WO2022038423A1

WO2022038423A1 - Painter robot and exterior cleaner of the building

Info

Publication number: WO2022038423A1
Application number: PCT/IB2021/054192
Authority: WO
Inventors: Siavash SOTOODEH; Arman BEIRANVAND
Original assignee: Sotoodeh Siavash; Beiranvand Arman
Priority date: 2021-05-16
Filing date: 2021-05-16
Publication date: 2022-02-24

Abstract

The intelligent robot is a painter and cleaner of the exterior surfaces of tall buildings that has access to all points on the surface of the building, which is divided into two parts: the robot moves on the surface of the outer wall of the building in a non-contact form and a robotic manipulator spray nozzle. Using this device, the protrusions of the wall surface such as columns or the indentations of the wall surfaces can be painted, which the robot is able to do about 2.5 meters. The robotic manipulator connected to the moving plate of the device is responsible for bringing the spray nozzle to the desired point with different depth or angle and must be able to have a degree of freedom at different angles, and move perpendicular to the wall and it has 3 degrees of freedom

Description

Painter robot and exterior cleaner of the building

Scaffolds essentially supported by building constructions, adjustable in height (E04G 3/00) and paintind and cleaning with robots

Various designs have been presented to build a painter and facade cleaner robot, each of which, in addition to their advantages, has its disadvantages and disadvantages, some of which we will examine below.

Autonomous painting systems and related methods

US20180093289

An automated mobile paint robot, according to particular embodiments, comprises: (1) a wheeled base; (2) at least one paint sprayer; (3) at least one pump; (4) a vision system; (5) a GPS navigation system; and (5) a computer controller configured to: (A) generate a room painting plan using one or more inputs from the GPS navigation system, vision system, etc.; (B) control movement of the automated mobile paint robot across a support surface: (C) use the vision system to position the wheeled base in a suitable position from which to paint a desired area using the at least one paint sprayer; and (D) use the at least one pump to activate the at least one paint sprayer to paint a swath (e.g., swatch) of paint from the suitable position.

This design has a rail structure and is used for walls with a height of less than 4 meters. While the design presented by me is due to the use of power cable without height restrictions and contrary to this design is used for tall buildings and towers.

Cable robot movement system using adjustable supports

GB2548349

A cable robot system may be used to clean a building. The system may comprise a central element 1 connected to a plurality of cables 2 which may be connected to a plurality of winches or pulleys 3 located at the edges or corners of a building. The central element may be steered or guided around the face of the building by selectively operating the winches to shorten or lengthen cables 2 and by use of an intermediate wheel like support 5 that is located on each of the cables. The central support means may have a telescopic arm (1, Figure .5) and may be fitted with a pulley (7, ) or a winch means (6, Figure .3). The central element may be fitted with repair and cleaning tools such a brushes and/or nozzles, and/or painting, plastering tools.

This robot is used for smooth walls and is not able to paint and clean the depressions and extensions of the wall surface. But the robot presented by me, in addition to the ability to paint these parts, is compatible with the types of architecture and building materials used, and while having the ability to adjust the automatic or semi-automatic mode by receiving and displaying live spray point images, to control Accurate spraying by the operator helps.

Assembly for preparing and/or painting large surfaces

AU2019101165

An assembly 10 for preparing and/or painting large surface areas such as building walls comprises mounting means 20 and a movable applicator 40. The mounting means 20 provides a means for positioning the movable applicator 40 adjacent the wall surface 104, and allowing the movable applicator 40 to move along the wall surface 104. The assembly 10 can be mounted to a wall 100. The assembly 10 preferably uses existing roof anchor points 102 of the wall 100, for preparing and/or painting a large surface 104 of the wall 100. In an alternative embodiment, the mounting means 20 can move the movable applicator 40 along the wall surface 104. This invention is a lift supported by 2 rods, which with the designed structure cannot be used in different dimensions, and my design has solved this problem.

