Device and method for the automated, full-area application of flowable substances onto a building-side surface

Abstract

A device for the automated, full-area application of flowable substances onto a building-side surface of walls (10) or wall studs (12) which are mounted on the building side is equipped with a movement carriage (18, 30) which is driven by motor and is movable to and fro laterally parallel to the wall, an upwardly protruding vertical beam which is attached on the movement carriage (18, 30), and a plurality of outlet nozzles (38) which are attached vertically above one another to the vertical beam (24) for spraying the flowable substance onto the building-side surface. The outlet nozzles (38) can be moved by motor laterally towards the building-side surface and away from it individually relative to one another or in individual groups relative to adjacent groups of outlet nozzles (38). Furthermore, a method for the automated application is described.

Description

[0001] Device and method for the automated, flat application of flowable substances to a building surface

[0002] The invention relates to a device and a method for the automated, flat application of flowable substances to a construction surface.

[0003] In other words, the invention relates to a device and a method for applying flowable material to a building, specifically to walls or to already mounted wall studs. Wall studs are typically steel frames that can then be covered with planking on one or both sides. The planking then forms walls that serve as an accessible surface of the object, the building, in this case, through the device and method for applying one or more flowable substances. The invention is concerned with the fully automated spraying of large areas in one go with this material, preferably areas larger than 100 m 2 , especially larger than 1,000 m 2 up to several 100,000 m 2 , as well as a very large number, preferably greater than 100, in particular greater than 1000, of assembled elements of a building such as the surfaces of the wall studs.

[0004] Especially in industrial buildings, there are huge areas, both within the building itself and on the exterior walls, that need to be treated with flowable materials, such as painting or coating. Industrial buildings have 100,000 m 2and more wall surface to be treated. This means that the painting work alone, with painting crews of dozens of people working in shifts, can take several months to paint the walls of such a building. This not only costs a lot of time and therefore money, but often delays the move into the building, especially when staff shortages arise. Such large surfaces are particularly painted, i.e. covered or coated with paint, or plastered or, in the case of renovations, washed before a new coat of paint. The various substances (the term "substances" is synonymous with "materials") are not rolled on, but are to be sprayed on according to the invention. But there are also large surfaces that need to be primed or coated in some other way. This includes, for example, the construction studs, i.e. steel beams, which need to be coated with rust protection or sprayed with flame retardant.This should also be made possible by the invention.

[0005] Previous ideas of spraying building walls using cranes, 6-axis robots or gondolas lowered from the roof have not yet been implemented in practice.

[0006] The object of the invention is therefore to provide a device and a method which enable a simpler, faster and above all more cost-effective application of flowable substances to a surface of walls or posts mounted on site.

[0007] This object is achieved by a device for the automated, flat application of flowable substances to a building surface of walls or wall studs mounted on site, with at least one motor-driven carriage which can be moved laterally back and forth parallel to the wall, an upwardly projecting vertical support mounted on the carriage, and a plurality of outlet nozzles mounted vertically one above the other on the vertical support for spraying the flowable substance onto the building surface, wherein the outlet nozzles can be moved individually relative to one another or in individual groups relative to adjacent groups of outlet nozzles laterally towards and away from the building surface.

[0008] The invention provides for numerous outlet nozzles arranged one above the other to apply the material in large sheets to the surface as the carriage moves. However, since the surface of the building is not necessarily flat on the wall side, but rather has protruding parts, such as balconies, formwork, protruding beams in the ceiling area, roofing, etc., the previous devices could not treat large areas in one go. Instead, the device had to be dismantled before reaching such protrusions and reinstalled after them, and the work in the area of ​​such protrusions then had to be carried out entirely by hand.

[0009] The invention, however, provides that outlet nozzles are moved further away from the surface by a motor, for example before reaching an outwardly projecting support, so that these outlet nozzles do not collide with the projection, but rather move away from it. The rest of the outlet nozzles, however, remain positioned close to the surface to be treated. Since this adjustment of the outlet nozzles, preferably in a direction perpendicular to the surface, is carried out by a motor, no modifications are necessary, and in particular no manual modification of the device is required. The device travels its entire path so that a section of the strip is covered with paint, for example, in one go, preferably over a height of several meters.

[0010] The amount of material released via the outlet nozzles is so high, depending on the speed of the outlet nozzles relative to the surface, for one and the same layer of material that the entire required application quantity is applied in a single pass. This means that multiple passes or a serpentine movement pattern for applying paint to a wall or a crisscross pattern are not necessary. This significantly reduces application time. Likewise, the serpentine movement pattern that is unavoidable with manual paint application and is due to the size of the surface relative to the width of a paint roller is no longer necessary. This has also been the case with known facade or painting machines or the few mobile robots to date, due to the narrow track width that can only be achieved with a single spray nozzle.A significant loss of time is unavoidable with a traditional web-like coating method, and the countless changes in application direction during paint application result in multiple coats. This is almost entirely eliminated by the invention. The time savings are further increased, and the amount of material used during application is determined solely by the quality requirements of the application specification. The previously desired generous overlap of all directly adjacent spray lines is also avoided. Manufacturers of paint spraying technology and equipment, as well as paint producers, recommend a 50% overlap between each line to ensure a streak-free, opaque coating and spray pattern. The invention reduces the areas of overlap to preferably 5-10% of the surface to be coated.

