JP2895808B2 - Painting equipment for traces of foot cuttings - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for automatically painting a trace of cutting a leg of a footrest in an existing manhole.

[0002]

2. Description of the Related Art In an existing manhole, a plurality of footrests are arranged in one or two rows in a vertical direction, and by using this, a worker moves up and down the manhole. I have.
However, when the manhole is used for a long period of time, the footwear may be corroded, and a danger may be sensed when the worker goes up and down. Therefore, an attempt has been made to automatically replace the footrest in the existing manhole (for example, see Japanese Patent Laid-Open No.
-158388).

According to the above-mentioned prior art, a work provided with a wire device is arranged on the upper surface side of a manhole, and a leg of a footholding tool is cut on a wire from the wire device. The robot is suspended, and the robot is controlled and operated on the ground. In addition, no special consideration is given to how to treat the trace of cutting of the leg of the footrest.

[0004]

Therefore, according to the above-mentioned prior art, even if the footrest in the existing manhole is replaced, the cutting trace of the leg of the old footrest remains as it is, and the footrest is removed. When cutting up and down the manhole after replacement, this cutting trace becomes an obstacle and the appearance is not good. Therefore, it is conceivable to paint the cutting trace using a work robot. However, since the work robot is hung by a wire from a wire device, it is difficult and troublesome to accurately oppose the work robot to a position to be painted and to fix the work robot at that position. In addition, it is troublesome and troublesome to move the work robot in response to a large number of cutting traces existing in the vertical direction in the manhole to position and fix the work robot.

The present invention has been made in view of the above-mentioned problems of the prior art, and an object of the present invention is to provide a cart for holding a painting robot and a rail for guiding and fixing the cart. An object of the present invention is to provide a coating device for a leg cutting mark of a footrest tool, which can easily, easily, accurately, and quickly apply a coating operation for a leg cutting mark of the footrest tool using a tool.

[0006]

Means for Solving the Problems In order to achieve the above object, the present invention provides a coating device for a leg-cutting mark of a footrest tool,
What is claimed is: 1. A coating device for a leg cutting mark of a footrest provided on a truck mounted on a rail in a manhole so as to be able to move up and down, wherein the coating device is pivotable with respect to the truck. A plurality of sliders attached to the slider box, a coating head is fixed to the lowermost slider via a lock head, and the coating head is provided with a paint pressurized tank fixed to the lock head. A paint spray gun connected to the paint pressurizing tank via a tube, a pressurizing tube for supplying pressurized air to the paint pressurizing tank, a delivery positioning stopper, and the like. It is characterized by the following.

[0007]

1 and 2 relate to an embodiment of the present invention. FIG. 1 is a perspective view of an automatic replacement device for a footrest, and FIG. FIG.

In FIG. 1, reference numeral 1 denotes a man phone indicated by a virtual line.
A base 2 disposed on the upper surface side of the base 2;
Is a rail guided and held by a rail lifting device 4 provided in the robot, 5 is a robot mounting trolley guided and held by the rail 3, and 6 is provided in the trolley 5. It is a robot setting rail for setting and holding a work robot for cutting, blasting, painting, drilling, putting in or bonding an adhesive, etc. of a footrest.

The base 1 has a horizontal holding device 7 composed of a hydraulic jack and an upper surface entrance hole 8 of the manhole 2.
An annular fixed base 10 having a guide plate 9, 9 for centering to be fitted into the base, and a rail elevating device which is rotatable with respect to the fixed base 10. And an annular turning base 11 provided with a base 4. The turning base 11 stops its rotation by a brake 12 attached to the fixed base 10 and stops the turning. Is to be fixed.

On the turning base 11, motors 13, 13 used for the rail lifting device 4 are installed so as to face each other. The gearboxes 14 are arranged, and power from the gearbox 14 is transmitted to rail lifting gears 16 provided on the rail guides 15. And
Between the two boxes 14, 14, the rail lifting gear 16,
A tuning device 17 for tuned rotation of 16 is arranged. Therefore, the rail 3 is moved up and down by the rail elevating device 4 by driving the motor 13, and is held by the rail elevating device 4 by stopping the motor 13.

On the outer surface near both ends of the semicircular arc portion of the rail 3, the rail lifting gear 16 of the rail lifting device 4 provided on the turning base 11 of the base 1 is provided. A rail lifting rack 25 meshing with the rail 16 is formed, and a bogie engaging with the bogie lifting gears 32 provided on the bogie 5 is provided on an inner side surface near both ends of the semicircular portion of the rail 3. Elevating racks 26 are formed facing each other. In addition, both racks 2
A bogie elevating guide rail 27 is disposed between 5 and 26.