Automatic paint spraying apparatus for painting outer wall of building or ship which easily and safely paints outer wall of ship in shipyard apartment or building

KR1020060103569

PURPOSE: An automatic paint spraying apparatus for painting outer wall of building or ship is provided to protect painting workers safely from industrial disaster, like fall accident from high position or asphyxiation accident in a closed space, and allow workers to easily carry out the painting work irrespective of height or width of the target.

CONSTITUTION: The automatic spraying apparatus for painting outer wall of building or ship comprises: a paint sprayer(10), composed of a sprayer body with a paint and compressed air, many paint spraying nozzles(14), and a compressed air hose(16); a sprayer supplying unit, composed of a paint supply tank(22), a paint supply pipe, a paint supply pump(26), an air compressor(28), and an air supply pipe(29); a sprayer fixing unit(30), composed of an upper support(32), a lower support(34), a vertical guide bar(36,36'), and a moving wheel(38,38'); an upward/downward moving member for the paint sprayer(10), composed of a raising cable(45) for raising the paint sprayer(10), and a dropping cable(55) for dropping the paint sprayer(10); and a control operator(60). This design is an electrical mechanism for painting a smooth surface that has a limited change in the height of the building, and in addition is not able to clean the surface of the building.

Wall surface – cleaning robot

CN208349919

The utility model provides a wall surface -cleaning robot, it’s the robot can follow and treat abluent wall walking, and the shower nozzle device can be treated abluent wall and wash on locating the robot, and the control unit is used for controlling the robot's walking and the work of shower nozzle device, and umbilical cable includes the water pipe that communicates shower nozzle device and the feeding device that provides clean water at least. Through the utility model discloses a wall surface -cleaning robot, the walking of the control unit control the robot, feeding device passes through the clean water of umbilical cable pump sending, cleans the wall through the shower nozzle device for this wall surface -cleaning robot can rinse walls such as large -scale steel wall, especially boiler water wall, and the robot and the feeding device who provides clean water divide to open set up, can lighten the robot's weight, makes its weight reduction when the wall is walked. This lifting robot is only used on smooth surfaces and is only for cleaning.

High rise glass curtain wall cleaning system

CN106618360

The invention discloses a high-rise glass curtain wall cleaning system which comprises a roof fixing device and a cleaning mechanism, wherein a steel cable connecting head is arranged on the roof fixing device and connected with a steel cable track; the cleaning mechanism consists of an electric cleaning disc and an electric push rod which are connected through an electric sliding table, the electric sliding table controls the distance between the electric cleaning disc and a glass curtain wall, the electric cleaning disc can move left and right along the electric push rod, furthermore, the cleaning mechanism and an electric lifting device are connected with the steel cable track through a lead screw nut, and do linear up-down motion along the electric lifting device; a cleaning solution container is arranged on one side of the electric cleaning disc, the electric cleaning disc is connected with a pressurized cleaning device and further connected with a water supply hose, wherein a liquid supercharger is arranged on the pressurized cleaning device. The high-rise glass curtain wall cleaning system replaces the traditional mode that the glass curtain wall is fixed and moved by means of a sucker, and the stability and the flexibility of the system can be effectively enhanced. This lifting cable robot, which can be moved up and down in the direction of 2 rigid cables by 2 motors in the middle plate of the robot, is also used only on smooth surfaces and is only for cleaning.

In general, the presented samples have a common goal, which is to wash and paint the exterior walls smoothly. Each of the above designs has its strengths and weaknesses, but they are all designed for smooth surfaces and unobstructed (albeit small) walls. It requires a mechanism for moving freely and without contact on the wall surface for proper painting, a mechanism for spraying paint or washing liquid at different angles and at different depths. As a result, the differences between the design presented in this file and the previous designs can be divided into two categories:

The first category is the differences in the movement mechanism of the robot, which is responsible for delivering the paint gun or brush to a specific point for painting or washing. In the proposed design, only 2 motors are used, one is responsible for raising the middle plate of the robot and the other is responsible for tightening the cable rail of the robot so that the middle plate moves in a certain direction and with a certain strength and prevent screen rotation. As a result, it has important features compared to the presented examples, such as increasing flexibility, reducing construction and execution costs, being versatile, as well as the ability to be installed on the roofs of buildings or even on scaffolding.