[0011] The invention does not necessarily provide for all outlet nozzles to be motor-driven movable laterally towards and away from the surface of the building site, but several, preferably at least four, outlet nozzles must have this vertical mobility in order to be able to treat niches or projections on the wall.

[0012] The outlet nozzles can be vertically motorized, either individually relative to each other or in groups relative to other groups of outlet nozzles. This allows the outlet nozzles, or at least some of them, to be adjusted in their distance from each other and from the ground, allowing optimal coverage of adjacent spray cones and the height of the treated area during a travel of the carriage.

[0013] In particular, those outlet nozzles that are horizontally movable can also be vertically movable, individually or in groups. Furthermore, outlet nozzles that are not horizontally movable can or should, if present, be vertically movable, individually or in groups.

[0014] When we talk about a "carriage," this also includes multiple carriages that are moved together, one behind the other or side by side. For example, a carriage to which the carrier with the discharge nozzles is attached, and a self-propelled carriage or a coupled trailer that carries the material to be applied, or pumps or an electric battery as a power supply. Supply lines can be provided between the carriages.

[0015] Optionally, the vertical support can also be adjusted / changed in its vertical extent, particularly by motor, in order to adapt the device to the room height. For this purpose, it is advisable for the vertical support to be designed to be extendable or telescopic. An alternative to this is for the vertical segments of the vertical support to lie next to one another when retracted and to be partially overlapping and, if necessary, partially offset from one another when extended. This is particularly advantageous indoors because the vertical support can be precisely adjusted to the actual room height. The vertical support can be adjusted by motor, e.g., using powered traction devices or a spindle drive.

[0016] This vertical length adjustability combines particularly well with the vertical motorized movement of the outlet nozzles. This allows, for example, the optimal spacing of the outlet nozzles from top to bottom to be set independently of the set height of the vertical support.

[0017] The number of outlet nozzles is matched to the maximum extension length of the vertical support. This ensures that the spray cones of adjacent outlet nozzles overlap precisely enough. At a lower extension length, for example, outlet nozzles can be deactivated if the spray cone overlap is too large or if too many spray cones overlap each other. This can particularly affect lower outlet nozzles that may be stacked on top of each other.

[0018] If, due to the given application height, there is too much coverage of the spray cones despite some of the outlet nozzles being switched off and no further outlet nozzles can be switched off without resulting in a missing area during the paint application, this can be corrected by replacing the spray heads of the outlet nozzles accordingly in order to achieve an appropriate coverage and avoid wasting any material that is to be applied.

[0019] A variant of the invention provides vertically aligned, additional outlet nozzles for spraying the underside or top sides of on-site projections or wall studs.

[0020] For example, such undersides or tops of projections, e.g., balconies or parapets, must also be treated automatically, if possible, which the device according to the invention achieves thanks to additional outlet nozzles. In particular, these additional outlet nozzles are not designed to also spray the vertical sections of the walls; i.e., these additional outlet nozzles inherently serve a different purpose and are aligned or can be aligned differently (perpendicular to the surface to be treated), and can also have a different spray cone.

[0021] The additional outlet nozzles are mounted on a vertically movable bracket on the vertical support. This vertical mobility allows the outlet nozzles to be moved, for example, from below towards the underside of a balcony in order to be sufficiently close to the surface to be treated. The movable bracket also allows these additional outlet nozzles to avoid an obstacle located on site. This is particularly necessary for the wall studs, which are sprayed on the sides, as well as on the bottom and top surfaces, using the device.

[0022] Alternatively, or in addition to this holder, these additional outlet nozzles can be vertically motorized, either individually relative to each other or in groups relative to other groups of outlet nozzles, just as was possible for the previously mentioned outlet nozzles for applying to side surfaces. This is also necessary to optimally avoid protrusions and spray at optimal proximity.

[0023] These additional outlet nozzles can also be mounted on a support arm mounted on the holder, which can be pivoted vertically upwards and downwards. This support arm allows the additional outlet nozzles, when not in use, to be easily pivoted into the vertical plane or, more generally, perpendicular to the surface being treated, so that they do not protrude sideways and thus increase the risk of collision. They are also then not contaminated by spray mist from the other outlet nozzles. The support arm is only pivoted horizontally when necessary at specific positions on the carriage, namely where an upper or lower surface needs to be sprayed.

[0024] To automate the device according to the invention, a sensor system and a control device coupled to the sensor system are provided. The sensor system can scan the on-site surface in such a way that it can detect protrusions and niches. The control device, in turn, is programmed and designed to control a lateral, motorized adjustment of the outlet nozzles toward and away from the on-site surface depending on the presence of protrusions and niches. The device thus self-learningly detects where outlet nozzles would collide with a part of the on-site surface and moves them (and thus, of course, the corresponding holder of these outlet nozzles) away from the surface. This is only possible to the extent that the vertical support itself would not collide with the protrusion.

