WO2017042729A1

WO2017042729A1 - Wall-painting machine

Info

Publication number: WO2017042729A1
Application number: PCT/IB2016/055384
Authority: WO
Inventors: Rony Javier CABALLERO GEORGE; Fernando MERCHAN; Aranzazu BERBEY
Original assignee: Universidad Tecnológica De Panamá
Priority date: 2016-06-24
Filing date: 2016-09-09
Publication date: 2017-03-16

Abstract

Wall-painting machine for walls of buildings, boats, planes, tanks, etc. It comprises a main body and a securing device. The securing device comprises multiple cables and allows the main body to be positioned at any point on the surface. The machine further comprises an assembly of omnidirectional wheels which enable it to move over any obstacle or irregularity on the surface.

Description

WALL-PAINTING MACHINE

OBJECT OF THE INVENTION

This invention describes a wall-painting machine for walls of buildings and other exterior surfaces of buildings, boats, planes, tanks, silos and similar.

In particular, 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.

BACKGROUND OF THE INVENTION

In general, old buildings are painted manually. Usually, to this end a scaffold structure is secured from the top of the building. One problem associated with this solution from the state of the art is that the scaffolds only have the possibility to move vertically. Therefore in order to cover adjacent sections of the building, the scaffolding has to be disassembled and reinstalled in the new area to be painted.

Furthermore, the process of painting old buildings may be a dangerous operation. In fact, it has been shown that at elevated heights, 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.

Many devices for painting walls of buildings are known in the state of the art. For example, 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 document US 2744494 A from Stephen P Chappen is also known in which it is proposed to use a system based on pulleys to raise and lower a device for painting. However, this system is subject to the effect of the wind and air currents and is also limited to vertical movements. These types of solutions can generally be related to the structures which are typically used in the state of the art for cleaning windows on buildings.

In this technical field, the document US 36649 from Jesse H. Jefferies is for example known which improves stability when using a counterweight installed on the lower part of the building. However, the mobility aspect is still limited due to the fact that the system only moves in the vertical direction.

In the document DE 102012110387 A1 from Benjamin Strang, 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). However, this system is subject to some limitations. In particular, given the fact that the securing force depends on the suction system, the system has a limited loading weight for the cleaning equipment and consumables (for example: water, detergent and brushes). Furthermore, the system is not equipped for being moved on irregular surfaces (for example, on walls that are not completely flat with exterior columns). DESCRIPTION OF THE INVENTION

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. 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. DESCRIPTION OF THE DRAWINGS

In order to complement the description being made and with the object of helping to better understand the characteristics of the invention, in accordance with a preferred practical embodiment thereof, said description is accompanied, as an integral part thereof, by a set of drawings where, in an illustrative and non-limiting manner, the following has been represented:

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. PREFERRED EMBODIMENT OF THE INVENTION

Below exemplary embodiments of the invention are described with the aid of the Figures 1 to 7.

Figure 1 shows a frontal view of the wall-painting machine. As can be observed in said figure, 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.

In Figure 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).

Furthermore, 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.

In order to position the main body (1) in any position on the wall, 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.

In 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).

The wall-painting machine being displaced on the wall has been illustrated in Figures 5a and 5b. In order to implement these displacement movements on the wall 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).

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.

Claims

1. A wall-painting machine which comprises:

a main body with means for painting walls,

- a securing device configured to secure the main body and comprising at least:

a plurality of cables by means of which it is joined to the main body and a plurality of motors to which the cables are joined by means of a mechanical transmission and/or a pulley to wind or release them depending on the position where the main body is located,

- an omnidirectional wheel assembly arranged on the main body by means of which it rests on and moves over on the surface.

2. The machine according to claim 1 , wherein the means for painting walls comprise at least one paint brush located on the main body intended to remain in contact with the wall.

3. The machine according to claim 1 , wherein the means for painting walls comprise at least one paint sprayer.

4. The machine according to claim 1 , wherein it also comprises a hose and a compressor by means of which paint is sent to the main body.

5. The machine according to claim 1 , wherein it comprises four cables which are joined to the main body at an upper left end, an upper right end, a lower left end and a lower right end.

6. The machine according to claim 1 , wherein the cables comprise springs at their ends by means of which they are joined to the main body.

7. The machine according to claim 1 , further comprising a control unit arranged on the main body and which is connected to the motors.

8. The machine according to claim 1 , wherein it comprises at least one sensor arranged on the main body.

9. The machine according to claim 8, wherein the sensor is selected from among position sensors, speed sensors, revolution counters, inertia sensors or image sensors.

10. The machine according to claim 1 , wherein the wheel assemblies comprise three wheels which are joined by means of bars to a central shaft around which they rotate.

1 1. The machine according to claim 10, wherein each one of the wheels rotates around its respective shaft.

12. The machine according to claim 1 1 , wherein the wheels comprise rollers joined to their circumference, said rollers being arranged on rotation shafts arranged at 45° with respect to the plane of the wheel and 45° with respect to the line passing through the roller parallel to the rotation shaft of the wheel.

13. The machine according to claim 10, wherein the wheels are spherical.

14. The machine according to claim 1 , further comprising at least one robotic arm joined to the main body and a robotic clamp arranged at the end of the robotic arm.