The present invention provides an apparatus and method for controlling a posture and spraying operation of a painting robot. According to the present invention, by detecting inclination occurring in three axes of the painting robot, a posture is restored or further inclination is suppressed to secure safety of a painting work and improve painting quality. The apparatus for controlling a posture and spraying operation of a painting robot according to a preferred embodiment of the present invention controls the posture of the painting robot which paints an outer wall of a building while moving up and down on a rope suspended from the outer wall of the building. The apparatus for controlling a posture and spraying operation of a painting robot comprises: a temperature and humidity sensor installed inside an enclosure of the painting robot to measure the temperature and humidity of a painting site in order to limit painting at high temperature and high humidity; an anemometer installed on an upper end of the enclosure to measure the wind speed at the painting site in order to limit painting when the wind speed exceeds a certain level; a 3-axis inclination sensor disposed on a vertical axis vertically passing through an inner center of the enclosure to detect and measure the 3-axis inclination of the painting robot by wind load; a first sub-fan and second sub-fan each installed on both sides of the enclosure to blow air toward the rear of the enclosure when driven, and bringing the painting robot into close contact with a painting work surface with a generated propulsion force; and a control unit comparing and determining an inclination measured by the 3-axis inclination sensor with set inclination data to control driving of the first sub-fan and second sub-fan for controlling the posture.

    본 발명은 도장로봇의 3축에서 발생하는 기울기를 감지하여 자세를 복원시키거나 더 이상의 기울기를 억제시켜 도장작업의 안전성을 확보함과 함께 도장품질을 향상시킬 수 있도록 한 도장로봇의 자세 및 분사작업 제어 장치와 방법을 제공한다. 본 발명의 적절한 실시 형태에 따른 도장로봇의 자세 및 분사작업 제어 장치는, 건물 외벽에 늘어뜨린 로프를 타고 승강 동작하면서 건물 외벽을 도장하는 도장로봇의 자세를 제어하기 위한 장치에 있어서, 고온·다습시 도장을 제한하기 위해 상기 도장로봇의 함체 내부에 설치되어 도장 현장의 온도와 습도를 측정하는 온습도 센서와; 일정 풍속 이상시 도장을 제한하기 위해 상기 함체의 상단에 설치되어 도장 현장의 풍속을 측정하는 풍속계와; 상기 함체에 내부 중앙을 수직으로 지나는 수직축상에 배치되어 풍하중으로 인한 도장로봇의 3축 기울기를 감지 측정하는 3축 기울기 센서와; 상기 함체의 양쪽에 각각 설치되어 구동시 함체의 후방으로 송풍을 일으켜 발생된 추진력으로 도장로봇을 도장 작업면에 밀착되도록 하는 제1 및 제2 서브팬과; 상기 3축 기울기 센서에서 측정된 기울기를 설정된 기울기 데이타와 비교 판단하여 제1 및 제2 자세제어용 서브팬의 구동을 제어하는 제어부;를 포함한 것을 특징으로 한다.


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    Title :

    Posture and spray control device and method for painting exterior wall robot


    Additional title:

    도장로봇의 자세 및 분사작업 제어 장치와 방법


    Contributors:

    Publication date :

    2022-09-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B05B Sprühvorrichtungen , SPRAYING APPARATUS / B25J Manipulatoren , MANIPULATORS / B66B Aufzüge , ELEVATORS / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein / G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / G01P MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK , Messen der Linear- oder Winkelgeschwindigkeit, der Beschleunigung, der Verzögerung oder des Stoßes




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