[0025] Each time the device is started, the installed components are detected, and the sensors are automatically calibrated. During the application, the current position on the respective linear axis and relative to the floor, the distance of the spray head relative to the surface to be sprayed, the operating state of each outlet nozzle (open or closed), and the type of spray nozzle can be detected for each individual outlet nozzle. The integrated sensors allow the control of the axes and spray nozzles.

[0026] Optionally, however, the outlet nozzles can be moved up to the vertical support in the direction of travel and protrude laterally only a few centimeters towards the surface to be processed.

[0027] In order to again enable processing in a few passes, preferably, as mentioned, in just one pass, the invention provides, according to a variant, several sensors arranged vertically one above the other, which are part of the aforementioned sensor system. As the carriage moves, these multiple sensors detect the entire surface to be processed by the outlet nozzles. This means that the aforementioned obstacles, as well as niches where the outlet nozzles may have to be moved closer to the wall, are detected in a single pass. The device therefore does not have to move back and forth several times and / or move sensors up and down to scan the surface to be painted afterwards; instead, one pass, preferably during which the material is also applied at the same time, is sufficient to scan and simultaneously adjust the outlet nozzles in accordance with the scan results.

[0028] If materials are to be applied during the outward and return travel, it is advantageous to have sensors on the sides of the vertical beam in both directions of travel, rather than just on one side. These sensors are typically arranged one above the other, either on the vertical beam or, of course, on a unit attached to the vertical beam.

[0029] Just as time-consuming as the extensive application of flowable materials is the necessary repair of defects and cracks, for example, on a plastered surface. The device according to the invention is designed to also include appropriate features for repairing these defects. For this reason, the sensors are configured to detect defects and / or defective areas on the surface. An automatic repair device for applying repair compound is part of the device, as is a squeegee for smoothing the repair compound applied to the defect or defective area.This repair device can be designed to be vertically movable, so that it sits on a 3-axis robotic system, or it is also possible to have multiple repair devices arranged vertically one above the other, so that each of these repair devices is responsible for a specific height range of the surface measured from the ground. Since the repair device does not have to apply repair compound over a height of 50 cm or several meters, it is sufficient if the repair device is capable of covering a height range (track width) of approximately 1 to 70 cm and then, using the height adjustment, advance to other height ranges to smooth out the defective areas or flaws there.

[0030] The repair device is preferably also arranged on the vertical support.

[0031] The sensors should be designed in such a way that they can detect the applied layer thickness without contact, specifically without contact in order to control or regulate the applied mass. This means that the device according to the invention reacts immediately if slightly too little or slightly too much mass has been applied and then controls the amount of flowable material delivered by the nozzles depending on the detected layer thickness. The applied layer thickness can be determined, for example, using ultrasound detection. An indirect mathematical determination of the layer thickness is also possible based on the flow rates per outlet nozzle, taking into account the sprayed area measured by the sensors during the process, while also taking into account the distance, travel speed and time in the open operating state of the outlet nozzle(s), as well as the viscosity of the flowable material.

[0032] The sensors can also optionally detect surface roughness, and the control device is then programmed to control or regulate the amount of fluid dispensed by the nozzles depending on the detected surface roughness. For a rough surface that subsequently needs to be painted or washed, more fluid must be dispensed than for smooth plaster.

[0033] The outlet nozzles should have a discharge angle that is aligned to a distance between the outlet nozzles so that the material application of the adjacent nozzles overlaps only minimally. In particular, the aim is to achieve a material consumption-oriented overlap without violating the quality criteria of a uniform application taking into account the entire area to be sprayed.

[0034] The outlet nozzles are preferably mounted individually or in groups on dedicated single-axis, linearly movable linear actuators that can preferably be adjusted to any desired position. These linear actuators can be retracted, i.e., moved away from the surface, to create space for the projection on the surface. Which outlet nozzles require which degrees of freedom can be determined by the application and the wall geometry.

[0035] In order to make the device according to the invention as simple and cost-effective as possible, while also avoiding increasing its complexity, it is preferable to use only single-axis movable drives and guides, and not additional pivot axes for the outlet nozzles that spray the vertical area of ​​the wall. One horizontal axis is defined by the rail, the vertical axis by the vertical support and corresponding guides on it, and the third axis (toward and away from the surface) by the linear actuators, which can also have guides or be mounted on guides.

[0036] Depending on the surface condition on which the carriage would roll and the height of the vertical beam during operation, the carriage can be guided on rails or roll directly on the floor. In interior spaces with, for example, concrete floors, rails may be unnecessary, whereas when working on exterior facades without a level floor, rails offer advantages.

[0037] In very tall buildings, it can be advantageous to have several shuttles running on top of each other so that material can be applied over several floors in a single pass. For this purpose, rails close to the ground are provided for the shuttle to run on. Above and away from the rails close to the ground, further additional rails are provided, usually running parallel to the rails close to the ground, on one or more levels. This means that not only can there be one level of rails laid above the rails close to the ground, but also more than one level, for example to enable material to be applied at heights of 5 meters or more. One or more upper shuttles can be moved by motor on these additional rails on one or more levels.

[0038] An upper carriage, or additional upper carriages, preferably support the vertical beam of the lower carriage below it. This allows the vertical beam to extend over multiple levels. This allows the vertical beam to be designed in a modular manner.

