WO2017042729A1 - Machine de peinture de parois - Google Patents

Machine de peinture de parois Download PDF

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Publication number
WO2017042729A1
WO2017042729A1 PCT/IB2016/055384 IB2016055384W WO2017042729A1 WO 2017042729 A1 WO2017042729 A1 WO 2017042729A1 IB 2016055384 W IB2016055384 W IB 2016055384W WO 2017042729 A1 WO2017042729 A1 WO 2017042729A1
Authority
WO
WIPO (PCT)
Prior art keywords
main body
machine according
joined
wall
cables
Prior art date
Application number
PCT/IB2016/055384
Other languages
English (en)
Inventor
Rony Javier CABALLERO GEORGE
Fernando MERCHAN
Aranzazu BERBEY
Original Assignee
Universidad Tecnológica De Panamá
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Universidad Tecnológica De Panamá filed Critical Universidad Tecnológica De Panamá
Publication of WO2017042729A1 publication Critical patent/WO2017042729A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned

Definitions

  • This invention describes a wall-painting machine for walls of buildings and other exterior surfaces of buildings, boats, planes, tanks, silos and similar.
  • the machine comprises a securing device with multiple cables which allow the main painting body to be positioned on any point of the facade of the building, boat hull, fuselage of the plane, etc. whether this surface is regular or irregular.
  • the process of painting old buildings may be a dangerous operation.
  • the winds and air currents may cause aerodynamic forces on the structure or device used for painting (for example: scaffolding or climbing robots) causing it to swing outside of the building, placing personnel and equipment in danger.
  • document CN 2014861 16 U describes a device for automatically lowering and raising a device for applying the paint product. This system is similar to the scaffold systems traditionally used for painting.
  • the cleaning device described is secured to the building by a suction system.
  • This system can be moved freely in any direction (that is to say, vertically, horizontally, or in both directions).
  • this system is subject to some limitations.
  • the system has a limited loading weight for the cleaning equipment and consumables (for example: water, detergent and brushes).
  • the system is not equipped for being moved on irregular surfaces (for example, on walls that are not completely flat with exterior columns).
  • the wall-painting machine of the present invention overcomes the technical problems of the known systems which have been previously described.
  • the invention consists of a wall-painting machine which comprises at least one main body supported by at least four cables secured directly or indirectly to the upper part and lower part (or other positions) of a surface which is going to be painted.
  • the main body of the painting machine is secured to cables using springs which provide suitable securing and stability.
  • the length of the cables is selected such that the entire surface one wishes to paint can be reached.
  • the cables secured to the upper part of the surface are connected to a motorized mechanical transmission or another system for pulling them.
  • the cables connected to the lower part of the surface can be connected to a motorized mechanical transmission, to counterweights or another equivalent system. Other cables at other points can be connected in a similar manner.
  • These mechanical transmissions are connected directly or indirectly to motors.
  • the motors can pull the cables such that the main body of the painting machine can be positioned in any position of the surface.
  • the planning of the movement of the motors is controlled by means of a control unit.
  • the position of the painting machine is determined using position and velocity sensors, revolution counters, inertial sensors, image sensors or equivalent systems.
  • At least one omnidirectional wheel assembly is secured to the edge of the main body of the painting machine.
  • the omnidirectional wheels can be wheels with rollers joined to their circumference (said rollers being arranged on rotation shafts arranged at 45° with respect to the plane of the wheel and at 45° with respect to a line which passes through the roller parallel to the rotation shaft of the wheel), ball type wheel or equivalent wheels.
  • the wheel assembly has a star configuration or equivalent. This star configuration allows the main body to overcome obstacles.
  • the painting machine also comprises a set of brushes.
  • a set of brushes In one exemplary embodiment, it comprises four circular brushes, but they could also be of another type and the relevant number of brushes according to the case.
  • the painting machine has a mechanical arm which supports a paint sprayer. This arm is moved with a motor and gear system or equivalent systems.
  • the painting machine can be operated autonomous or remotely.
  • the main objective of this invention is to position a wall-painting machine in any position of the surface of a wall of a building, boat, plane, etc.
  • Another objective of this painting machine is to overcome any obstacle or irregularity on the surface of the wall, boat, plane, etc.
  • Another objective is for the multiple cable system to be able to provide a stable support for the painting machine including in the case of winds and air currents.
  • Another objective is for the system to be able to carry the loading weight required for equipment and consumables for painting.