The second category of differences is in the practice of spraying paint, in which there are important features to be able to apply the best performance in different parts of a building with any depth or angle of spraying. In the proposed design, unlike previous designs, the paint spraying mechanism has been added and the robot, in addition to being able to reach any part of the building without touching its wall, can also spray paint at different angles as well as at depths or different side levels. As a result, the ability to reach these points is a unique feature that originates from the manipulator mechanism. Also, the modularity of the manipulator gives us the feature that instead of spraying paint, the robot can be used as a robot for cleaning building surfaces.

The presented device is an intelligent robot that can be used to paint and clean the exterior surface of all buildings with a variety of architectures and materials used in the facade, and the ability to access all points on the building surface, including recesses and exits and Performs painting and washing operations on surfaces. And because of its cable, it has no height limit and can be used for all tall buildings. This robot can be adjusted to semi-automatic and automatic mode. In semi-automatic mode, the user controls all matters wirelessly with just a lever, and in automatic mode, according to the planned plan, spraying and moving work by The minicomputer is done. The system of recording and instantaneous display of images from the moving screen and coloring place is also used in this robot so that the user or observer is informed about the operation at any time. Due to the high accuracy of positioning the device and the precise movement of the moving plate, this robot can spray paint or detergent in any position and direction on the surface of the building.

Today, due to the expansion of communities and the lack of urban space, lifestyles have changed and villas have been replaced by apartments and high-rise buildings and towers. Washing, cleaning and painting these high-rise buildings has always been a risky, time-consuming, costly and challenging task that has yet to be addressed comprehensively.

The lack of a suitable solution to this problem has caused some owners and residents of the building not to clean the surface and facade of the building or paint because it is challenging, which in addition to disrupting the visual appearance of cities, also causes the transmission of pollution. Or they use traditional methods, such as scaffolding or the installation of forklifts, or hanging from a window for cleaning, painting or cleaning the facade, which is associated with many risks and is time consuming and costly.

Therefore, finding an easier way to paint the building surfaces or wash the facade of the building in a simple way and with the help of new technologies and by the robot, with a suitable and optimal cost is considered as a technical challenge. On the other hand, designing and building a robot with these features along with its appropriate cost is challenging, and the robot must be able to paint automatically, semi-automatically or manually in different conditions for different buildings. Each building has its own characteristics, for example the presence of thicknesses, protrusions, doors and windows and uneven points are found in most buildings, and the fact that a robot can perform the task of painting the building correctly is another big challenge.

As a result, access to any point of the building wall and indented and angled points, as well as proper spraying of paint or proper application of surface washing method to the exterior walls of the building is one of the technical problems in this field and the low cost of solving all these challenges is not provided for it. The presented device is an intelligent robot that has been designed and built to solve these problems as well as reduce financial, time and energy costs. It is able to position the device with high accuracy in order to move the moving screen and achieve the desired position and direction in spray paint. Painting and cleaning the exterior surface of all buildings with a variety of facades and materials used.

Solution of problem

The presented device is an intelligent robot that paints and cleans the exterior surfaces of tall buildings, which has the ability to access all parts of the building surface, including roughness, and to perform painting and washing operations on the surfaces.

The design and construction of this robot is divided into two parts.

Design and Construction of a contactless robot for the above purposes which can access the preferred position on the building surface

The manipulator to be installed on the end-effector of the robot,

The design of these two parts is done with a mechatronic view in order to achieve the above goals.

Design and construction of a robot for contactless moving on the outer wall of the building.

In order to construct a non-contact moving mechanism on the outer wall of the building with the aim of bringing the end-effector in front of the point, that should be painted or washed, an actuator with remote control is used to move the end-effector on the wall in the vertical axis to move in the horizontal axis, the manual displacement is used, and to move the operator, it moves the lower and upper part of the device in the desired direction to the device control the position of the robot end-effector.