[0039] If, for example, only one level is planned (only the floor-side rail), the vertical support may extend freely upwards. If a second level with an additional rail is planned, the vertical support can only run as far as this second rail and then be attached to the upper carriage there. Alternatively, the vertical support can extend from the lower carriage to the upper carriage and then freely over the upper carriage or, alternatively, run to a further level and the carriage there, in order to be supported on this in turn. An alternative to this is that each carriage can optionally be equipped with a vertical support that reaches up to a certain height, namely the next level, and that the carriage on the level above has its own vertical support.These separate vertical supports are then equipped with several outlet nozzles mounted vertically one above the other on this vertical support for spraying the flowable material onto the construction surface. As previously explained, these outlet nozzles can also be moved individually relative to each other or in individual groups relative to neighboring groups of outlet nozzles, both motor-driven and laterally toward and away from the construction surface.

[0040] The upper carriage(s) may be coupled to the lower carriage, particularly mechanically, for joint movement. However, this is not mandatory.

[0041] In general, a transfer carriage and a trailer / further transfer carriage for material or energy can also be coupled to each other on the same level via cables.

[0042] Since the device according to the invention should also be easy to convert to apply other substances, e.g., it can be converted from applying plaster to applying paint or from applying water to applying paint, it is normally necessary to change the outlet nozzles. These are usually optimized for a specific material. To make this change as easy as possible, the outlet nozzles can be attached to a module carrier on the vertical support and, together with the module carrier, form a unit that can be removed from the vertical supports. In this case, the device can be sold as a modular unit with several module carriers, each with specific outlet nozzles. The user then simply attaches the appropriate unit consisting of a module carrier with the corresponding outlet nozzles to the vertical support. This modular design also allows for quick replacement if outlet nozzles become defective or clogged.Cleaning the outlet nozzles can also be made much easier if the entire module carrier is removed and then cleaned on the ground where it is more easily accessible.

[0043] One possibility of the invention is for the device to have outlet nozzles over the entire travel height. If the wall is higher, another rail is placed above these outlet nozzles to accommodate a carriage, which then either holds the extended vertical support or has its own vertical support attached to it to spray the upper part of the wall with material. Another possibility, however, is for the unit of outlet nozzles, whether arranged on a module support or not, to be attached to a base mounted on the vertical support and movable vertically and linearly by a motor. This is explained below using an example. The wall is 3 meters high. The outlet nozzles extend over a height of 2.5 m, for example, and can therefore cover a band 2.5 m high along the even higher wall with paint.However, the vertical support is even higher, so that the base with the outlet nozzles connected to it is moved upwards by one unit after the first application strip in order to spray the remaining 0.5 m high strip, for example, on the return journey.

[0044] An alternative to this is for the outlet nozzles to be mounted on separate, vertically adjustable carriages, which are mounted on the vertical support for movement. These carriages carry at least one outlet nozzle, optionally two or more outlet nozzles spaced vertically apart. The carriages are moved vertically relative to each other by motors to optimally space the outlet nozzle(s) from the outlet nozzle(s) of the adjacent carriage. This can also be perfectly combined with the vertically adjustable (extendable or telescopic) vertical support.

[0045] Since the device is intended for use in industrial buildings, the material supply is an important aspect. Pipelines that are too long lead to extremely high pumping pressures and also to too much material remaining in the pipe system when the device is switched off, which would have a negative impact on drying out, functionality and the longevity of individual components of the device. For this reason, one variant of the invention provides for a moving material container / material carriage coupled to the transfer carriage for holding the flowable material and / or a moving pump system coupled to the transfer carriage for pumping the flowable material from the material container to the outlet nozzles. There are several variants here. On the one hand, the material container and / or the pump system can be carried on the transfer carriage itself, or, alternatively, a second material and / or pump carriage coupled to the transfer carriage can be moved along.

[0046] If rails are arranged on several levels with several transfer carriages that can be moved one above the other, a material container and a pump system can be assigned to each transfer carriage in order to reduce the pump pressure, ie each transfer carriage can carry its own material container and / or its own pump system.

[0047] Since there are conditions where power supply via the mains is not possible or where there is no unreliable mains power, it is advantageous if the device can be temporarily, at least temporarily, battery-operated. This means that the device's drives can run solely on the battery for at least a certain period of time. This makes it possible, for example, to apply material stored in the material container for processing or to drain the pipe system during a mains power failure.

[0048] The invention further relates to a method for the automated, flat application of flowable materials to a wall surface or wall studs mounted on site using the device according to the invention. Individual outlet nozzles or one or more groups of outlet nozzles are motor-driven away from the surface and then back toward it depending on the detection of a projection or niche on site or protruding sections of wall studs.

[0049] As already explained with regard to the device, the layer thickness of the material applied to the on-site surface is determined by sensors and, depending on this, the amount of ejected material is controlled or regulated as the carriage continues to move in order to achieve consistent quality. Defective nozzles can also be detected immediately with this variant, since insufficient material is then applied to the area covered by them. The method and device according to the invention are used in particular for applying paint, varnish, water, plaster, coating material or flame retardants, whereby the device is provided with different outlet nozzles, i.e., converted, for applying a different material.