  • Figure 1a shows a frontal view of the painting machine installed on the wall of a building.
  • Figure 1 b shows a close-up view of the main body of the wall-painting machine as is shown in Figure 1a.
  • Figure 2a shows an upper view of the wall-painting machine installed on the wall of a building shown in Figure 1 a.
  • Figure 2b shows a close-up view of the main body of the wall-painting machine which is shown in Figure 2a.
  • Figure 3a shows a lateral view of the wall-painting machine shown in Figure 1 a.
  • Figure 3b shows a close-up view of the main body of the wall-painting machine which is shown in Figure 3a with internal details.
  • Figure 4 shows a detailed view of the omnidirectional wheel assembly arranged in a star configuration.
  • Figure 5a shows a frontal view of the wall-painting machine installed on the wall of a building shown in Figure 1 a after having moved downwards along the wall.
  • Figure 5b shows a frontal view of the wall-painting machine installed on the wall of a building shown in Figure 5a after having moved upwards and towards one side along the wall.
  • Figure 6a shows a lateral view of the wall-painting machine before overcoming an obstacle.
  • Figure 6b shows a lateral view of the wall-painting machine after overcoming an obstacle.
  • Figure 7 shows a view of the wall-painting machine in an exemplary embodiment in which it comprises a mechanical arm and a paint sprayer.
  • Figure 1 shows a frontal view of the wall-painting machine.
  • the machine comprises at least one main body (1) with means for painting walls, a securing device configured to secure the main body (1) and an omnidirectional wheel assembly (7) arranged on the main body (1) by means of which it rests on and moves over the surface.
  • the securing device comprises at least one plurality of cables (2) by way of which it is joined to the main body (1) and a plurality of motors (4) to which the cables (2) are joined by means of a mechanical transmission and/or a pulley (3) for the rolling or release thereof depending on the position in which the main body (1) is located.
  • FIG 1 b a close-up view of the main body (1) of the wall-painting machine is illustrated.
  • the means for painting walls are observed therein which in this case are a paint hose (10) and a paint sprayers (6).
  • the paint hose (10) is joined to the main body (1) in order to send paint to said main body (1) and paint the wall therewith by means of the paint sprayers (6).
  • the paint hose (10) is also connected to a compressor (1 1) which controls the sending of paint to the main body (1).
  • the cables (2) can be observed which in this case are an upper left securing cable, an upper right securing cable, a lower left securing cable and a lower right securing cable. In this case, it is observed how the cables (2) pass through the corresponding mechanical transmissions and pulleys (3) and are connected to the respective motors (4) which control the rolling or unrolling thereof.
  • the motors (3) arranged on the upper part and the motors (3) arranged on the lower part pull or loosen the securing cables (2) in order to obtain the required length of each cable.
  • Figures 2a and 2b the wall-painting machine is illustrated in an upper view.
  • Figure 2b is a close-up view of the main body in which two wheel assemblies (7) and the ends of the cables (2), which are joined to the main body (1), can be observed.
  • the cables (2) comprises, at said ends, springs (8) and are joined to the main body (1) by means of cable supports (9).
  • Figure 3a shows the wall-painting machine in a lateral view and Figure 3b illustrates a close-up view of the main body of the wall-painting machine.
  • Many of the components can be observed therein which are housed in the main body such as the paint brushes (5), the motor system of the brushes (13), the sensors (19) and the control unit (12).
  • One of the paint sprayers (6) can also be observed which is arranged on the main body (1).
  • a unidirectional wheel assembly (7) has been illustrated in Figure 4 which has a star configuration, with three wheels (7) joined to each other by means of a central shaft around which they rotate (18).
  • FIGs 5a and 5b The wall-painting machine being displaced on the wall has been illustrated in Figures 5a and 5b.
  • the movement is achieved by pulling and extending the corresponding cables (2).
  • Figure 5a shows a position in which the main body (1) has moved downwards with respect to the position illustrated in Figure 1 a. This movement is possible by extending the upper securing cables (2) and pulling the lower securing cables (2), in a coordinated manner in order to obtain the desired position.
  • Figure 5b shows a position in which the main body (1) has moved upwards and laterally. To this end, the lower cables (2) are extended and the upper cables (2) are pulled in order to displace the main body (1) upwards and the left cables (2) are extended and the right cables are pulled for displacement to the right.
  • Figures 6a and 6b illustrate the wall-painting machine advancing on a wall on which there is an obstacle (22).
  • the main body (1) is shown in Figure 6a when it is going to pass the obstacle (22) and in Figure 6b the main body (1) is shown when is finishing to pass the obstacle (22).
  • FIG. 7 An exemplary embodiment of the wall-painting machine is observed in Figure 7 in which the paint sprayers (6) have been replaced with a robotic arm (15) having robotic joints (14) and a robotic clamp (16) for painting the wall.