The transfer plate on the wall surface of the building must have a suitable rigidity in the direction perpendicular to the wall surface in order to guarantee its distance from the wall and against the disturbances, because the hanging of the middle plate from the wall allows rotation and rotation. When there is an external disturbance, it becomes like wind, and on the other hand, a robotic manipulator brushing and washing can apply force to the wall. For this purpose, 2 cables under maximum tension are connected in parallel from the ground floor (on the base on the ground of the device) to the upper part of the device (on the roof or ...) so that the plate moves between them. In this way, the end-effector moves in a certain direction on one side and on the other hand, the possibility of free movement of the final executor of the robot is taken.

With this method, the robot can apply force to the wall without moving the vertical axis on the wall, and this feature can be used to wash the surface or some painting tasks.

The designed system done in this section is shown in . This image shows the components of the end-effector. In this picture, the robotic manipulator is shown in a simple way, but the robotic manipulator is presented in detail in .

The accuracy of positioning in the robot depends on the type of electrical and mechanical devices used. In this device, according to the engine and gearbox used, the accuracy of the device to control the position of its moving plate is about 2 cm. As a result, the moving plate can be moved with a resolution of 2 cm, and the speed of the device can be different depending on its type of operation and painting, and the electric motor used can be adjusted for different speeds, as well as spraying accuracy. It also depends on the tools used in the robotic manipulator, which are described below.

The device is programmed in such a way that a person can control it without the need for any special technical background. This feature is created by a joystick and an online image received from the camera connected to the final executor of the robot, and as a result, it is easy to use the device at any height and its control is simplified.

The components of this part are as shown in of each issue, some of which we describe: an electric motor that is responsible for the vertical transfer of the moving plate, the movable base of the upper part of the device, a gearbox that In order to increase the power of the motor, it is connected to the motor and the drum, the motion control panel and the motor power with wireless communication capability to control the vertical movement by the operator or automatically by the minicomputer. Clamps for tightening cables and support of the removable plate of the device, the clip for connecting the cable to the movable plate of the device.

Other components of this device include a removable plate of the device on which a robotic manipulator and nozzle or a washing brush are installed, a pulley that is used to pass the clamping cables and to the plate. It is connected and designed from the bottom to the top of the device in order to harden the movement of the moving plate and in the 4 corners of the device, there is a control panel for the robotic manipulator and the spray nozzle, the part of the robotic manipulator and the nozzle that connects to the moving plate, the paint pump hose or the washing liquid to the robotic manipulator and the nozzle.

This part of the robot also has the following: Support cable tightening drum for the moving plate which is connected to the gearbox and then to the lower electric motor, cable and gear tightening cable, the paint and air pump, which is installed on this device in order to send the ink to the controlled nozzle installed on the moving plate of the device, displays the image of the camera mounted on the moving plate for better control of spraying, Joystick (lever) and controller of the whole device wirelessly, which is responsible for controlling the movement of the device and controlling the nozzle and the robotic manipulator.

As a result, the moving surface of the device is controlled wirelessly by a joystick. This control includes moving the plate to which the robotic manipulator is attached, as well as controlling all movements of the robot manipulator as well as the spray nozzle command. This joystick is used when the device control is in operator mode and semi-automatic, and in automatic mode, this joystick has only the task of controlling the safety of the device, and the device itself can paint and clean according to the building plan according to the previous plan.

The rigid cables of the device make the robot's displacement plate more rigid, and as a result, when an external agent wants to move the plate, these cables will not allow, and as a result, the plate will be able to apply force to the wall. This feature can be used in brushing and washing cases.

Design of robotic manipulator for spray paint nozzle

The second part of the design is related to the robotic manipulator and the paint spray nozzle to the desired point, which we will describe in this section:

The robotic manipulator connected to the moving plate of the device is responsible for bringing the spray nozzle to the desired point with different depth or angle. As a result, it must be able to have a degree of freedom at different angles, and move perpendicular to the wall, and according to the defined need, the robotic manipulator has 3 degrees of freedom, 2 degrees of angular freedom and one includes degree of transitional freedom.