[0050] The individual outlet nozzles can also be switched individually, so that, for example, when spraying when a door or window is approaching, the corresponding outlet nozzles that would otherwise spray the door or window area are switched off.

[0051] The aforementioned individual features of the method and the device also refer conversely to the device or the method.

[0052] Further features and advantages of the invention will become apparent from the following description and the following drawings, to which reference is made.

[0053] The drawings show:

[0054] Figure 1 is a side view of a building with a device according to the invention installed in front of the building for carrying out the method according to the invention,

[0055] Figure 2 is a side view of the building with the device according to Figure 1,

[0056] Figure 3 is a more detailed front view of a slightly modified device according to the invention,

[0057] Figure 4 shows in the horizontal direction an option of a drive for the device according to the invention,

[0058] Figure 5 shows a detailed view of a variant of the device according to the invention in the area of ​​a vertical support,

[0059] Figure 6 is a more detailed side view of part of the device according to the invention shown in Figure 5,

[0060] Figure 7 is a side view of an area with additional, vertically ejecting spray nozzles as part of the device according to the invention, Figure 8 is a detailed view of a possible piping to an outlet nozzle, and

[0061] Figure 9 is a front view of a further embodiment of the device according to the invention.

[0062] Figure 1 shows a device for the automated, flat application of flowable materials to a construction-side surface of walls 10 or construction-mounted, stylized wall studs 12, which are subsequently planked to form a wall.

[0063] The device bears the reference number 14 and comprises rails 16 which are close to the ground or positioned on the ground and which are arranged parallel to the surface to be treated, i.e. to the wall 10 or to the surface of the wall studs 12, and at a certain distance from the wall 10 or the wall stud 12.

[0064] A motor-driven carriage 18 runs on the rails 16. The carriage 18 can have a motor 20 that is powered by mains power and / or by a battery 22 arranged on the carriage or externally.

[0065] A vertical support 24 formed from one or more parts or one or more columns sits on the carriage 18.

[0066] There are not only the ground-level rails 16, but also additional levels of rails, namely upper rails 28 supported by a frame 26, on which an upper carriage 30 can be moved linearly. This carriage 30 can also be optionally motor-driven.

[0067] The rails 28 thus form an upper level, whereby further levels can also be provided above the rails 28, depending on the height of the building, or more precisely the wall 10, which is to be worked on.

[0068] Optionally, the frame 26 can also have a bracing 32.

[0069] In the embodiment shown, the vertical support 24 is also coupled to the upper carriage 30, ie both carriages 18, 30 are adjusted synchronously in the vertical direction X.

[0070] Optionally, one or more rails can be provided here instead of the illustrated strut 32. Furthermore, a separate vertical support 24 can optionally be provided on each of the carriages 18, 30, i.e., it is not absolutely necessary for the vertical support 24 to also be coupled to a second carriage, here the upper carriage 30. However, it stabilizes the vertical support 24 if it does not project freely upwards, but is also supported in the area of ​​its upper end.

[0071] The building shown as an example also has one or two projections or sections that should not be sprayed with paint, for example a balcony 34 and doors or windows 36.

[0072] The device 14 shown can be modified to wash an existing wall or to spray a new or existing wall with paint or to spray other flowable substances, such as plaster, flame retardant or primer.

[0073] In order to enable the substance to be applied to the largest possible area, outlet nozzles 38 arranged vertically one above the other and spaced from one another are provided, of which only two outlet nozzles 38 are provided with reference numerals in Figure 2 in order to increase clarity.

[0074] The outlet nozzles 38 are mounted on linear actuators 40, in which the outlet nozzles 38 are preferably mounted on the freely projecting end of the linear actuators 40, ie, on the end facing the surface to be treated.

[0075] The linear actuators 40 are only movable in one direction and reversibly, namely in direction Z (see Figure 2), ie towards the surface to be treated and away from it, preferably perpendicular to the corresponding surface to be treated.

[0076] Optionally, and this is not to be understood as limiting, each individual outlet nozzle 38 can be adjusted linearly in the Z direction via its associated linear actuator 40.

[0077] Alternatively, a linear actuator 40 can also have several outlet nozzles arranged one above the other mounted thereon, so that groups of outlet nozzles 38 are formed, each of which can be adjusted in the Z direction independently of other, adjacent groups and the remaining outlet nozzles.

[0078] The linear actuators 40 can be attached directly to the vertical support 24. Alternatives are shown below in Figures 5 and 6 and explained later.

[0079] In the embodiment shown in Figure 2, the linear actuators 40 are attached to a module carrier 42, which can be very easily attached to the vertical carrier 24.

[0080] The purpose of the module carrier 42 is, in particular, to mount all linear actuators 40 with their outlet nozzles 38, which have been optimized for a specific type of material. For example, there is one module carrier 42 for applying plaster and another module carrier 42 for spraying water or paint. Different outlet nozzles 38 are provided here.

[0081] Figure 3 shows a slightly modified embodiment in which no strut 32 is present.

[0082] It is clearly visible that the vertical support 24 is not a single part, but is composed of several rods or individual, tower-like structures.