Landscapes

  • Spray Control Apparatus (AREA)

Abstract

L'invention concerne une machine de peinture de parois pour parois de bâtiments, de bateaux, d'avions, de citernes, etc. Cette machine comprend un corps principal et un dispositif de fixation. Le dispositif de fixation comprend des câbles multiples et permet au corps principal d'être positionné en n'importe quel point de la surface. La machine comprend en outre un ensemble de roues omnidirectionnelles qui lui permettent de passer sur n'importe quel obstacle ou irrégularité présent sur la surface.
PCT/IB2016/055384 2016-06-24 2016-09-09 Machine de peinture de parois WO2017042729A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
PA91201 2016-06-24
PA9120101 2016-06-24

Publications (1)

Publication Number Publication Date
WO2017042729A1 true WO2017042729A1 (fr) 2017-03-16

Family

ID=62791453

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2016/055384 WO2017042729A1 (fr) 2016-06-24 2016-09-09 Machine de peinture de parois

Country Status (1)

Country Link
WO (1) WO2017042729A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107323558A (zh) * 2017-08-16 2017-11-07 潘长偌 一种磁吸式爬墙打钉装置
CN112681684A (zh) * 2020-12-28 2021-04-20 武汉二航路桥特种工程有限责任公司 自动爬行喷涂机器及其喷涂方法
CN113613795A (zh) * 2018-12-28 2021-11-05 巴西石油公司 涂层过程中使用的线缆机器人
WO2022266735A1 (fr) * 2021-06-22 2022-12-29 Smartec Tecnologia Ltda Équipement suspendu pour peindre et nettoyer des surfaces planes verticales

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3715774A (en) * 1971-01-20 1973-02-13 R Fannon Automatic window washer
US4674949A (en) * 1982-01-11 1987-06-23 International Robotic Engineering, Inc. Robot with climbing feet
US4687213A (en) * 1984-09-25 1987-08-18 Ridderstolpe Carl J Wheel assembly for traversing obstacles
US5408407A (en) * 1993-03-15 1995-04-18 Pentek, Inc. System and method for positioning a work point
US5890250A (en) * 1996-02-02 1999-04-06 Sky Robitics, Inc. Robotic washing apparatus
US6074484A (en) * 1996-09-25 2000-06-13 Mitsubishi Heavy Industries, Ltd. Painting tool
KR100258417B1 (ko) * 1997-12-26 2001-09-03 김덕중 벽면작업용로봇장치
US20080251010A1 (en) * 2007-04-13 2008-10-16 Ted Atwood Automatic Painting Device
US20090044833A1 (en) * 2007-07-13 2009-02-19 Ipc Eagle Corporation Stabilized vertical surface cleaning
EP2578367A1 (fr) * 2010-05-27 2013-04-10 Fundacion Tecnalia Research & Innovation Dispositif de positionnement commandé par des câbles

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3715774A (en) * 1971-01-20 1973-02-13 R Fannon Automatic window washer
US4674949A (en) * 1982-01-11 1987-06-23 International Robotic Engineering, Inc. Robot with climbing feet
US4687213A (en) * 1984-09-25 1987-08-18 Ridderstolpe Carl J Wheel assembly for traversing obstacles
US5408407A (en) * 1993-03-15 1995-04-18 Pentek, Inc. System and method for positioning a work point
US5890250A (en) * 1996-02-02 1999-04-06 Sky Robitics, Inc. Robotic washing apparatus
US6074484A (en) * 1996-09-25 2000-06-13 Mitsubishi Heavy Industries, Ltd. Painting tool
KR100258417B1 (ko) * 1997-12-26 2001-09-03 김덕중 벽면작업용로봇장치
US20080251010A1 (en) * 2007-04-13 2008-10-16 Ted Atwood Automatic Painting Device
US20090044833A1 (en) * 2007-07-13 2009-02-19 Ipc Eagle Corporation Stabilized vertical surface cleaning
EP2578367A1 (fr) * 2010-05-27 2013-04-10 Fundacion Tecnalia Research & Innovation Dispositif de positionnement commandé par des câbles

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107323558A (zh) * 2017-08-16 2017-11-07 潘长偌 一种磁吸式爬墙打钉装置
CN113613795A (zh) * 2018-12-28 2021-11-05 巴西石油公司 涂层过程中使用的线缆机器人
CN112681684A (zh) * 2020-12-28 2021-04-20 武汉二航路桥特种工程有限责任公司 自动爬行喷涂机器及其喷涂方法
WO2022266735A1 (fr) * 2021-06-22 2022-12-29 Smartec Tecnologia Ltda Équipement suspendu pour peindre et nettoyer des surfaces planes verticales

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