be sequentially connected to each other at their end rotation axes. The first pantograph 130 and the second pantograph 140 are equipped with hydraulic cylinders and can be raised and lowered, and the third pantograph 150 does not have a hydraulic cylinder, but the first pantograph 130 and the second pantograph 140 are It can be raised and lowered depending on the lift.

The upper surface of the base plate 121 includes a rotation axis mounting portion 122 on which one end rotation axis 135 of the first pantograph 130 is mounted, and a rotation axis 135 on the other end of the first pantograph 130. An axis guide 123 may be provided.

The rotating shaft mounting portion 122 may be formed in the form of a pair of brackets on which one end rotating shaft 135 is rotatably mounted. The axis guide 123 may be formed in the form of a guide rail groove into which the other end rotation axis 135 is slidably inserted.

A plurality of lights 125 may be installed on the front of the base plate 121.

The upper base 160 is mounted on the top of the third pantograph 150 and can support devices installed thereon. Although not shown, a rotating shaft mounting portion on which one end rotating shaft 155 of the third pantograph 150 is mounted and the other end rotating shaft 155 of the third pantograph 150 are also mounted on the lower surface of the upper base 160. An axial guide may be provided.

As shown in FIG. 6(a), the 1. An X moving block 176 moved by a motor 174, and a Y moving block 180 moved by a second motor 184 on a pair of second guide rails 182 mounted on the may include.

The support plate 171 may be mounted on the upper surface of the upper base 160 of the lifting device 120. The support plate 171 may have a plurality of incisions formed through the inside of a rectangular plate.

A pair of first guide rails 172 may be fixed to the long side edge of the support plate 171, and the first motor 174 may be mounted on the outside of the long side of the support plate 171. A first lead screw 173 may be rotatably mounted on the central portion of the support plate 171 in a direction parallel to the long side. A first belt 175 is connected between the rotation axis of the first lead screw 173 and the rotation axis of the first motor 174, so that the first motor 174 can rotate the first lead screw 173 forward and backward. .

The X moving block 176 is slidably mounted on a pair of first guide rails 172, and as the first lead screw 173 rotates, the Can be screwed together.

A pair of second guide rails 182 are fixed to the upper surface of the there is. The second motor 184 may be mounted on the outside of the X moving block 176.

A second belt 185 is connected between the rotation axis of the second lead screw 183 and the rotation axis of the second motor 184, so that the second motor 184 can rotate the second lead screw 183 forward and backward. .

The Y moving block 180 is slidably mounted on a pair of second guide rails 182, and as the second lead screw 183 rotates, the Y moving block 180 can move in the Y-axis direction. Can be screwed together.

An XY moving table 190 may be coupled to the upper surface of the Y moving block 180. The XY moving table 190 can be moved in the X-axis and Y-axis directions by the XY moving device 170. A brush roller unit 200 and a multi-axis spray robot 210 can be mounted on the upper surface of the XY moving table 190.

As shown in Figure 6(b), the brush roller unit 200 includes a fixing bracket 201 coupled to the Y moving block 180, and a rotation motor mounted on the motor mounting portion 202 coupled to the fixing bracket. 203), a rotating bracket 204 rotated by a rotating motor, a brush roller 205 rotatably mounted on the rotating bracket, and a spray member 207 mounted on the rotating bracket to spray paint with a brush roller. It can be included.

First, a pair of brush roller units 200 may be mounted side by side on the XY moving table 190.

Two pairs of fixing brackets 201 can be coupled to the XY moving table 190 coupled to the upper surface of the Y moving block 180. The XY moving table 190 may be formed to have a larger area than the Y moving block 180 so that two pairs of fixing brackets 201 and the base of the multi-axis spray robot 210 can be mounted.

A motor mounting portion 202 is coupled and fixed between a pair of fixing brackets 201, and a rotation motor 203 can be coupled to and mounted on this motor mounting portion 202. The rotation axis of the rotation motor 203 may be rotatably mounted by passing through the motor mounting portion 202.