[0083] Further rods 44 are part of the vertical support 24 and are thus also coupled to the carriage 18, and carry several sensors 46 arranged vertically one above the other, in particular cameras or ultrasonic sensors or the like. These sensors 46 are part of a sensor system that performs multiple tasks and is coupled to a control device 48 via cable or wirelessly. The control device 48 also controls the device's drives.

[0084] Sensors 46 or special sensors detect potential protruding sections on the surface to be treated in the travel direction X, here for example the balcony 34 and / or surfaces not to be treated such as windows 36. The control device 48 is designed such that upon detection of such a protrusion, but also in the case of niches on the on-site surface, it controls the linear actuators 40 which would collide with such a protrusion with their outlet nozzles 38.

[0085] In Figure 2, two linear actuators 40 are retracted to the right, which would otherwise be too close to the balcony 34 and would collide with it. If there is a wall projection or recess, the linear actuators 40 can also be moved in the opposite direction to perfectly spray the niche or recess with the flowable substance to be applied.

[0086] While in the embodiment of Figure 3 the sensor system is only present in one direction of travel, here to the right in the direction of arrow X, and thus detection takes place in this direction of travel before the outlet nozzles 38 hit surfaces that have not yet been sprayed, according to a further variant of the invention, sensors can also be present on the opposite side of the vertical support 24.

[0087] The sensor system can also detect the layer thickness of the application of the substance through the outlet nozzles 38 on the surface to be treated, for example by means of ultrasonic sensors or other sensors, in any case contactless sensors.

[0088] In addition, the sensors, especially cameras, are also able to detect the roughness of the surface to be sprayed.

[0089] The control device 48 then controls or regulates the amount of flowable substance dispensed depending on the determined roughness of the surface.

[0090] Since facades or walls that need to be renovated, as well as new walls, often have plaster damage or surface cracks, the device 14 can also detect imperfections or defective areas on the surface to be sprayed before applying paint, for example. Here, too, the sensors are capable of scanning the surface and locating the imperfections and / or defective areas. An automatic repair device 50 can be provided on the device, here on the vertical support 24, via which the repair compound is sprayed onto the surface in the area of ​​the imperfection and / or defective area via a special outlet nozzle 52.

[0091] The repair device 50 also includes a scraper 54, which smooths the repair compound. The scraper 54 and the outlet nozzle 52 can preferably be motor-adjustable vertically, as well as toward and away from the surface.

[0092] Since there are normally only a few defects or defective areas, in a first work step the repair device 50 can move in any pattern over the corresponding areas to be repaired, and can move in the X, Y and Z directions, as indicated in Figure 3.

[0093] The transfer carriage 18, optionally also the transfer carriage 30, can have one or more material containers 56, either itself or on a trailing transfer carriage, which hold the flowable material, and / or a pump system 58, via which the material is pumped to the outlet nozzles 38. With multiple levels of rails, it is advantageous or expedient to also provide a pump system 58 on the upper transfer carriage 30. Optionally, however, material can be pumped from a lower transfer carriage 18 into an intermediate container in the upper transfer carriage 30 and from there, via the pump system provided there, to the other outlet nozzles 38, which are positioned even higher vertically.

[0094] The movement of the carriage 18 takes place either via a rack and pinion, which is laid on the floor, for example, a belt drive, or, as shown in Figure 4, via a traversing winch 60. Such traversing winches 60 are particularly advantageous for the upper carriage 30, since its movement can then be very easily coupled with the movement of the lower carriage 18, as symbolically shown in Figure 4. Corresponding deflection pulleys 62 for a driven cable 64 are shown on the frame 26. The motor 20 for the traversing winch 60 can, depending on how it is provided, be attached to the carriage 18 (see Figure 1) and travel with it, or be arranged stationary, in which case the carriage 18 is then coupled to the carriage 18, for example, via its own traversing winch.

[0095] The embodiment shown in Figure 5 shows the module supports 42, each equipped with multiple linear actuators. The modular design allows, for example, a different number of module supports 42 to be positioned one above the other depending on the height, so that the entire system has a modular structure in the vertical direction. A modular vertical support 24, consisting, for example, of 2-meter elements that are mounted one above the other and on top of each other, can also be used for this purpose.

[0096] The module supports 42 can also have specific heights in order to be adapted to the surface to be treated and the height of the wall or building.

[0097] Alternatively, it is also possible to move the outlet nozzles 38 vertically using the linear actuators 40, but preferably all together. This is useful, for example, when the module supports 42 are 2 m long and the wall height is 3 m. In this case, a 2 m high module support can be used, spraying a 2 m line vertically. The module support 42 is then moved vertically upwards by 1 m, and the outlet nozzles 38, which are then located in the area not yet treated, are activated alone.

[0098] For vertical movement, a base 70 (see Figure 5) mounted on the vertical support 24, here, for example, on a vertical guide, serves as a slide to which the module supports 42 are attached. This base 70 is shown in side view in Figure 6; it is moved vertically via a spindle drive 72 attached to the vertical support 24.

[0099] In order to also be able to spray the top or bottom sides of projections or niches on the on-site wall, vertically aligned, additional outlet nozzles 138 are provided on the vertical support 24 (see Figure 5), which can be moved vertically individually or in groups relative to one another and independently of one another by means of their own linear actuators 140.