This robotic manipulator is attached to a movable plate and as a result can be placed anywhere in the building and spray paint at any desired depth and at a suitable angle. This desired depth is based on the maximum linear length of the dependent manipulator. shows the design of this mechanism, which has the above features.

As you can see in 2, in this design, there is a linear joint and 2 revolute joints that are connected and form the robotic manipulator of the device. The robotic manipulator is attached to the movable plate by a clamp. The components of this manipulator are introduced as follows:

Sliding linear forward joint shaft (No. 1 in ), the camera transmitting the image to the operator's available monitoring system, the robotic manipulator linear joint, which is responsible for moving the manipulator perpendicular to the wall, links to the second and rotating joints of the manipulator that move around the axis parallel to the wall surface, electric motors to control the spray angle, Electrical spray gun, as well as the moving plate of the device (No. 8 ) and air hose and paint liquid that attaches to the pistol.

This manipulator is controlled wirelessly by the joystick at the bottom, and it also has the ability to be manual and automated, which in automatic mode, performs spraying and moving work according to the planned map. The pistol mounted on the final executor of the robotic manipulator sprays remotely, and the paint liquid and air pressure reach it through two hoses and spray the paint pistol with appropriate electricity. At the same time, a camera is transmitting images from the moving screen and coloring location to the bottom display system at any time so that the user or observer is in the process of performing the operation at any time.

As a result, the final system is completely built by connecting the robotic manipulator to the device and can be used to perform the stated purposes. This device is completely electric for the vertical movement and paint and its robotic manipulator is powered by city electricity.

The speed of linear motion in the designed robotic manipulator is about 1 cm / s in the direction perpendicular to the wall and about 50 ° / s in the angle movements, and as a result it can spray in different directions with speed. It can also paint the depths and recesses of surfaces. The resolution of the position resolution in the designed robotic manipulator is about 0.1 cm in the direction of linear movements and 1 degree in the rotational axes.

All the parameters of the robotic manipulator are controlled by a joystick that controls the moving plate, and in fact only one joystick is used to control the whole device and the manipulator.

Part of the design costs in the robotic manipulator part, which also has an optimal design and its cost is minimized to a reasonable extent.

Advantage effects of invention

A robot designed and built to paint or wash the exterior walls of a building using depth or protrusions on the surface of the building wall, in this design a comprehensive solution for painting the building. It is presented, which in turn is a great innovation. Also, this machine can be modularly turned into a washing machine by water jet or brush. The device proposed in this design can perform its tasks without any contact with the wall surface of the building, and also all obstacles such as protrusions, edges and columns do not interfere with the operation of the device. As a result, the capability created by the addition of a robotic arm to the device, makes it possible to paint any point at a specific depth or angle in a building, and therefore can be used for different types of buildings with different views. This device has the following capabilities:

Ability to work on buildings with different architectures and building materials

Ability to work on buildings with different heights

Good positioning accuracy in the robotic arm of the device and positioning of the movable plate

Ease of operation that an operator can easily work with in any situation

Adjustable device speed

Ability to work on different parts of the building, including the roof of the building or other areas such as terraces and balconies

Ability to access the entire outer surface of the building wall

Do not contact the wall in order not to deal with protrusions and obstacles on the wall surface (such as window edges or columns, etc.)

Ability to apply force to the wall and as strict as possible the final movement of the robot in the axis perpendicular to the wall, for times that need to be washed with a brush or apply force.

Ability to access recessed and deep points on the outside of the building, such as terraces or window sills or columns, etc.

Ability to access protrusion points on the building surface

Ability to apply paint to angled points so that in addition to direct spraying, for example, the ceiling of a recessed point such as a terrace or recessed surfaces of a column can be painted.