The truck 5 is accommodated in a semicircular arc region of the rail 3. The truck 5 has a motor 31 for driving the truck lifting gears 32 on its upper surface 31.
A self-propelled device consisting of a motor 33 and a trolley 5 and a relay box 34 for controlling the work robot are mounted. In the trolley 5, a robot mounting positioning pin 35, a robot control connector 36 and a robot setting rail are provided. 6 are provided for the work robot. And the cart 5
Is guided by the carriage elevating guide rail 27 to ascend and descend by itself.

[0013] The automatic operation of the foot-holding device having the above-mentioned construction, the basic operation is to first install the rail when installing the upper hole 8 of the existing manhole 2.
The guide plates 9, 9... For centering provided on the fixed base 10 of the base 1 are positioned in the fitted state. In this state, the hydraulic jack is adjusted, and the horizontal holding device 7 adjusts the base 1 Is set in a horizontal state.

Next, the base 3 is moved to a position where the opening side of the rail 3 having a semicircular arc section fed by the rail lifting / lowering device 4 of the base 1 can face the footholding tool in the manhole 2. The first turning base 11 is rotated, and the turning base 11 is fixed to the fixed base 10 by the brake 12 at that position.

Next, the bottom rail 21 is mounted on the rail lifting device 4 of the base 1, and the rail lifting gear 16 of the rail lifting device 4 and the rail lifting rack of the bottom rail 21 are provided. 25 and drive the motor 13 to drive the bottom rail 21
Is lowered into the manhole 2. Then, the bottom rail 21 and the intermediate rail 22 are connected in a state where the upper part of the bottom rail 21 is located on the rail lifting device 4, and the bottom rail 21 and the intermediate rail 22 are further connected. Manhole 2
And repeat this operation until the bottom rail 21
With the lower end of the rail extended to near the bottom of the manhole 2, the top rail 23 is placed on top of the middle rail 22 at the top.
And the top rail 23 is held by the rail lifting device 4.

In this manner, with the rail 3 installed in the manhole 2, the top rail is turned on the turning base 11.
The bogie 5 is inserted from the opening side of the rail 23 to a position where the bogie elevating gears 32 of the self-propelled device of the bogie 5 engage with the bogie elevating rack 26 of the rail 3.
The trolley 5 is mounted inside. Next, a desired work robot is fed into the carriage 5 by using the robot setting rail 6, and the female side of the work robot is set on the robot mounting positioning pin 35 and the robot control connector 36 to set the work robot. The trolley 5 is held.

Next, the motor 33 is driven via a relay box 34 by remote control to lower the carriage 5 to a desired position, and the work robot set on the carriage 5 is moved to a man-home.
At this position, the motor 33 is stopped and the carriage 5 is held on the rail 3 at a position where the work in the rack 2 is opposed to the trace of the leg cut of the footrest. In this state, the robot control connector is further remote-controlled via the relay box 34.
A desired operation is performed by the operation robot by operating 36.

One work process is performed by the work robot,
For example, when the painting of the pair of leg cutting marks of one foothold is completed, the motor 5 is driven to move the carriage 5 so that the work robot faces the next cutting mark, and is fixed. When the painting operation is repeated and, for example, the painting of the leg cutting marks of all the footrests is completed, the motor 33 is driven to lift the carriage 5 to the swivel base 11, and the carriage is lifted. The work robot in 5 is replaced with a work robot for the next work process, for example, a work robot for drilling a hole for inserting a leg portion of a footrest, the carriage 5 is lowered, and the work robot set on the carriage 5 performs a drilling operation. . In this way, working robots such as leg cutting of footrests, blasting of cutting marks, painting of cutting marks, punching, feeding of adhesive, or driving are sequentially set on the trolley 5 to perform desired operations. .

Incidentally, a work robot as shown in FIG. 2 is used for painting the trace of cutting the leg of the footrest.
That is, the work robot 50 includes a fixed portion 51 fixed to the carriage 5 and a moving portion 52 that can turn with respect to the fixed portion 51.
It is composed of

The fixed part 5 of the working robot 50
1, a robot mounting positioning female portion 53 into which the robot mounting positioning pin 35 arranged on the carriage 5 is inserted;
Robot control connector-Connector connected to 36-
A motor 55 for turning the moving part 52 and the moving part 52, an air cylinder 56, a turning shaft bearing case 57 and the like are arranged.