[0100] The linear actuators 140 are mounted on a support arm 74, which is attached to a holder 78 (see Figure 7) via a pivot bearing 76. The holder 78, in turn, can be moved vertically up and down linearly on the vertical support 24, for example, also via a spindle drive.

[0101] Using a dedicated drive (not shown), the support arm 74 can be pivoted horizontally or vertically, as symbolically shown in Figures 5 and 7. Additionally or alternatively, the support arm 74 can also be moved on the holder 78 in the Z direction, i.e., toward or away from the on-site surface to be processed. Sensors 46 can also be provided here to detect and scan the surface to be processed or to determine the applied layer thickness.

[0102] In Figure 7, the sensors 48 are positioned in the area or near the outlet nozzles 138, which may also be provided for the outlet nozzles 38.

[0103] The method used by the device is characterized by the fact that, regardless of any projections or niches on site, the entire surface to be treated is sprayed with a single pass, if possible, and the device does not have to be reconstructed if a projection or niche on site would be in the way of the outlet nozzles.

[0104] For optimal spraying, it may be advantageous if the individual outlet nozzles 52, as symbolically shown in Figure 2, have a discharge angle a that is so large that the application of the adjacent outlet nozzles 38 overlaps, preferably by 50%, in order to achieve a double application of substance everywhere.

[0105] It is also important for the accuracy of the application that the position of the outlet nozzles 38 is precisely detected. This means that the position of the carriages 18, 30 is also precisely and permanently determined, as are the horizontal and vertical positions of the outlet nozzles 38 and the linear actuators 40. It is also possible for the linear actuators 40 to exchange their positions—more precisely, their relative positions to one another or their absolute positions—via signals via the control device to enable optimal position detection, especially redundant position detection. All data is fed into the control device 48, which then controls all drives accordingly.

[0106] The embodiment according to Figure 8 shows possible details of the linear actuators 40, which are shown here in the form of telescopic actuators.

[0107] Here, too, a sensor 46 is arranged near each outlet nozzle 38, which can detect the surface with regard to its roughness, the layer thickness of the applied substance and / or an obstacle.

[0108] The tubing or piping to the linear actuator 40 is provided, for example, via a hose-like monkey swing to enable the linear actuator's mobility, or via a telescopic hose or pipe system as shown in Figure 8. Additionally, this hose or pipe system can also be connected to the adjacent parts via rotary connectors 82 to allow relative rotation of the adjacent parts.

[0109] A plug-in coupling 84 may also be provided for quickly connecting or disconnecting the adjacent parts.

[0110] The carriage 18 in the previous figures does not necessarily have to be rail-bound, it can also be moved directly on the ground and roll there.

[0111] Figure 9 shows a device that is attached to a carriage as in the previous figures, which in this variant is not rail-bound, although here too the rollers can optionally run on rails.

[0112] In this case, the vertical support 24 is extendable, for example telescopic, i.e. its vertical extent can be adjusted. Shown is a lower support section 124, into which a middle support section 125 can be inserted, and into which in turn an upper support section 126 can be inserted. Further support sections can also be provided. As an alternative to nesting the support sections 124, 125, 126, the support sections 124, 125, 126 can also be arranged next to one another, so that here too the vertical support 24 can be extended in the broader sense. The support sections 124, 125, 126 or guide elements of the support sections 124, 125, 126 serve as linear guides for carriages 128, on each of which at least one outlet nozzle 38 is seated.

[0113] The carriages 128 are motor-driven and can be moved vertically along the vertical support 24, allowing the outlet nozzles 38 to be adjusted in their vertical position. Thus, the position of the outlet nozzles 38 can be adjusted to the set vertical length of the vertical support 24, ensuring that the distances between adjacent outlet nozzles 38 are always optimized.

[0114] If, as in the present case, the carriages 128 are positioned too close to one another in the middle section of the support section 125, because, for example, the vertical support 24 is not fully extended, individual outlet nozzles 38 arranged too close to one another can be deactivated via valves.

[0115] In general, not all outlet nozzles 38 need to be adjustable horizontally toward or away from the wall; it is sufficient if several of these outlet nozzles can be moved horizontally.

[0116] For example, and this is not to be understood as limiting, the functionality of the device can be achieved in a simplified manner by making the vertical support 24 extendable, whereby the carriages with the horizontally movable outlet nozzles 38 can be moved to the height at which, for example, a parapet or niche in the wall is to be machined.