A rotation bracket 204 is coupled to the end of the rotation shaft of the rotation motor 203 so that it can be rotated forward and backward by the rotation motor 203. The rotating bracket 204 is formed in a “ㄷ” shape so that the brush roller 205 can be mounted to rotate freely.

The brush roller 205 can be rotated by making a rolling motion on the wall as its rotation axis moves while in contact with the wall. In addition, the rotation axis of the brush roller 205 can be rotated by the rotation motor 203 rotating the rotation bracket 204 to change its posture vertically or horizontally.

A pair of coupling brackets 206 may be coupled to the upper and lower parts of the rotating bracket 204. A pair of spraying members 207 is mounted between the pair of coupling brackets 206 to spray paint toward the brush roller 205 between them. Each spraying member 207 is formed with a plurality of spraying holes through which paint is sprayed. Although not shown, a hose supplying paint pumped by a pump may be connected to the internal flow path of each spraying member 207.

As shown in FIG. 6(c), the spray multi-axis robot 210 includes a fixed arm 211 coupled to the Y moving block 180, a first rotating arm 212 rotatably connected to the fixed arm, and , a second rotating arm 214 rotatably connected to the first rotating arm, a third rotating arm 216 rotatably connected to the second rotating arm, and a paint sprayer coupled to the third rotating arm. It may include a spray member (218).

The fixed arm 211 may be coupled to and fixed to the upper surface of the XY moving table 190, which is coupled to the upper surface of the Y moving block 180. The fixing arm 211 may have a shape that extends upward from the lower plate and is bent forward.

The first rotatable arm 212 may be connected to the upper end of the fixed arm 211 to be rotatable within a predetermined angle range. The first rotating arm 212 may be rotated by a motor provided inside the fixed arm 211.

The second rotatable arm 214 may be connected to the upper end of the first rotatable arm 212 to be rotatable within a predetermined angle range. The second rotating arm 214 may be rotated by a motor provided inside the first rotating arm 212.

The third rotatable arm 216 may be connected to the upper end of the second rotatable arm 214 to be rotatable within a predetermined angle range. The third rotating arm 216 can be rotated by a motor provided inside the second rotating arm 214. The third rotary arm 216 may be formed much smaller than the second rotary arm 214.

The spray member 218 is coupled to the third rotating arm 216, and a paint hose is connected to spray paint supplied by the pump.

As shown in Figure 4, wide and flat walls are painted using a brush roller unit 200, and corners and ceilings where brush roller work is not possible are spray painted using a spray multi-axis robot 210. work can be performed. If necessary, if double coating such as base and top coats is required, the base coat can be applied with a brush roller and the top coat can be applied with a multi-axis spray robot.

As shown in Figures 5 and 6, the modular robot automation device for high-altitude painting of the present invention is disassembled and transported for each device when it is necessary to enter the painting area through a difficult-to-enter place or a narrow passage. It can be reassembled and painted.

Figure 7 is a side view showing a multi-axis spray robot painting a wall, and Figure 8 is a side view showing a multi-axis spray robot painting a ceiling.

As shown in Figures 7 and 8, the first rotating arm 212 can be rotated in a range of about 180 degrees with respect to the fixed arm 211, and the second rotating arm 214 can be rotated relative to the fixed arm 211. ) can be rotated in a range of about 250 degrees, and the third rotating arm 216 can be rotated in a range of about 250 degrees with respect to the second rotating arm 214.

Figure 7 illustrates the posture and spray painting pattern of the spray multi-axis robot 210 for painting a wall surface. In order to move the spray member 218 left and right on the wall, the XY moving table 190 can be moved in the X direction. In order to move the spray member 218 up and down on the wall, the lifting device 120 can be moved up and down.

Figure 8 illustrates the posture and spray painting pattern of the multi-axis spray robot 210 for painting the ceiling. In order to move the spray member 218 on the ceiling in the X direction, the XY moving table 190 can be moved in the X direction. In order to move the spray member 218 on the ceiling in the Y direction, the XY moving table 190 can be moved in the Y direction.