Ability to be a modular final executor of the robot that can be used for washing, painting or even building infrastructure.

Remote access and control of spraying and movement that can be operated

Receive live images from the spray point for more accurate control by the operator

Ability to automate and semi-automate the device

: The components of the moving page are shown. In this picture, the robotic manipulator is shown in a simple way, but the robotic manipulator is presented in detail in .

: Robot manipulator design in this design, there is a linear joint and 2 rotary joints that are connected to each other and form the robotic manipulator of the device. The robotic manipulator is attached to the movable plate (No. 8 in ) by a clamp.

: 1. Electric motor that has the task of vertical transfer of the moving plate 2. Movable base of the upper part of the device 3. Gearbox connected to the motor and drum to increase the motor power 4. Control panel and motor power with the ability to connect wirelessly to The purpose of remote vertical movement control by the operator or automatic by a minicomputer 5. Cable collector drum connected to the moving plate 6. Tightening cable clamps and support of the moving plate of the device 7. Cable connection to the cable Removable plate of the machine 8. Removable plate of the machine on which the robotic manipulator and nozzle or washing brush is installed The bottom to the top of the device is designed to stiffen the movement of the moving plate and there are 4 corners of the device. 11. The part of the robotic manipulator and nozzle that is connected to the removable plate 12. The hose of the paint pump or the washing liquid to the robotic manipulator and the nozzle 13. The tightening drum of the support cable for the removable plate to The gearbox is then connected to the lower electric motor 14. The motor and gearbox tighten the cable 15. The paint and air pump to send the paint to the controlled nozzle installed on the moving plate of the device 16. The camera image displays of the installation camera On the movable plate for better control of spraying 17. Joystick and controller of the whole device wirelessly, which is responsible for controlling the displacement of the device and controlling the nozzle and robotic manipulator 18. The wall and the outer surface of the building.

: 1. The linear joint of the robotic arm that is responsible for moving the arm in the direction perpendicular to the wall 2. The link for the second joint and the rotation of the arm that moves around the axis parallel to the wall surface 3. The link for the third joint and rotation around the axis 4. Electric motors to control the injection angle 5. Pistol with electric spray capability 6. Movable plate of the device (No. 8 ) 7. Progressive shaft of sliding linear joint (No. 1 ) 8. Air and liquid hose that is connected to the pistol 9. Camera that transmits the image to the operator's hand monitoring system

Examples

This robot is made by connecting two parts on non-contact surfaces and a robotic manipulator on the final operator in such a way that it connects 2 cables under maximum tension in parallel from the base on the ground to the upper part of the device which is located on the roof and allow the device to move between them. This moving plate is controlled by a lever wirelessly. It should be noted that this robot has the ability to control automatically and in the semi-automatic mode, an operator (a person without any special technical background) with a lever controls all the movements and movements of the robot and the nozzle spray. In automatic mode, spraying and moving work is done according to the planned plan.

The pistol mounted on the final executor of the robotic manipulator sprays remotely, and the paint liquid and air pressure reach it through two hoses and spray the paint pistol with appropriate electricity. At the same time, a camera is transmitting images from the moving screen and coloring location to the display system at any time so that the user or observer is in the process of performing the operation at any time.

The presented robot has the ability to paint the exterior of the building and wash the exterior wall of the building, and by having an arm on its final executor, it can spray paint in different directions and with different depths, and for different types of buildings. Short and long buildings are used with a variety of architectures and materials used and with the ability to access the entire outer surface of the building wall is able to paint and clean all the protrusions and indentations and has a depth on the outer surface of the building, such as terraces.