Claims

Patent claims Device for the automated, flat application of flowable substances to a building surface of walls (10) or wall supports (12) mounted on site, with a motor-driven carriage (18, 30) which can be moved back and forth laterally parallel to the wall, an upwardly projecting vertical support mounted on the carriage (18, 30), and a plurality of outlet nozzles (38) mounted vertically one above the other on the vertical support (24) for spraying the flowable substance onto the building surface, wherein the outlet nozzles (38) can be moved individually relative to one another or in individual groups relative to adjacent groups of outlet nozzles (38) laterally towards and away from the building surface by motor.Device according to claim 1, characterized in that the outlet nozzles (38) can be moved vertically by a motor, individually relative to one another or in groups relative to other groups of outlet nozzles (38), and / or the vertical support (24) can be adjusted in its vertical extent, in particular extendable or telescopic. Device according to claim 1 or 2, characterized in that vertically aligned, additional outlet nozzles (138) are provided for spraying the undersides or top sides of on-site projections or wall studs. Device according to claim 3, characterized in that the additional outlet nozzles (138) are mounted on a holder (78) that can be moved vertically on the vertical support (24) and / or can be moved vertically by a motor, individually relative to one another or in groups relative to other groups of outlet nozzles (138), in particular wherein the additional outlet nozzles (52) are mounted on a vertically mounted holder (78). are arranged on a support arm (74) pivotably mounted upwards and downwards. Device according to one of the preceding claims, characterized in that a sensor system and a control device (48) coupled to the sensor system are provided, wherein the sensor system can scan the on-site surface in such a way that it can detect projections and niches, and wherein the control device (48) is programmed to control a lateral, motorized adjustment of the outlet nozzles (38) towards and away from the on-site surface depending on the presence of projections and niches. Device according to claim 5, characterized in that several sensors (46) arranged vertically one above the other are part of the sensor system and can detect the entire surface to be processed by the outlet nozzles (38) when the carriage (18, 30) is moved.Device according to claim 6, characterized in that sensors are provided on both sides of the vertical support (24), relative to its lateral travel directions, in particular are mounted on the vertical support (24) arranged vertically one above the other. Device according to one of claims 5 to 7, characterized in that the sensor system is designed such that it detects imperfections and / or defective areas on the surface, and that the device has an automatic repair device (50) for applying repair compound and a scraper (54) for smoothing the repair compound applied to the imperfection and / or defective area. Device according to one of claims 5 to 8, characterized in that the sensor system can detect the applied layer thickness and the control device (48) is programmed such that it can, depending on. The amount of flowable material delivered by the outlet nozzles (38, 52) is controlled or regulated based on the detected layer thickness. Device according to one of claims 5 to 9, characterized in that the sensor system can detect the roughness of the surface, and the control device (48) is programmed to control or regulate the amount of flowable material delivered by the outlet nozzles (38, 52) depending on the determined roughness of the surface. Device according to one of the preceding claims, characterized in that the outlet nozzles (38) have a discharge angle (α) which is aligned with the distance between the outlet nozzles (38) such that the material application of adjacent outlet nozzles (38, 52) overlaps.Device according to one of the preceding claims, characterized in that the outlet nozzles (38) are mounted individually or groups of outlet nozzles (38) on associated, single-axis, linearly movable and preferably adjustable linear actuators (40) into any desired positions.Device according to one of the preceding claims, characterized in that the carriage is guided by rails and rails (16) close to the ground are provided on which the carriage (18) runs, preferably wherein above and away from the rails (16) close to the ground, further additional rails (28) running in particular parallel to the rails (16) close to the ground are provided in one or more levels, on which an upper or further upper carriage (30) can be moved by motor, wherein an upper carriage (30) supports the vertical support (24) of the lower carriage (18) located thereunder and / or has its own vertical support (24) with a plurality of outlet nozzles (38) mounted vertically one above the other on this vertical support (24) for spraying the flowable substance onto the on-site surface, wherein these outlet nozzles (38) can also be arranged individually relative to one another or in individual groups relative to. adjacent groups of outlet nozzles (38) are motor-driven and can be moved laterally toward and away from the on-site surface. Device according to claim 13, characterized in that the upper and lower carriages (18, 30) are coupled to one another and moved together. Device according to one of the preceding claims, characterized in that the outlet nozzles (38) are fastened to a module carrier (42) on the vertical support (24) and, together with the module carrier (42), form a unit that can be removed from the vertical support (24) and can be exchanged for a module carrier (42) with other outlet nozzles (38).Device according to one of the preceding claims, characterized in that the outlet nozzles (38) arranged vertically one above the other are mounted on a base (70) mounted on the vertical support (24) and movable vertically and linearly by a motor, or are mounted on separate carriages that are vertically adjustable relative to one another and are mounted on the vertical support (24). Device according to one of the preceding claims, characterized in that a traveling material container (56) coupled to the traveling carriage (18, 30) for receiving the flowable material and / or a traveling pump system (58) coupled to the traveling carriage (18, 30) for pumping the flowable material from the material container (56) to the outlet nozzles (38) are present. Device according to one of the preceding claims, characterized in that the drives of the device (14) are at least temporarily battery-operated.Method for the automated, flat application of flowable substances to an on-site surface of walls (10) or on-site mounted wall studs (12) by means of the device (14) according to one of the preceding claims, characterized in that individual outlet nozzles or one or more groups of outlet nozzles (38). Depending on the detection of a construction-side projection or niche or protruding sections of wall studs (12), the device is moved away from the construction-side surface and / or toward it by motor.

20. Method according to claim 19, characterized in that the layer thickness of the substance applied to the construction-side surface is determined by sensors, and the quantity of ejected substance is controlled or regulated depending thereon during the further movement of the carriage (18, 30).

21. Method according to claim 19 or 20, characterized in that paint, varnish, water, plaster, coating material or flame retardant are applied, in particular wherein the device for applying a different substance is provided with different outlet nozzles (38).

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