In this way, according to the modular robot automation device for high-altitude painting of the present invention, the posture of the brush roller can be changed by rotating the mounting axis, and the brush roller can be moved in the X direction, Y direction, and up and down directions to paint the wall. there is.

In addition, the posture can be changed by rotating the multiple rotating arms of the spray multi-axis robot, the multi-axis robot can be moved so that the spray member faces the corner or the ceiling, and the multi-axis robot can be moved in the , ceilings, corners, and columns and beams of complex structures can be painted.

Above, an embodiment of the present invention has been described, but those skilled in the art will be able to understand the addition, change, deletion or addition of components without departing from the spirit of the present invention as set forth in the claims. The present invention may be modified and changed in various ways, and this will also be included within the scope of the rights of the present invention.

100: Modular robotic automation device for high-altitude painting
110: Mobile robot 111: Main body member
113: wheel 115: outrigger
120: Elevating device 121: Base plate
122: Rotating shaft mounting part 123: Axial guide
125: lighting
130: First pantograph 131: Link
133: Middle rotation axis 135: End rotation axis
137: Hydraulic cylinder
140: Second pantograph 141: Link
143: middle rotation axis 145: end rotation axis
147: Hydraulic cylinder
150: Third Pantograph 151: Link
153: Middle rotation axis 155: End rotation axis
160: upper base 165: lighting
170: XY moving device 171: support plate
172: first guide rail 173: first lead screw
174: first motor 175: first belt
176: X moving block
180: Y moving block 182: 2nd guide rail
183: second lead screw 184: second motor
185: 2nd belt
190: XY moving table
200: Brush roller unit 201: Fixing bracket
202: Motor mounting part 203: Rotation motor
204: Rotating bracket 205: Brush roller
206: Coupling bracket 207: Spraying member
210: Spray multi-axis robot 211: Fixed arm
212: 1st circular arm 214: 2nd circular arm
216: Third rotating arm 218: Spray member

Claims (6)

Mobile robots including wheels and outriggers;
A lifting device mounted on the upper surface of the mobile robot;
An XY moving device coupled to the upper part of the lifting device to move the XY moving table in the X-axis and Y-axis directions;
A brush roller unit mounted on the XY moving table and painting the wall; and
A modular robot automation device for high-altitude painting, including a multi-axis spray robot mounted on the XY moving table and spraying paint. According to paragraph 1,
The mobile robot is a modular robot automation device for high-altitude painting, characterized in that it is composed of a plurality of body members that are decomposably coupled to each other, each including a wheel driven by a motor and an outrigger that is extended and supported on the ground. . According to paragraph 2,
The lifting device is
A base plate coupled to the upper surface of the plurality of body members,
A first pantograph mounted on the base plate and raised and lowered by a hydraulic cylinder,
A second pantograph connected to the first pantograph and raised and lowered by a hydraulic cylinder,
A third pantograph connected to the second pantograph and raised and lowered,
A modular robot automation device for high-altitude painting, comprising an upper base mounted on the top of the third pantograph. According to paragraph 1,
The XY moving device is
A support plate coupled to the upper surface of the lifting device,
An X moving block moved by a first motor on a pair of first guide rails mounted on the support plate,
A modular robot automation device for high-altitude painting, comprising a Y moving block moved by a second motor on a pair of second guide rails mounted on the X moving block. According to paragraph 4,
The brush roller unit is
A fixing bracket coupled to the Y moving block,
A rotation motor mounted on the motor mounting portion coupled to the fixing bracket,
A rotating bracket rotated by the rotating motor,
A brush roller rotatably mounted on the rotating bracket,
A modular robot automation device for high-altitude painting, comprising a spray member mounted on the rotating bracket and spraying paint with the brush roller. According to paragraph 4,
The spray multi-axis robot is
A fixed arm coupled to the Y moving block,
A first rotating arm rotatably connected to the fixed arm,
a second rotary arm rotatably connected to the first rotary arm;
A third rotary arm rotatably connected to the second rotary arm,
A modular robot automation device for high-altitude painting, comprising a spray member coupled to the third rotating arm and spraying paint.

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