Claims

The intelligent robot is a painter and cleaner of the exterior surfaces of tall buildings that has access to all exterior surfaces of the building based on the actuator features.
According to claim 1, the design and construction of this robot is divided into two parts: the construction robot moves on the surface of the outer wall of the building in a contactless movement manner and the robotic manipulator of the paint spray nozzle.
According to claim 2, to create a contactless movement mechanism on the outer wall of the building, an electric motor with remote control is used to move parallel to wall in the vertical axis and to move in the horizontal axis of the system. The operator is used to move the operator up and down the machine in the desired direction so that the machine can access any part of the building.
According to claim 3, in order to move the transmitted plate in a certain direction and prevent the free movement of the robot, it uses 2 cables under maximum tension the vertical axis (on the base on the ground of the device) to the upper part of the device and the page moves between them.
According to claim 1, the device is designed in such a way that a person can control it without the need for any special technical background. This feature is created by a joystick and an online image received from the camera connected to the final executor of the robot, so it can be easily used at any height of the device.
According to claim 5, the moving plate of the device is controlled wirelessly by a joystick. This control includes moving the plate to which the robotic manipulator is attached, as well as controlling all movements of the robot manipulator as well as the spray nozzle command. This joystick is used when the control of the device is in manual mode and semi-automatic, and in automatic mode, this joystick has only the task of controlling the safety of the device, and the device can paint or clean according to the previous schedule.
According to claim 1, the components of the robot include: electric motor, movable base of the upper part of the device, gearbox, motion control panel and motor power with the ability to communicate wirelessly to control vertical movement by the operator or automatically by minicomputer , Cable retractable cable attached to the movable plate, clamps of the clamping cables and support of the movable plate of the device, the cable connecting the cable to the movable plate of the device, the movable plate of the device which is the manipulator Robotic and nozzle or washing brush is installed on it, pulley that is used to pass the clamping cables, robotic manipulator control panel and spray nozzle, robotic manipulator and nozzle, paint pump hose and Or washing fluid to the robotic manipulator and nozzle, the support cable tightening drum for the moving plate which is connected to the gearbox and then to the lower electric motor, the cable and gear tightening cable, the paint pump and the wind to the In order to send color to the controlled nozzle installed on the moving plate of the device is installed on this device, the camera image display mounted on the moving plate To better control the spray, the joystick (lever) and the whole device controller wirelessly, which has the task of controlling the movement of the device and controlling the nozzle and the robotic manipulator.
According to claim 7, the robotic manipulator connected to the moving plate of the machine is responsible for delivering the spray nozzle to the desired point with different depth or angle and must be able to have a degree of freedom at different angles and move in the direction perpendicular to the wall that the robotic manipulator in question has 3 degrees of freedom, which includes 2 degrees of angular freedom and one degree of transitional freedom.
According to claim 8, a linear joint and 2 rotary joints are connected to form the robotic manipulator of the device and are connected to a movable plate by a clamp. Which has a sliding linear joint forward shaft, a camera that transmits the image to the operator's available monitoring system, a robotic manipulator linear joint that is responsible for moving the manipulator perpendicular to the wall, links to the second joints, and The manipulator rotation, which moves around an axis parallel to the wall surface, is powered by electric motors to control the spray angle, the spray gun with electric spray capability, as well as the moving plate of the device and the air and liquid hose attached to the joystick.
According to Claim 9, the velocity of the linear motion in the robotic manipulator is about 1 cm / s in the direction perpendicular to the wall and about 50 ° / s in the angular motion and thus it can spray in different directions. It can be done quickly and can also paint the depths and depressions of the surfaces, and the accuracy of position resolution in the robotic manipulator is about 0.1 cm in the direction of linear movements and 1 degree in the rotational axes.
According to claim 10, using this device, the protrusions of the wall surface such as columns or the indentations of the wall surfaces can be painted, which the robot is able to do about 2.5 meters.
According to claim 1, since the lowering point of the cable can be moved at the top of the device, the protrusions can be covered and painted up to 1.5 or 2 meters. This feature is due to the fact that the base of the robot can be moved perpendicular to the wall, and on the other hand, the robotic manipulator itself can be moved about 65 cm.
According to claim 1, in the parallel cables being stretched, which reduces the final displacement of the robot in the direction perpendicular to the wall, a force can be applied to the wall, and this force depends on the length of the two parallel cables and the amount of tension.