The moving part 52 of the working robot is configured so as to be able to turn as a whole by the motor 55, and the moving part 52 can accommodate three-stage sliders 58, 59, and 60 and is fixed. A slider box 61 pivotally mounted on a shaft (not shown) in a swivel shaft bearing case 57 in a portion 51, a resin hopper 62 installed on the upper surface of the box 61, and a lower portion of the box 61 mounted below the rear portion. TV camera, lighting and laser marker 63,
A coating head 65 and the like fixed to the lowermost slider 60 via a lock head 64 are arranged. And
The coating head 65 includes a paint pressurizing tank 66 fixed to the lock head 64 and a paint spray gun 68 connected to the paint pressurizing tank 66 via a tube 67.
, A pressurizing tube 69 for supplying pressurized air to the paint pressurizing tank 66, a delivery positioning stopper 70, and the like.

As described above, the work robot 50 for painting the trace of cutting the leg of the foot-holding tool is mounted on the swivel base 11 from the opening side of the top rail 23 as described above. The part 51 is fixedly set on the carriage 5. And
The trolley 5 is lowered by driving the motor 33 via the relay box 34 by remote control, and the position where the work robot 50 set on the trolley 5 faces the cutting mark to be painted in the manhole 2 is determined. The detection is made by the thermal marker 63, the drive of the motor 33 is stopped at that position, and the carriage 5 is held on the rail 3.

In this state, the slider air cylinder provided on each of the sliders 58, 59 and 60 is further operated via the relay box 34 by remote control to operate each of the sliders 5-5.
8, 59 and 60 are extruded from the inside of the box 61 toward the wall surface of the manhole 2, and the delivery positioning stopper 70 of the coating head 65 is brought into contact with the wall surface of the manhole 2.

In this state, the paint spray gun 68 is directed to the cutting mark 71, and the compressed air from the air cylinder 56 is supplied to the paint pressurizing tank 6 through the pressurizing tube 69.
6, the paint in the paint pressurizing tank 66 is sent to the paint spray gun 68 together with air, and is sprayed from the paint spray gun 68 toward the cutting trace 71, and the cutting trace 71 is coated with the paint. .

When the coating of one leg cutting mark of the foot rest is completed, the coating head 65 is moved out of position.
0 is moved away from the wall surface of the manhole 2 and the entire moving portion 52 is slightly swung toward the other leg cut mark to be painted, and then the tip of the delivery positioning stopper 70 is again moved to the manhole 2. Contact the wall. Hereinafter, the coating of the other leg cutting mark is performed by the same operation as the coating of the one leg cutting mark.

When the painting of both the leg cutting marks of the foot rest is completed, the motor 33 is driven via the relay box 34 by remote control, and the carriage 5 is cut into the next cut foot rest. It is lowered to a position facing the mark, and at that position the motor 33
Is stopped, the carriage 5 is held on the rail 3, and the same operation as described above is performed to paint both the foot cutting marks of the footrest. Hereinafter, the same operation is performed to paint the cutting marks of all the footwear.

[0027]

According to the present invention, there is provided a coating device for a leg cutting mark of a footrest provided on a carriage mounted on a rail in a manhole so as to be movable up and down. Is provided with a slider box that can turn with respect to the bogie,
A plurality of sliders are mounted on the box, a coating head is fixed to the lowermost slider via a lock head, and the coating head is a paint pressurizing tank fixed to the lock head; and a paint pressurizing tank. A spray gun connected to the paint tank via a tube, a pressurized tube that supplies pressurized air to the paint pressurized tank, and a delivery positioning stopper
Etc., so that the carriage can be easily and reliably moved and fixed via the rails, and the coating device can operate quickly and accurately. The coating device can be easily inserted into a narrow manhole even when the coating device is inserted.

[Brief description of the drawings]

FIG. 1 is a perspective view of an automatic replacement device for a footrest.

FIG. 2 is a longitudinal sectional view of a main part of a coating device for a leg cutting mark according to an embodiment of the present invention.

[Explanation of symbols]

 2 Manhole 3 Rail 5 Truck 50 Coating device 58, 59, 60 Slider 61 Slider box 64 Lock head 65 Painting head 66 Paint pressurization tank 67 Tube 68 Painting spray gun 69 Pressurization tube 70 Feeding positioning stopper

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁶ , DB name) E02D 29/12 B05B 12/00

Claims (1)

(57) [Claims] A coating device for cutting a leg portion of a footrest provided on a truck mounted on a rail in a manhole so as to be able to move up and down, the coating device turning with respect to the truck. A possible slider-box is provided, a plurality of sliders are mounted on the slider-box, a coating head is fixed to the lowermost slider via a lock head, and the coating head is fixed to the lock head. A paint pressurizing tank, a paint spray gun connected to the paint pressurizing tank via a tube, and a pressurizing tube for supplying pressurized air to the paint pressurizing tank.
A coating device for a leg cutting mark of a footrest, comprising: